• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1949-1954
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• 2005

One of control methods for underactuated manipulators is known as a switching control which selects a partially-stable controller using a prespecified switching rule. A switching computed torque control with a fuzzy energy region method was proposed. In this approach, some partly stable controllers are designed by the computed torque method, and a switching rule is based on fuzzy energy regions. Design parameters related to boundary curves of fuzzy energy regions are optimized offline by a genetic algorithm (GA). In this paper, we discuss on parameters obtained by GA. The effectiveness of the switching fuzzy energy method is demonstrated with some simulations.

• Transactions on Control, Automation and Systems Engineering
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• 제4권1호
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• pp.100-107
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• 2002

The advanced bilateral control algorithm, which can enlarge a reflected force by combining force reflection and compliance control, greatly enhances workability in teleoperation. In this scheme the maximum boundaries of a compliance controller and a force reflection gain guaranteeing stability and good task performance greatly depend upon characteristics of a slave arm, a master arm, and an environment. These characteristics, however, are generally unknown in teleoperation. It is, therefore, very difficult to determine such maximum boundary of the gain. The paper presented a novel method for design of an advanced bilateral controller. The factors affecting task performance and stability in the advanced bilateral controller were analyzed and a design guideline was presented. The neurofuzzy compliance model (NFCM)-based bilateral control proposed herein is an algorithm designed to automatically determine the suitable compliance for a given task or environment. The NFCM, composed of a fuzzy logic controller (FLC) and a rule-learning mechanism, is used as a compliance controller. The FLC generates compliant motions according to contact forces. The rule-learning mechanism, which is based upon the reinforcement learning algorithm, trains the rule-base of the FLC until the given task is done successfully. Since the scheme allows the use of large force reflection gain, it can assure good task performance. Moreover, the scheme does not require any priori knowledge on a slave arm dynamics, a slave arm controller and an environment, and thus, it can be easily applied to the control of any telerobot systems. Through a series of experiments effectiveness of the proposed algorithm has been verified.

• 품질경영학회지
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• 제36권3호
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• pp.34-44
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• 2008

This research proposes a design method based on the statistical characteristics of the Shewhart control chart incorporated with 2 of 2 and 2 of 3 runs rules respectively. A Markov chain approach is employed in order to calculate the in-control and out-of-control average run lengths(ARL). Two different control limit coefficients for the Shewhart scheme and the runs rule scheme are derived simultaneously to minimize the out-of-control average run length subject to the reasonable in-control average run length. Numerical examples show that the statistical performance of the hybrid control scheme are superior to that of the original Shewhart control chart.

• 정보처리학회논문지B
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• 제9B권3호
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• pp.263-270
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• 2002

현재가지 개발된 화재진압통제 지능시스템들은 대부분 규칙기반 시스템이다. 실제로 화재를 탐지하는데 필요한 지식은 정형화된 규칙만으로 표현하기 어렵다. 또한 시스템의 성능 향상을 위해서 지속적인 규칙들의 수정 및 추가가 이루어져야 하며, 특히 예외적인 상황에서의 화재 발생 탐지시 문제점을 지니고 있다. 이러한 문제점들을 개선하기 위한 규칙 및 사례기반 추론을 이용한 하이브리드 화재진압통제 지능시스템 (H-FFIS)은 규칙기반 시스템보다 화재탐지율은 향상시켰으나, 수행시간이 증가되었다. 본 연구에서는 기존의 H-FFIS의 단점을 보완하기 위하여 규칙 및 클러스터링에 의한 사례기반 추론을 이용한 개선된 선박 화재진압통제 지능시스템(A-FFIS)을 제안한다. 제안하는 시스템은 기존의 H-FFIS와 비교해 볼 때, 수행시간을 감소시키면서 정확성을 향상시키는 결과를 얻었다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 추계학술대회 논문집 학회본부 D
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• pp.650-652
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• 2000

Although Fuzzy Logic Controller(FLC) adopted three terms as input gives better performance. FLC is in general composed of two-term control because of the difficulty in the construction of fuzzy rule base. In this paper, a three-term FLC which is similar to PID control but acts as a nonlinear controller is proposed. To reduce the complexity of the rule base design and increase efficiency, a simplified fuzzy PID control is induced from a hybrid velocity/position type PID algorithm by sharing a common rule base for both fuzzy Pi and fuzzy PD parts. It is simple in structure, easy in implementation, and fast in calculation. The phase plane technique is applied to obtain the rule base for fuzzy two-term control and them. The resultant rule base is Macvicar-Whelan type. The frequency response information is used in tuning of membership functions. Also a tuning strategy for the scaling factors is Proposed based on the relationship between PID gain and them. Simulation results show better performance and the effectiveness of the proposed method.

