• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
• /
• pp.530-532
• /
• 2006

In this paper, we propose stable walking algorithm using ZMP for the biped robot in the slope-way. At first, we define discrete state variables that classified stable area and unstable area by center of mass from ZMP during slope-way walking. For the stable walking gait, the discrete state controller for determining the high-level and low-level decision making are designed. The high-level decision making is composed of the discrete state variables; left foot support phase, right foot support phase, flat-way, and slope-way. Then the continuous state controller is implemented for the low-level decision making using ZMP.

• 제어로봇시스템학회논문지
• /
• 제7권2호
• /
• pp.117-124
• /
• 2001

In a SRM drive, the on/off angles of each phase switch should be accurately controlled in order to control to torque and speed in a stable way, The accuracy of the switching angles is dependent upon the resolution of the encoder and the sampling period of the microprocessor. However, as the speed increase, the amount of the switching angle deviation from the preset values is also increased by the sampling period of the microprocessor. Therefore, a low cost encoder suitable for a practical and stable SRM drive is proposed and the control algorithm to provide the switching signals using the simple digital logic circuit is also presented in this paper. It is verified from the experiments that the proposed encoder and logic controller can be a powerful candidate a the practical low cost SRM drive.

• 산업기술연구
• /
• 제18권
• /
• pp.173-180
• /
• 1998

A high speed and stable A/D conversion data process is required to weigh a mass on moving conveyer weighing platter. The paper presents a new method to obtain stable and fast automatic weighing A/D conversion data process. Dynamic weighting system which is constructed with dual load cell is realized by the stable A/D conversion data process algorithm using DSP. The proposed method is applied to the real design, and that experimental results showed good performances of the weighing stability.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2001년도 ICCAS
• /
• pp.151.5-151
• /
• 2001

Sliding mode control is investigated for a discrete-time system with uncertainties. The narrowest neighborhood of the sliding surface is shown in which the state can remain. The range is determined by the upper bound of the absolute value of the uncertainty and the equation of the sliding surface. A sliding mode control algorithm is proposed to keep the state there without requiring an enormous input. Under the presence of the system parameter variations, the origin is not always stable although the sliding surface represents the stable dynamics and the state is kept in this neighborhood. The condition for the origin to be stable is investigated. Furthermore, the problems occurring when a continuous-time sliding mode control being ...

• Journal of information and communication convergence engineering
• /
• 제9권6호
• /
• pp.633-636
• /
• 2011

This paper describes a implementation of virtual interactive interview system. A hand motion recognition algorithm based on the particle filters is applied for this system. The particle filter is well operated for human hand motion recognition than any other recognition algorithm. Through the experiments, we show that the proposed scheme is stable and works well in virtual interview system's environments.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 2004년도 추계학술대회 논문집
• /
• pp.1339-1343
• /
• 2004

This paper presents a development of the control algorithm and Pick & Placer. The Pick & Placer provides a powerful multi-task system that includes both graphical and remote interface. Users can easily set up sorting parameters and record important data including wafer number, data, and operator information. This System sets up a dustproof device and massively machined components to provide an extremely stable sorting environment. Precise resolution and accuracy result from using machine vision, a pneumatic slide drive and close -looped positioning.

• 경영과학
• /
• 제17권2호
• /
• pp.1-12
• /
• 2000

In this study, we deals with the implementation of an optimal basis identification procedure for interior point methods. Our implementation is based on Megiddo’s strongly polynomial algorithm applied to Andersen and Ye’s approximate LP construction. Several techniques are explained such as the use of effective indicator for obtaining optimal partition when constructing the approximate LP, the efficient implementation of the problem reduction technique proposed by Andersen, the crashing procedure needed for fast dual phase of Megiddo’s algorithm and the construction of the stable initial basis. By experimental comparison, we show that our implementation is superior to the crossover scheme implementation.

• Journal of applied mathematics & informatics
• /
• 제29권3_4호
• /
• pp.909-920
• /
• 2011

A regularized Newton method for nonlinear ill-posed problems is considered. In each Newton step an implicit iterative method with an appropriate stopping rule is proposed and analyzed. Under certain assumptions on the nonlinear operator, the convergence of the algorithm is proved and the algorithm is stable if the discrepancy principle is used to terminate the outer iteration. Numerical experiment shows the effectiveness of the method.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1998년도 하계학술대회 논문집 B
• /
• pp.512-514
• /
• 1998

The paper presents a model reference adaptive control containing a fuzzy algorithm for tuning the gain coefficient which adjusts the level of the fuzzy controller output. The synthesis of a fuzzy tuning algorithm has been performed for the inverted pendulum system. The computer simulation results have proved the efficiency of the proposed method, showing stable system responses.

• 대한전기학회논문지
• /
• 제32권4호
• /
• pp.121-127
• /
• 1983

In this paper an efficient algorithm for Pontriagin's maximum principle is developed. Fletcher-Powell method is adopted as optimization technique which shows fast and stable convergence characteristics. Terminal constraints are alse considered by using Hestens' algorithm and penalty function method together. Control variable inequality constraints are also considered by using Gradient Projection technique combined with Flectcher-Powell method. Test experiment shows good and reliable results.