• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.6
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• pp.787-796
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• 2008

When the manipulator collides with surroundings, there occurs an impulse. To reduce the impulse, the self motion should maintain the manipulator's position by the minimally effective mass. At this time, we can use the local joint torque minimization algorithm to resolve the redundancy. In this study, to reduce the impulse and damages by the impact between the manipulator and surroundings, new control algorithm for the minimization of the joint torque using the kinetic redundancy and the impact minimization is proposed. It adapts fuzzy logic and genetic algorithm to the conventional local joint torque minimization algorithm. The proposed algorithm is applied to a 3-DOF redundant planar manipulator. Simulation results show that the proposed algorithm works well.

• Proceedings of the Korea Society for Industrial Systems Conference
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• 2000.05a
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• pp.125-134
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• 2000

In this paper, we proposed a new circuit construction method that reduced the number of CMOS devices of singleton fuzzy controller(SFC) through the proposing a new membership function circuit(MFC) which uses the language variable selecting and the coefficient selecting circuit. According to the range of input values, we can choose the language variables beforehand which will be used in the inference. So we proposed the new MFC which generates the only necessary language variables. Also, we removed all rules of which adapting degree of their antecedents is zero through proposing the coefficient selecting circuit which beforehand selects the coefficients which will influence the inference result. Though this method, we simplified the structure of SFC and reduced the size of hardware. And to solve the problem in the current mode with respect to the restriction of the fan-out number, voltage-input and current-out membership function circuits are constituted of operational transconductance amplifiers. A membership function circuit which includes the language variable selecting circuit, a minimum operation circuit we implemented by current mode CMOS devices. As a result of applying proposed method, total numbers of blocks and devices wave decreased. If the number of variables and antecedents are getting larger, this method is more efficient.

• Proceedings of the Korea Society for Industrial Systems Conference
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• 2000.11a
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• pp.357-365
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• 2000

In this paper, we proposed a new circuit construction method that reduced the number of CMOS devices of singleton fuzzy controller(SFC) through the proposing a new membership function circuit(MFC) which uses the language variable selecting and the coefficient selecting circuit. According to the range of input values, we can choose the language variables beforehand which will be used in the inference. So we proposed the new MFC which generates the only necessary language variables. Also, we removed all rules of which adapting degree of their antecedents is zero through proposing the coefficient selecting circuit which beforehand selects the coefficients which will influence the inference result. Though this method, we simplified the structure of SFC and reduced the size of hardware. And to solve the problem in the current mode with respect to the restriction of the fan-out number, voltage-input and current-out membership function circuits are constituted of operational transconductance amplifiers. A membership function circuit which includes the language variable selecting circuit, a minimum operation circuit we implemented by current mode CMOS devices. As a result of applying proposed method, total numbers of blocks and devices wave decreased. If the number of variables and antecedents are getting larger, this method is more efficient.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.25 no.9
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• pp.14-25
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• 2011

The solar vehicle is in the spotlight in the eco-friendly aspect of photovoltaic system using unlimited solar energy. The solar vehicle uses energy of photovoltaic and battery. The solar vehicle uses stored energy in battery when photovoltaic power is lower than consumption power by solar vehicle and if photovoltaic power is higher than consumption power by solar vehicle then photovoltaic power is stored to battery. To improve use efficiency of photovoltaic, the researches about MPPT method to operate maximum power point and interior permanent magnet synchronous motor(IPMSM)drive system using photovoltaic is necessary. This paper proposes MPPT control algorithm for solar vehicle using new fuzzy control(NFC). In this paper, to reduce switching loss, the DC-DC converter is omitted. The NFC controller can be use instead of PO. The NFC controller is performed MPPT control using solar cell voltage and q -axis current of IPMSM. The output of NFC is command q -axis current of IPMSM and this current is operated IPMSM. The response characteristics of algorithm proposed in this paper is compared response characteristics of conventional PO method by PSIM program and validity of this paper prove using this result.

• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.2
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• pp.159-164
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• 2010

This paper focuses on the stability analysis and stabilization for networked control system with neutral type of time-delay. By utilizing the delay partitioning idea, new stability criteria are proposed in terms of linear matrix inequalities(LMIs). These conditions are developed based on the Lyapunov-Krasovskii functionals. Based on the derived criteria, a sufficient condition for te solvability of this problem is obtained in terms of linear matrix inequality without decomposing the original system matrices. Also, it is shown that the proposed controller design method is general for networked control systems. Finally, illustrative examples are presented to show the applicability of the proposed method.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.16 no.3
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• pp.197-207
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• 2016

It is very important to maintain a constant chlorine concentration in the post chlorination process, which is the final step in the water treatment process (hereafter WTP) before servicing water to citizens. Even though a flow meter between the filtration basin and clear well must be installed for the post chlorination process, it is not easy to install owing to poor installation conditions. In such a case, a raw water flow meter has been used as an alternative and has led to dosage errors due to detention time. Therefore, the inlet flow to the clear well is estimated by a time series neural network for the plant without a measurement value, a new residual chlorine meter is installed in the inlet of the clear well to decrease the control period, and the proposed modeling and controller to analyze the chlorine concentration change in the well is a neuro fuzzy algorithm and cascade method. The proposed algorithm led to post chlorination and chlorination improvements of 1.75 times and 1.96 times respectively when it was applied to an operating WTP. As a result, a hygienically safer drinking water is supplied with preemptive response for the time delay and inherent characteristics of the disinfection process.