• 산업기술연구
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• 제20권B호
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• pp.155-162
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• 2000

Although Fuzzy Logic Controller(FLC) adopted three terms as input gives better performance, FLC is in general composed of two-term control because of the difficulty in the construction of fuzzy rule base. In this paper, a three-term FLC which is similar to PID control but acts as a nonlinear controller is proposed. To reduce the complexity of the rule base design and to increase efficiency. a simplified fuzzy PID control is induced from a hybrid velocity/position type PID algorithm by sharing a common rule base for both fuzzy PI and fuzzy PD parts. It is simple in structure, easy in implementation, and fast in calculation. The phase plane technique is applied to obtain the rule base for fuzzy two-term control and the resultant rule base is Macvicar-Whelan type. And the membership function is a Gaussian function. The frequency response information is used in tuning of the membership functions. Also a tuning strategy for the scaling factors is proposed based on the relationship between PID gain and the scaling factors. Simulation results show better performance and the effectiveness of the proposed method.

• Transactions on Control, Automation and Systems Engineering
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• 제3권3호
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• pp.170-175
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• 2001

Q-learning is a kind of reinforcement learning where the agent solves the given task based on rewards received from the environment. Most research done in the field of Q-learning has focused on discrete domains, although the environment with which the agent must interact is generally continuous. Thus we need to devise some methods that enable Q-learning to be applicable to the continuous problem domain. In this paper, an extended fuzzy rule is proposed so that it can incorporate Q-learning. The interpolation technique, which is widely used in memory-based learning, is adopted to represent the appropriate Q value for current state and action pair in each extended fuzzy rule. The resulting structure based on the fuzzy inference system has the capability of solving the continuous state about the environment. The effectiveness of the proposed structure is shown through simulation on the cart-pole system.

• 공학논문집
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• 제3권1호
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• pp.123-129
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• 1998

본 논문에서는 지능형 실시간 제어 시스템 구축을 위하여 근사값 계산 방법의 적용을 rule-based 시스템과 관련하여 도모한다. 자원 정보에 대한 획득 및 표현 방안을 탐색하고, 이를 구현하기 위한 소프트웨어 설계 및 구현된 시스템의 타당성을 판단하기 위한 기준을 제시한다.

• Journal of Electrical Engineering and Technology
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• 제11권2호
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• pp.470-479
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• 2016

The model based method for energy saving of the separately excited DC motor drive system is proposed in the paper. The accurate power loss model is necessary for this method. Therefore, the adaptive tabu search algorithm is applied to identify the parameters in the power loss model. The field current values for minimum power losses at any load torques and speeds are calculated by the proposed method. The rule based controller is used to control the field current and speed of the motor. The experimental results confirm that the model based method can successfully provide the energy saving for separately excited DC motor drive. The maximum value of the energy saving is 48.61% compared with the conventional drive method.

• 한국정보통신학회논문지
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• 제9권7호
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• pp.1582-1587
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• 2005

본 논문은 정수장에서 사용하는 응집제의 종류를 결정하기 위한 시스템 개발에 관한 내용이다. 정수장은 여러 단위 처리장으로 구성되며, 불순물을 제거하기 위하여 혼화지에서 응집제를 주입하여 침전을 시킨다. 현재까지 응집제 결정을 위해 Jar-test를 이용하는데, 이 방법은 사람의 주관적인 판단에 의존하므로 실험 오차가 발생할 수 있다. 특히 정수장의 자동화를 위한 시스템 개발에서 가장 큰 걸림돌로 작용하고 있다. 본 논문은 이러한 문제점을 해결하기 위하여 로드맵에 기초한 데이터마이닝 기법을 이용하여 응집제를 선택할 수 있는 제어기를 개발하였다. 제어 규칙은 클러스터링 기법으로 도출하였는데, 군집의 초기 값과 개수는 통계적 지수 값을 사용하여 결정하였다.