• Journal of Institute of Control, Robotics and Systems
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• v.5 no.6
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• pp.667-675
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• 1999

In this paper, we propose a robust controller design of RTP(Rapid Thermal Processing) system using structured uncertainty approach. Using the weighted mixed sensitivity function, we solve the robust stability problem against disturbance and temperature variation, and design a $\mu$ controller using curve fitting method against structured uncertainty. Also the reduction method should be requried because of the difficulty of implementaion with the obtained high order controller. We dal with robust stability and performance of RTP system by the design of $\mu$ controller for original model and Schur balanced reduced model. Finally the simulation results are proposed to show the validity of the proposed method.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.8
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• pp.678-687
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• 2005

This paper describes a relative localization algorithm using odometry data and consecutive local maps. The purpose of this paper is the odometry error correction using the area matching of two consecutive local maps. The local map is built up using a sensor module with dual laser beams and USB camera. The range data form the sensor module is measured using the structured lighting technique (active stereo method). The advantage in using the sensor module is to be able to get a local map at once within the camera view angle. With this advantage, we propose the AVS (Aligned View Sector) matching algorithm for. correction of the pose error (translational and rotational error). In order to evaluate the proposed algorithm, experiments are performed in real environment.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.1
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• pp.11-15
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• 1999

In this paper, a robust pole placement controller for time invariant linear systems with polytopic uncertainties is presented. The proposed controller is a fixed order output feedback controller which stabilizes the uncertain systems and satisfies the constraints on the closed-loop pole location. The proposed controller can be obtained by minimizing a certain nonlinear object function subject to linear matrix inequality constraints. An algorithm for solving the nonlinear optimization problem is also proposed.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.511-516
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• 2000

In order to not only perform as a extreme model under the severe operating condition but also acquire more diverse and advanced control capability utilizing high compliance, active vibration control of a flexible 2-link robot manipulator are investigated. Multi variable-structured frequency shaped optimal sliding mode is proposed for the flexible robot manipulator like control system, whose control variables, an angular motion of joint and vibration of flexible link, have to be controlled simultaneously by one control torque at a driving joint. The control system is divided into two subsystems, a control input related subsystem and an added subsystem. The proposed sliding mode, composed of multi control variables, makes optimized relation between subsystems and a individual control input, thus, the sliding mode controller can compensate whole dynamics of each subsystems simultaneously. And the possibility and effectiveness are verified by vibration control of a manipulator having two flexible links. Simulation and experiment results show that the proposed control scheme achieves the purpose effectively.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.3
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• pp.669-673
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• 2010

This paper proposes a new active noise control (ANC) system for canceling broadband noise. The proposed ANC system is designed based on the multiband-structured delayless subband adaptive filter (MDSAF), which has advantages of fast-convergence speed and higher noise reduction performance by eliminating the aliasing and band-edge effects caused by band-partitioning. The simulation results show that the proposed ANC system has faster convergence speed as compared to the conventional ANC systems and effectively reduces the wideband noise.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.12
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• pp.128-141
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• 1998

We propose the robust nonlinear controller design methodology for the multivariable system which has hard nonlinearities (Coulomb friction, dead-zone, etc) and the structured real parameter uncertainty. The hard nonlinearity can be linearized by the RIDF technique and structured real parameter uncertainty can be modelled as the sense of Peterson-Hollot's quadratic Lyapunov bound. For this system, we apply the robust QLQG/H$_{\infty}$ control and then can obtain four Riccati equations. Because of the system's nonlinearity, however, one Riccati equation contains the nonlinear correction term that is very difficult to solve numerically, In order to treat this problem, using some transformations to Riccati equations, the nonlinear correction term can be eliminated. Then, only two Riccati equations need to design a controller. Finally, the robust nonlinear controller is synthesized via IRIDF techniques. To test this proposed control method, we consider the direct-drive robot manipulator system that has Coulomb frictions and varying inertia.