• Journal of the Korea Institute of Military Science and Technology
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• v.15 no.6
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• pp.721-728
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• 2012

The tracked SUGVs(Small Unmanned Ground Vehicles) are frequently operated in the narrow slope such as stairs and trails. But due to the nature of the tracked vehicle which is steered using friction between the track and the ground and the limited field of view of driving cameras mounted on the lower position, it is not easy for SUGVs to trace narrow slopes. To properly trace inclined narrows, it is very important for SUGVs to keep it's heading direction to the slope. As a matter of factor, no roll value control of a SUGV can makes it's heading being located in the direction of the slope in general terrains. But, the problem is that we cannot directly control roll motion for SUGV. Instead we can control yaw motion. In this paper, a new slope driving method that enables the vehicle trace the narrow slopes with IMU sensor usually mounted in the SUGV is suggested which including an estimation technique of the desired yaw angle corresponding to zero roll angle. In addition, a fuzzy steering controller robust to changes in driving speed and the stair geometry is designed to simulate narrow slope driving with the suggested method. It is shown that the suggested method is quite effective through the simulation.

• Advances in concrete construction
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• v.13 no.5
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• pp.385-394
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• 2022

Recently, an increasing number of cutting-edged studies have shown that designing a smart active control for real-time implementation requires piles of hard-work criteria in the design process, including performance controllers to reduce the tracking errors and tolerance to external interference and measure system disturbed perturbations. This article proposes an effective artificial-intelligence method using these rigorous criteria, which can be translated into general control plants for the management of civil engineering installations. To facilitate the calculation, an efficient solution process based on linear matrix (LMI) inequality has been introduced to verify the relevance of the proposed method, and extensive simulators have been carried out for the numerical constructive model in the seismic stimulation of the active rigidity. Additionally, a fuzzy model of the neural network based system (NN) is developed using an interconnected method for LDI (linear differential) representation determined for arbitrary dynamics. This expression is constructed with a nonlinear sector which converts the nonlinear model into a multiple linear deformation of the linear model and a new state sufficient to guarantee the asymptomatic stability of the Lyapunov function of the linear matrix inequality. In the control design, we incorporated H Infinity optimized development algorithm and performance analysis stability. Finally, there is a numerical practical example with simulations to show the results. The implication results in the RMS response with as well as without tuned mass damper (TMD) of the benchmark building under the external excitation, the El-Centro Earthquake, in which it also showed the simulation using evolved bat algorithmic LMI fuzzy controllers in term of RMS in acceleration and displacement of the building.

• Journal of Mechanical Science and Technology
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• v.17 no.2
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• pp.187-196
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• 2003

In this paper, a new methodology of evolutionary computations - An Adaptive Evolutionary Algorithm (AEA) is proposed. AEA uses a genetic algorithm (GA) and an evolution strategy (ES) in an adaptive manner in order to take merits of two different evolutionary computations : global search capability of GA and local search capability of ES. In the reproduction procedure, the proportions of the population by GA and ES are adaptively modulated according to the fitness. AEA is used to. designing fuzzy logic controller (FLC) for a high-angle-of-attack flight system for a super-maneuverable version of F-18 aircraft. AEA is used to determine the membership functions and scaling factors of an FLC. The computer simulation results show that the FLC has met both robustness and performance requirements.

• Proceedings of the IEEK Conference
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• 2002.06c
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• pp.37-40
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• 2002

Intelligent Wearable Module is intelligent system that arises when a human is part of the feedback loop of a computational process like a certain control system. Applied system is mobile robot. This paper represents the mobile robot control system remote controlled by Intelligent Wearable Module. So far, owing to the development of internet technologies, lots of remote control methods through internet have been proposed. To control a mobile robot through internet and guide it under unknown environment, We propose a control method activated by Intelligent Wearable Module. In a proposed system, PDA acts as a user interface to communicate with notebook as a controller of the mobile robot system using TCP/IP protocol, and the notebook controls the mobile robot system. Tlle information about the direction and velocity of the mobile robot feedbacks to the PDA and the PDA send new control method produced from the fuzzy inference engine.