• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.760-763
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• 1997

Using telesensor programming method, we control the space robot which has two 2-DOF manipulators. To make this control system, we devide total works by elemental operation. And we make a simulation system that can simulate sensors and robot. In the simulation system, we make a sensor data and robot paths by "Teaching by showing" method. And using these data, we control the real space robot. This off-line method can solve long time delay problem in teleoperation.operation.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1998년도 추계종합학술대회 논문집
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• pp.437-440
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• 1998

In this paper, the design method of fuzzy neural network(FNN) controller using indirect adaptive control technique is presented for controlling chaotic nonlinear systems. Firstly, the fuzzy model identified with a FNN in off-line process. Secondly, the trained fuzzy model tunes adaptively the control rules of the FNN controller in on-line process. In order to evaluate the proposed control method, Indirect adaptive control method is applied to the representative continuous-time chaotic nonlinear systems, that is, the Duffing system and the Lorenz system. Simulations are done to verify the effectivencess of controller.

• 대한기계학회논문집A
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• 제24권1호
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• pp.182-189
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• 2000

This paper presents the real time control method of 5-axis NC machine for high precision and productivity based on the curvature theory, of a ruled surface. The trajectory, of NC machine is described by, way of a ruled surface generated by the points on part surface and tool axis direction vector. The curvature theory, of a ruled surface is then applied to deter-mine the motion parameters of the 5-axis machine for control. The controller computes position, orientation, and differential motion parameters of the tool in each sampling period. The real-time approach produces smoother surfaces and requires substantially less machining time compared to conventional off-line approaches. The propose real-time control method based of the curvature theory of a ruled surface may give new methodology of precision 5-axis machine control.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 B
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• pp.774-777
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• 1996

This paper presents a new development of real-time generator simulator which is operating on PC environment. User friendly made interfaces make it possible for any users to utilize the simulator immediately with very little learning efforts. Also, the real-time simulation gives much more practical operation feeling to the users. It provides a very useful tool for analyzing system dynamics and developing the power system control schemes.

• Journal of Construction Engineering and Project Management
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• 제4권2호
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• pp.31-40
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• 2014

The management of vehicular supply of "perishable" construction material, such as concrete mixes, faces a series of uncertainties such as weather, daily traffic patterns and accidents. Presented in this paper is a logistics control model for managing a hauling fleet with interrelated processes at both ends and queue capacities. Discrete event simulation is used to model the complex interactions of production units and the randomness of the real world. Two alternative strategies for ready mix concrete delivery, with and without an off-site waiting queue, are studied to compare supply performance. Secondly, the paper discusses the effect of an agent-based GPS tracking system providing real-time travel data that lessens the uncertainty of trucking time. The results show that the combination of GPS information with off-site queuing reduces productivity loss and process wastes of concrete placement as well as the idleness of supply trucks when crew or pump experience an unexpected stoppage.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.459-459
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• 2000

The purpose of this paper is the application of the techniques for the new estimation of robustness for the aircraft systems having structured uncertainties. The basic ideas to analyze the system which is the originally nonlinear is Lyapunov direct theorems. The nonlinear systems have various forms of terms inside the system equations and this investigation is confined in the form of bounded uncertainties. The number of uncertainties will be the degree of freedoms in the calculation of the robust stability regions called the robustness bounds. This proposition adopts the theoretical analysis of the Lyapunov direct methods, that is, the sign properties of the Lyapunov function derivative integrated along finite intervals of time, in place of the original method of the sign properties of the time derivative of the Lyapunov function itself. This is the new sufficient criteria to relax the stability condition and is used to generate techniques for the robust design of control systems with structured perturbations. Using this relaxing stability conditions, in this paper, the quadratic form of Lyapunov function is utilized. In this paper, the practical system of vertical take-off and landing (VTOL) aircraft is analyzed with the proposed stability criteria based upon the Lyapunov direct method. The application of numerical procedures can prove the improvements in estimations of robustness with structured uncertainties. The applicable aircraft system is assumed to be linear with time-varying with nonlinear bounded perturbations.

