• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.99-104
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• 2001

Discrete-time controller design is proposed using feedback system identification in frequency domain. System Stability imposed by a new controller is checked in the function of a conventional closed-loop system, instead of a poorly modeled plant due to non-linearity and disturbance as well as unstable components, etc. The stability of the system is evaluated in view of Popov criterion. All the equations are formulated in the framework of the discrete-time system. Simulation results are shown on the plant with input saturation components, DC disturbance and a pure integration.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.664-669
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• 2001

Continuous-time controller design is proposed using feedback system identification in frequency domain. System stability imposed by a new controller is checked in the function of a conventional closed-loop system, instead of a poorly modeled plant due to non-linearity and disturbance as well as unstable components, etc. The stability of the system is evaluated in view of Nyquist stability. All the equations are formulated in the framework of the discrete-time system. Simulation results are shown on the plant with input saturation and DC disturbance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.41.2-41
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• 2001

A torque transmission system, which is composed of several gears and couplings, is flexible. Therefore, the torsion vibration occurs when the motor speed abruptly changes. Consequently, for Accuracy characteristic response of motor, we must suppressed vibration. Therefore, vibration suppression is very important motor control. To vibration suppression, various control method have been proposed. Specially, one method of vibration suppression used disturbance observer filter. This method is torsion torque passing disturbance observer filter. By feedback of the estimated torsion torque, the vibration can be suppressed The coefficient diagram method is used to design the filter and proportional controller.

• 한국콘텐츠학회:학술대회논문집
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• 한국콘텐츠학회 2006년도 추계 종합학술대회 논문집
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• pp.716-720
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• 2006

본 논문에서는 원격의료지원을 위한 Ubiquitous Sensor Network에서 생체신호를 효율적으로 전송하기 위하여 생체신호의 데이터 종류에 따라 전송 전력의 크기와 경로설정 빈도수를 변화시키는 새로운 라우팅 방안을 제안한다. 제안한 라우팅 알고리즘에서는 위급한 생체신호 트래픽에 대해서는 경로 설정 지연을 줄일 수 있도록 전송전력의 크기를 크게 설정하여 경유하는 흡수를 줄이고 경로 설정에 우선순위를 주며, 위급하지 않은 생체신호 트래픽에 대해서는 전송전력의 크기를 작게 설정하고, 경로설정 빈도수를 적응적으로 감소시킨다 따라서 위급한 생체신호 트래픽에 대해서는 평균 흡수 및 호 블로킹 확률을 줄일 수 있어서 기존의 획일적인 전송전력의 크기를 사용하는 방안에 비해 복잡한 USN에서 위급한 생체신호의 QoS를 만족할 수 있을 것이다.

• Journal of Power Electronics
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• 제10권5호
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• pp.505-517
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• 2010

In this paper, an intelligent sliding-mode speed controller for achieving favorable decoupling control and high precision speed tracking performance of permanent-magnet synchronous motor (PMSM) drives is proposed. The intelligent controller consists of a sliding-mode controller (SMC) in the speed feed-back loop in addition to an on-line trained wavelet-neural-network controller (WNNC) connected in parallel with the SMC to construct a robust wavelet-neural-network controller (RWNNC). The RWNNC combines the merits of a SMC with the robust characteristics and a WNNC, which combines artificial neural networks for their online learning ability and wavelet decomposition for its identification ability. Theoretical analyses of both SMC and WNNC speed controllers are developed. The WNN is utilized to predict the uncertain system dynamics to relax the requirement of uncertainty bound in the design of a SMC. A computer simulation is developed to demonstrate the effectiveness of the proposed intelligent sliding mode speed controller. An experimental system is established to verify the effectiveness of the proposed control system. All of the control algorithms are implemented on a TMS320C31 DSP-based control computer. The simulated and experimental results confirm that the proposed RWNNC grants robust performance and precise response regardless of load disturbances and PMSM parameter uncertainties.

• 대한전자공학회논문지
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• 제21권4호
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• pp.78-83
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• 1984

Hyperstability 이론에 의한 연속시간 시스템의 제어 알고리즘을 이산시간 선형시변 시스템의 적응제어에 직접 이용하여 시스템의 설계를 간단하게 하였다. 기준인력으로서 계단함수와 램프함수를 인가하여 설계된 시스템의 동작특성을 조사해 본 결과 공정의 출력이 모델의 출력에 적응함을 알 수 있었다.

