• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.22 no.5
• /
• pp.837-844
• /
• 2013

This study performs erection of a pendulum hanging at a free end of an arm by rotating the arm to the upright position. A mathematical model of a rotary inverted pendulum system (RIPS) is derived. A brain emotional learning based intelligent controller (BELBIC) is designed and used as a controller for swinging up and balancing the pendulum of the RIPS. In simulations performed in the study, a pendulum is initially inclined at $45^{\circ}$ with respect to the upright position. A simulation is also performed for evaluating the adaptiveness of the designed BELBIC in the case of system variation. In addition, a simulation is performed for evaluating the robustness of the designed BELBIC against a disturbance in the control input.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1995.10a
• /
• pp.524-527
• /
• 1995

In most cases, a crane is controlled by an open-loop technique. That is, the controller tries to follow a given velocity profile that is designed to minimize the swing of rope and the transfer time. But such a system is not capable of handling various disturbances such as changing rope length and wind effect. In order to overcome this kind of difficulty, this research focuses on the design of a feedback controller using intelligent techniques such as fuzzy logic and neural network. These intelligent techniques has been emplyoyed in order to represent human knowledge and to imitate human learning. The deveped controllers have been evaluated via computer simulation

• Journal of Institute of Control, Robotics and Systems
• /
• v.10 no.10
• /
• pp.922-929
• /
• 2004

In this paper, we develop control hardware such as an FPGA based general purposed intelligent controller with a DSP board to solve nonlinear system control problems. PID control algorithms are implemented in an FPGA and neural network control algorithms are implemented in a BSP board. An FPGA was programmed with VHDL to achieve high performance and flexibility. The additional hardware such as an encoder counter and a PWM generator can be implemented in a single FPGA device. As a result, the noise and power dissipation problems can be minimized and the cost effectiveness can be achieved. To show the performance of the developed controller, it was tested fur nonlinear systems such as a robot hand and an inverted pendulum.

• Proceedings of the KSME Conference
• /
• 2000.04a
• /
• pp.884-889
• /
• 2000

This paper describes the design and implementation of PCOAMC(PC-based Open Architecture Machine Controller) to be flexible and independent from the vendor-oriented hardware and software structure. This openness approach is able to enhance an intelligence and integration of a manufacturing system. The development methodology of PcOAMC is an Object-Oriented approach, and all modules in PcOAMC are modelled using UML(Unified Modelling Language) that provides an easy understanding and modification. In order to demonstrate an applicability of PcOAMC, a simple test has been executed by using the Client-Server system consisting of two PcOAMCS and bus monitoring system. The good results have been obtained, so that the developed controller is expected to be embedded into IMS(Intelligent Manufacturing System) as a basic unit.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 1993.06a
• /
• pp.781-784
• /
• 1993

Most linguistic models of processes or plants known are essentially static, that is, time is not a parameter in describing the behavior of the object's model. In this paper we show two models for synchronous finite state machines (FSM) based on fuzzy logic, namely the Crisp-State-Fuzzy-Output (CSFO FSM) and Fuzzy-State-Fuzzy Output (FSFO FSM). As a result of the introduction of the FSM models, the improved architectures for fuzzy logic controller have been defined. These architectures featuring pipelined intelligent fuzzy controller are discussed in terms of dimensionality of the model. VLSI integrated circuit implementation issues of the fuzzy logic controller are also considered. The presented approach can be utilized for fuzzy controller hardware accelerators intended to work in the real-time environment.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.50 no.10
• /
• pp.457-463
• /
• 2001

This paper presents a simple and new digital redesign algorithm for fuzzy-model-based controllers. In the first stage, a continuous-time TS fuzzy model is constructed for a given continuous-time nonlinear system and a corresponding continuous-time fuzzy-model-based controller is established based on the existing controller synthesis algorithms. In the second stage, the continuous-time fuzzy-model-based controller is converted to equivalent discrete-time fuzzy-model-based controller, aiming at maintaining the property of the analogue controlled system, which are called intelligent digital redesign. Finally, the proposed method is applied to the digital control of inverted pendulum system to shows the effectiveness and the effectiveness and the feasibility of the method.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2003.09a
• /
• pp.583-586
• /
• 2003

There are electric four-wheeled vehicles to assist elder people. Because of the vehicles'dynamic characteristic such as impossible to move abeam, it is difficult for these people who has little experience and has little knowledge to drive. Also to judge the future state of dynamic obstacles and to decide how to elude them safely are more difficult. We installed the predictive fuzzy controller(evaluates the future states which several kinds of operation candidates were done and chooses the best one) that modeled humans'algorithms in the system. Human predicts the future states of dynamic obstacles and chooses an operation(wait, steer, go back, etc) to elude safely. To elude dynamic obstacles flexibly, we added expert's knowledge for safe driving to this controller. In this paper, we propose the intelligent soft driving system by the controller that can elude dynamic obstacles safely, and we confirm the effectiveness by a simulation.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.1563-1567
• /
• 2005

The Home network system means that information appliances, Home PCs, etc., using wired or wireless network method enable to control and share with peripheral devices such as internet, shared data, a scanner and a printer, and it is networking solution, which intelligent communication will be possible as the system which can do a remote control such as TV Set, refrigerators, air conditioners, DVD players, digital camcorders based on external network using an internet, a potable information terminal and a mobile phone whenever, wherever and freely. In this study, the home network interface solution is used one of the wired network standards, PLC (Power-Line Communication) technology, so we can construct of intelligent home network's home controller without re-build a network at home. On keeping with current waves of thought, we will focus on a home controller development with great interest which is enabled to do an effective managed control, applying intelligent home network technology which can be new paradigm like a cyber apartment.

• 제어로봇시스템학회:학술대회논문집
• /
• 1990.10b
• /
• pp.1399-1404
• /
• 1990

There is an increasing need to apply artificial intelligence to the real application fields of industry. These include an intelligent process control, an expert machine and a diagnostic and/or maintenance machine. These applications are implemented in AI Languages. It is commonly recognized that AI Languages, such as Common Lisp or Prolog, require a workstation. This is mainly due to the fact that both languages need a large amount of memory space and disk storage space. Workstations are appropriate for a laboratory or office environment. However, they are too bulky to use in the real application fields of industry or business. Also users who apply artificial intelligence to these fields wish to have their own operating systems. We propose a new design method of an intelligent controller which is embedded within equipment and provides easy-to-use tools for artificial intelligence applications. In this paper we describe the new design method of a VMEbus based intelligent controller for artificial intelligence applications and a small operating system which supports Common Lisp and Prolog.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 1998.03a
• /
• pp.107-111
• /
• 1998

This paper presents a now approach to the design of intelligent contorl system for track vehicle system using fuzzy logic based on neural network. The proposed control scheme uses a Gaussian function as a unit function in the neural network-fuzzy, and back propagation algorithm to train the fuzzy-neural network controller in the framework of the specialized learning architecture. Moreover, We develop a Windows 95 version dynamic simulator which can simulate a track vehicle model in 3D graphics space. It is proposed a learning controller consisting of two neural network-fuzzy based of independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The dynamic simulator for track vehicle is developed by Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D Graphics. The performance of the proposed controller is illustrated by simulation for trajectory tracking of track vehicle speed.