• Journal of Korean Academy of Nursing
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• v.27 no.1
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• pp.109-119
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• 1997

This study has been attempted to set up the strategies of the nursing which can promote the activity performance for early rehabilitation for the patients by examining the effect of the structured patient education on the early rehabilitation knowledge and activity performance of the C.V.A patients. The study method has been done by investigating the experiment group and control group in advance through the question papers and interview and observation on 65 patients who had been hospitalized at oriental medicine hospital of K Medical Center from July 1st 1995 to the end of Sep, 1995. The analysis of the collected material had been done for the homogeneity test in which general characters of experiment group and control group had been tested by X²and the homogeneity test of ADL by t-test. To test the hypothesis the t-test had been given for the difference of the early rehabilitation knowledge and activity performance between the two groups and the correlation between early rehabilitation knowledge and activity performance had been tested by Pearson's Correlation Coefficient. The result of the test of the hypothesis is as the below. 1 The 1st hypothesis “The experiment group which had received the structured education should be higher in the early rehabilitation knowledge than the control group” was supported(t=4.45. p=.000). 2. The 2nd hypothesis “The experiment group which received the structured education should be higher in the early rehabilitation activity performance than the control group”was supported(t=2.11, p=.036). 3. The 3rd hypothesis “The higher the early rehabilitation knowledge of the patient the higher the activity performance degree” was rejected (r=.1546, p=.219). In conclusion, the patients who received the structured education showed the increase in the degree of early rehabilitation knowledge and activity performance, so it has been judged that education has been prerequisite in increasing the knowledge and activity performance of early rehabilitation.

• Hwankyungkyoyuk
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• v.20 no.2
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• pp.1-15
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• 2007

The Environmental problem solving model is an instructional strategy to accomplish the aim of environmental education through investigation of environmental problems and issues of the community. This study is intended to compare the instructional effect of the structured model with the unstructured model of environmental problem solving. The experimental group received the structured instruction and the control group received the unstructured instruction. There did not appear to be any significant difference between the groups in regard to knowledge but in regard to knowledge of environmental issues, the experimental group was more effective than the control group. No significant differences existed between the groups in attitude. In regard to investigating skill and evaluation of environmental issues, the experimental group was significantly more effective than the control group. The experimental group was significantly more effective than the control group in regard to environmental action skills. To foster responsible environmental behavior, environmental education a number of methodologies must be considered and learners must be trained to become problem-solving citizens. It was noted that the structured instruction was more effective than the unstructured instruction in middle school where environmental issues were not taught as an independent subject. We conclude that environmental education must be systematically constructed and taught in a manner which takes into account both its goals and the characteristics of the various learners. We conclude that environmental education must be systematically constructed and taught in a manner which takes into account both its internal goals and the situations within which various types of learners explore environmental issues and solutions.

• International Journal of Control, Automation, and Systems
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• v.3 no.spc2
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• pp.363-375
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• 2005

The paper describes some of the challenges that face the control of nonlinear interconnected power systems. The challenges include the selection of appropriate control and information structures that could range from a completely decentralized to a fully centralized structure. Once a structure is proven to be feasible, the effectiveness of control signals needs to be assessed. Analytical tools are derived for this purpose in the first part of the paper, and they are illustrated with a case study that involves the design of a damping decentralized controller using a Thyristor Controlled Series Compensation device. The second part of the paper deals with the load following and tracking problem through automatic generation control for a system that has been re-structured or deregulated. This problem can be solved using a completely decentralized scheme. It is solved here using fuzzy rules and with an emphasis on compliance with NERC's standards and reduction of wear and tear of the equipment. It is illustrated with a test system that has three interconnected control areas. Finally, comments on the economics of control and the author's vision are presented.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.12
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• pp.48-58
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• 2010

In this study, position tracking and force reflection control of a master-slave manipulator which will be used for handling objects contaminated by radioactivity has been addressed. Since available measurements concerning on dynamic motion of the master-slave manipulator are restricted, a simple constrained control structure was suggested. In the consideration of the uncertain dynamic behaviors of the slave manipulator which is dependent upon mass and shape of work pieces grasped and dynamic properties of the environment contacted, a simple structured sliding mode control was suggested to guarantee robustness with respect to parameter uncertainties and external disturbances. The proposed control was applied to a 1-DOF master-slave link system. The control performances were verified along with some computer simulation results.