• 한국정밀공학회지
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• 제7권4호
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• pp.85-102
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• 1990

Up to now, most robot control systems are very naive. They consist of a number of independent position-servo loops to control each joint angle separately. Those control systems have constant predefined gains and do not cover the complex dynamic interactions between manipulator joints. As a result, the manipulator is severely limited in range of application, speed of operation and variation of payload. This study proposed a new method to design a robot manipulator controller capable of tracking the reference trajectories of joint angles in a reasonable accuracy to cope with actual situations of varying payload, uncertain parameters. The adaptive model following control method has been used to improve existing robot manipulator controllers. The proposed controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories defined by the designer. The stability of adaptive controller is based on the Second Method of Lyapunov. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance under various load varia- tion and parameter uncertainties.

• 한국지능시스템학회논문지
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• 제6권2호
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• pp.43-51
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• 1996

퍼지제어에서 퍼지규칙은 퍼지제어기의 제어결정을 내리는데 중요한 역할을 한다. 그래서, 제어성능은 주로 퍼지규칙의 질에 의해서 결정된다. 본 논문에서 우리는 교차와 돌연번이의 확률이 적응적으로 변화되는 유전자 알고리즘을 사용하여 퍼지규칙을 최적화 하는 방법을 기술한다. 또한 본 논문에서 우리는 플랜트의 응답을 듀개의 부분으로 나누어 제어 목적을 만족하게 하는 적합도 측정 방식을 제안한다. 좀더 빠른 해답을 얻기 위해 우리는 초기의 퍼지규칙으로 무작위적인 규칙을 사용하지 않고 자동으로 퍼지규칙을 생성하는 방법을 사용하여 초기 퍼지규칙으로 사용했다. 이렇게 얻어진 퍼지규칙이 좋은 것인지를 보여주기 위해 비선형 플랜트를 이용하여 시뮬레이션 해보았다. 시뮬레이션 결과 우리의 방법이 합리적이고 유용한 것임이 밝혀졌다.

• Molecules and Cells
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• 제26권4호
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• pp.323-328
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• 2008

Eukaryotic cells continuously integrate intrinsic and extrinsic signals to adapt to the environment. When exposed to stressful conditions, cells activate compartment-specific adaptive responses. If these are insufficient, apoptosis ensues as an organismal defense line. The mechanisms that sense stress and set the transition from adaptive to maladaptive responses, activating apoptotic programs, are the subject of intense studies, also for their potential impact in cancer and degenerative disorders. In the former case, one would aim at lowering the threshold, in the latter instead to increase it. Protein synthesis, consuming energy for anabolic processes as well as for byproducts disposal, can be a significant source of stress, particularly when difficult-to-fold proteins are produced. Recent work from our and other laboratories on the differentiation of antibody secreting cells, revealed a regulatory circuit that integrates protein synthesis, secretion and degradation (proteostasis), into cell lifespan determination. The apoptotic elimination - after an industrious, yet short lifetime - of terminal immune effectors is crucial to maintain immune homeostasis. Linking proteostasis to cell death, this paradigm might prove useful for biotechnological purposes, and the design of novel anti-cancer therapies.

• Geomechanics and Engineering
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• 제16권6호
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• pp.655-667
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• 2018

To evaluate the stability of a rock slope with one pre-exiting vertical crack, this paper performs corresponding probabilistic stability analysis. The existence of cracks is generally ignored in traditional deterministic stability analysis. However, they are widely found in either cohesive soil or rock slopes. The influence of one pre-exiting vertical crack on a rock slope is considered in this study. The safety factor, which is usually adopted to quantity the stability of slopes, is derived through the deterministic computation based on the strength reduction technique. The generalized Hoek-Brown (HB) failure criterion is adopted to characterize the failure of rock masses. Considering high nonlinearity of the limit state function as using nonlinear HB criterion, the multivariate adaptive regression splines (MARS) is used to accurately approximate the implicit limit state function of a rock slope. Then the MARS is integrated with Monte Carlo simulation to implement reliability analysis, and the influences of distribution types, level of uncertainty, and constants on the probability density functions and failure probability are discussed. It is found that distribution types of random variables have little influence on reliability results. The reliability results are affected by a combination of the uncertainty level and the constants. Finally, a reliability-based design figure is provided to evaluate the safety factor of a slope required for a target failure probability.