• 한국지능시스템학회논문지
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• 제23권1호
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• pp.46-50
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• 2013

본 논문은 다수의 구동기 고장을 가진 유연 관절 로봇의 적응 고장 수용 제어기를 제안한다. 다수의 구동기 고장의 크기와 일어나는 시간은 알려지지 않는다고 가정한다. 구동기 고장을 수용하기 위해 추종 오차의 수렴율과 오버슈트의 최대치로 특성화된 미리 정의된 성능을 보장하는 유계 조건을 갖는 적응 고장 수용 제어기를 설계한다. 르아프노브 안정도 이론을 이용하여 페루트 시스템의 모든 신호가 준 전역적이고 균일하고 궁극적으로 유계됨을 증명하고 추종 오차가 미리 정의된 성능 유계에서 벗어나지 않음을 보인다.

• 천문학회지
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• 제33권1호
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• pp.37-45
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• 2000

We have investigated the properties of the high-latitude cloud MBM 7 using the 3 mm transitions of CO, CS, HCN, $HCO^+,\;C_3H_2,\;N_2H^+$, and SiO. The molecular component of MBM 7 shows a very clumpy structure with a size of $\le$0.5 pc, elongated along the northwest-southeast direction, perpendicularly to an extended HI component, which could be resulted from shock formation. We have derived physical properties for two molecular cores in the central region. Their sizes are 0.1-0.3 pc and masses 1-2 M$\bigodot$ having an average volume density $\~2{\times}10^3 cm^{-3}$ at the peak of molecular emission. We have tested the stability of the cores using the full version of the virial theorem and found that the cores are stabilized with ambient medium, and they are expected not to be dissipated easily without external perturbations. Therefore MBM 7 does not seem to be a site for new star formation. The molecular abundances in the densest core appear to be much less (by about one order of magnitude) than the 'general' dark cloud values. If the depletions of heavy elements are not significant in the HLCs compared with those in typical dark clouds, our results may suggest different chemical evolutionary stages or different chemical environments of the HLCs compared with dense dark clouds in the Galactic plane.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1999년도 제14차 학술회의논문집
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• pp.92-95
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• 1999

The design problem of the control system is the ability to synthesize controller that achieve robust stability and robust performance. The paper explains the Finite Inclusions Theorem (FIT) by the procedure namely FIT synthesis. It is developed for synthesizing robustly stabilizing controller for parametrically uncertain system. The fundamental problem in the study of parametrically uncertain system is to determine whether or not all the polynomials in a given family of characteristic polynomials is Hurwitz i.e., all their roots lie in the open left-half plane. By FIT it can prove a polynomial is Hurwitz from only approximate knowledge of the polynomial's phase at finitely many points along the imaginary axis. An example shows the simplicity of using the FIT synthesis to directly search for robust controller of parametrically uncertain system by way of solving a sequence of systems of linear inequalities. The systems of inequalities are solved via the projection method which is an elegantly simple technique fur solving (finite or infinite) systems of convex inequalities in an arbitrary Hilbert space. Results from example show that the controller synthesized by FIT synthesis is better than by H$\sub$$\infty$/ synthesis with parametrically uncertain system as well as satisfied the objectives for a considerably larger range of uncertainty.

• Geomechanics and Engineering
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• 제15권1호
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• pp.621-630
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• 2018

In the note a comprehensive and optimal passive-active mode for describing the limit failure of circular shallow tunnel with settlement is put forward to predict the catastrophic stability during the geotechnical construction. Since the surrounding soil mass around tunnel roof is not homogeneous, with tools of variation calculus, several different curve functions which depict several failure shapes in different soil layers are obtained using virtual work formulae. By making reference to the simple-form of Power-law failure criteria based on numerous experiments, a numerical procedure with consideration of combination of upper bound theorem and stochastic medium theory is applied to the optimal analysis of shallow-buried tunnel failure. With help of functional catastrophe theory, this work presented a more accurate and optimal failure profile compared with previous work. Lastly the note discusses different effects of parameters in new yield rule and soil mechanical coefficients on failure mechanisms. The scope of failure block becomes smaller with increase of the parameter A and the range of failure soil mass tends to decrease with decrease of unit weight of the soil and tunnel radius, which verifies the geomechanics and practical case in engineering.

• Journal of Power Electronics
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• 제16권2호
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• pp.598-609
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• 2016

The good control performance of permanent magnet linear synchronous motor (LSM) drive systems is difficult to achieve using linear controllers because of uncertainty effects, such as fictitious forces. A backstepping control system using adaptive modified recurrent Laguerre orthogonal polynomial neural network uncertainty observer (OPNNUO) is proposed to increase the robustness of LSM drive systems. First, a field-oriented mechanism is applied to formulate a dynamic equation for an LSM drive system. Second, a backstepping approach is proposed to control the motion of the LSM drive system. With the proposed backstepping control system, the mover position of the LSM drive achieves good transient control performance and robustness. As the LSM drive system is prone to nonlinear and time-varying uncertainties, an adaptive modified recurrent Laguerre OPNNUO is proposed to estimate lumped uncertainties and thereby enhance the robustness of the LSM drive system. The on-line parameter training methodology of the modified recurrent Laguerre OPNN is based on the Lyapunov stability theorem. Furthermore, two optimal learning rates of the modified recurrent Laguerre OPNN are derived to accelerate parameter convergence. Finally, the effectiveness of the proposed control system is verified by experimental results.