• Earthquakes and Structures
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• 제8권3호
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• pp.699-712
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• 2015

Bracing structures with off-centre bracing system is one of the new resistant systems that frequently used in the frame with pin connections. High ductility, high-energy dissipation and decrease of base shear are advantages of this bracing system. However, beside these advantages, reconstruction and hard repair of off-centre bracing system cause inappropriate performance in the earthquake. Therefore, in this paper, the goal is investigating the behavior of this type of bracing system with ductile element (circular dissipater), in order to providing replacement of damaged member without needing repair or reconstruction of the general system. To achieve this purpose, some numerical studies have been performed using ANSYS software, a frame with off-centre bracing system and optimum eccentricity (OBS-C-O) and another frame with the same identifications without ductile element (OBS) has been created. In order to investigate precisely on the optimum placement of circular elements under monotonic load again three steal frames were modeled. Furthermore, the behavior of this general system investigated for the first time, linear and nonlinear behavior of these two steel frames compared to each other, to achieve the benefit of using the circular element in an off-centre bracing system. Eventually, the analytical results revealed that the performance of steel ring at the end of off-centre braces system illustrating as a first defensive line and buckling fuse in the off-centre bracing system.

• 한국항공우주학회지
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• 제38권9호
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• pp.882-889
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• 2010

수동형 진동제어 방식과 같이 시스템이 안정되며, 수동형에 비해 높은 제진 효과가 기대되는 반능동 진동제어 방식은 시스템의 안정화가 요구되는 우주구조물의 제진방법에 유효한 진동제어 방식중 하나이다. On-Off 제어방식에 근거한 반능동 제어는 On-Off 스위칭 시에 전달력의 불연속성으로 인한 chattering을 발생시킬 수 있으며, 이는 탑재체 구조물의 고유진동수와의 커플링으로 인하여 지향성능을 저하시키는 원인으로 작용할 수 있다. 본 논문에서는 chattering 영향 최소화를 통한 지향성능향상을 목적으로 LQ(Linear Quadratic)이론에 기반한 가변 감쇠형 반능동 제어기법을 제안하였다. 시뮬레이션 결과는 본 논문에서 제안한 반능동 제어기법은 기존의 skyhook와 LQ를 기반으로 하는 Bang-Bang 반능동 제어기법과 비교하여 높은 진동절연 성능을 나타내고 있다.

• 전자공학회논문지
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• 제50권12호
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• pp.254-260
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• 2013

뇌전도 분석에 의한 제어신호의 검출은 다양한 분야에 활용될 수 있다. 다채널 뇌파 연구는 측정 시스템이 복잡해지고 착용이 불편해진다는 단점이 있어서 본 논문에서는 실용적인 응용을 우선으로 하였고 단 채널 기반으로 집중에 의한 on/off 제어 신호를 신뢰성 있게 검출할 수 있는 방법을 연구하였다. 평상시 휴식 상태와 집중하였을 때의 알파, 베타 및 세타파의 대역 신호를 분석하였으며 이 때 파워스펙트럼과 히스토그램에서의 차이를 검출하였다. 세타파를 이용하였을 때 보다 베타/세타를 이용해 집중력 검출을 하는 것이 더 좋은 결과를 나타내었다. 세타파만을 이용하였을 때보다 평균 검출 시간이 단축되었으며 또한 집중 전 휴식시간이 길어질수록 검출 성공률이 낮아지며, 검출 시간도 상대적으로 길어졌다. 휴식시간 10초의 경우 개인마다 검출 성능의 차이는 있었지만 평균 91%의 검출 성공률과 검출 시간은 평균 20.2초의 결과를 얻었다.

• 전자공학회논문지SC
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• 제45권3호
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• pp.51-58
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• 2008

본 논문은 반도체를 이용한 열화방지형 파워폴딩 제어기 설계에 관한 연구이다. 파워기술은 자동차용 사이드 미러 접이 콘트롤러, 와이퍼 콜트롤러, 안테나 콘트롤러, 파워윈도우 콘트롤러 등에 사용되고 있는 모터제어기술로 기존의 제어 방식은 DC 모터, 스위칭 소자 그리고 Relay 등을 조합한 방식을 채택하고 있다. 그러나 이러한 방식은 동작에 대한 신뢰성 및 내구성, 노이즈 등의 문제점을 극복하는데 한계를 갖고 있다. 따라서 본 논문에서는 모터의 동작을 감시하기 위한 방법으로 부하감지부에서 Motor의 Brush Noise를 감지하도록 하였고, R, C 충 방전 시정수에 의한 정밀시간 제어 방법으로 모터의 열화현상을 최소화하였다. 그리고 스위칭 소자로 반도체 소자인 MOSFET를 사용함으로써 동작의 안정성과 수명의 한계를 극복할 수 있는 제어장치를 설계하였다. 연구결과 모터의 반복 동작시간, Cut-off Time, 동작전압 범위, 전원 발생 노이즈 등에서 최대 11배 이상 향상된 효과를 얻을 수 있었다.