• 대한기계학회논문집A
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• 제30권10호
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• pp.1209-1218
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• 2006

Precision servomechanisms are widely used in machine tool, semiconductor and flat panel display industries. It is important to improve contouring accuracy in high-precision servomechanisms. In order to improve the contouring accuracy, cross-coupled control systems have been proposed. However, it is very difficult to select the controller parameters because cross-coupled control systems are multivariable, nonlinear and time-varying systems. In this paper, in order to improve contouring accuracy of a biaxial servomechanism, a cross-coupled controller is adopted and an optimal tuning procedure based on an integrated design concept is proposed. Strict mathematical modeling and identification process of a servomechanism are performed. An optimal tuning problem is formulated as a nonlinear constrained optimization problem including the relevant controller parameters of the servomechanism. The objective of the optimal tuning procedure is to minimize both the contour error and the settling time while satisfying constraints such as the relative stability and maximum overshoot conditions, etc. The effectiveness of the proposed optimal tuning procedure is verified through experiments.

• Journal of Power Electronics
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• 제16권3호
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• pp.1131-1140
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• 2016

A simple design for a sliding mode observer is proposed for EV lithium battery SOC estimation in this paper. The proposed observer does not have the limiting conditions of existing observers. Compared to the design of previous sliding mode observers, the new observer does not require a solving matrix equation and it does not need many observers for all of the state components. As a result, it is simple in terms of calculations and convenient for engineering applications. The new observer is suitable for both time-variant and time-invariant models of battery SOC estimation, and the robustness of the new observer is proved by Liapunov stability theorem. Battery tests are performed with simulated FUDS cycles. The proposed observer is used for the SOC estimation on both unchanging parameter and changing parameter models. The estimation results show that the new observer is robust and that the estimation precision can be improved base on a more accurate battery model.

• Journal of Power Electronics
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• 제11권5호
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• pp.719-725
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• 2011

This paper describes a novel Direct Torque Control (DTC) method for adjustable speed Doubly-Fed Induction Machine (DFIM) drives which is supplied by a two-level Space Vector Modulation (SVM) voltage source inverter (DTC-SVM) in the rotor circuit. The inverter reference voltage vector is obtained by using input-output feedback linearization control and a DFIM model in the stator a-b axes reference frame with stator currents and rotor fluxes as state variables. Moreover, to make this nonlinear controller stable and robust to most varying electrical parameter uncertainties, a two layer recurrent Artificial Neural Network (ANN) is used to estimate a certain function which shows the machine lumped uncertainty. The overall system stability is proved by the Lyapunov theorem. It is shown that the torque and flux tracking errors as well as the updated weights of the ANN are uniformly ultimately bounded. Finally, effectiveness of the proposed control approach is shown by computer simulation results.

• International Journal of Automotive Technology
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• 제8권2호
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• pp.249-258
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• 2007

This paper proposes a method that can be used for the resistance estimation of a PWM (Pulse Width Modulation)-driven solenoid. By using estimated solenoid resistance, the PWM duty ratio was compensated to be proportional to the solenoid current. The proposed method was developed for use with EHB (Electro-Hydraulic Braking) systems, which are essential features of the regenerative braking system of many electric vehicles. Because the HU (Hydraulic Unit) of most EHB systems performs not only ABS/TCS/ESP (Electronic Stability Program) functions but also service braking function, the possible duration of continuous solenoid driving is so long that the generated heat can drastically change the level of solenoid resistance. The current model of the PWM-driven solenoid is further developed in this paper; from this a new resistance equation is derived. This resistance equation is solved by using an iterative method known as the FPT (fixed point theorem). Furthermore, by taking the average of the resistance estimates, it was possible to successfully eliminate the effect of measurement noise factors. Simulation results showed that the proposed method contained a sufficient pass-band in the frequency response. Experimental results also showed that adaptive solenoid driving which incorporates resistance estimations is able to maintain a linear relationship between the PWM duty ratio and the solenoid current in spite of a wide variety of ambient temperatures and continuous driving.

• 생물정신의학
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• 제29권1호
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• pp.1-8
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• 2022

Objectives In regard to the social competition hypothesis, depression is viewed as an involuntary defeat strategy. A previous study has demonstrated that adaptation in microenvironments can result in a wide range of behavioural patterns including defense activation disorders. Using a simulation model with evolutionary ecological agents, we explore how the fitness of various defence activation traits has changed over time in different environments with high and low social mobility. Methods The Evolutionary Ecological Model of Defence Activation Disorder, which is based on the Marginal Value Theorem, was used to examine changes in relative fitness for individuals with defensive activation disorders after adjusting for social mobility. Results Our study examined the effects of social mobility on fitness by varying the d-values, a measure of depression in the model. With a decline in social mobility, the level of fitness of individuals with high levels of defense activation decreased. We gained insight into the evolutionary influence of varying levels of social mobility on individuals' degrees of depression. In the context of a highly stratified society, the results support a mismatch hypothesis which states that high levels of defence are detrimental. Conclusions Despite the fact that niche specialization in habitats composed of multiple microenvironments can result in diverse levels of defensive activation being evolutionary strategies for stability, decreased social mobility may lead to a decrease in fitness of individuals with highly activated defence modules. There may be a reason behind the epidemic of depression in modern society.