• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.10
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• pp.2554-2566
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• 1994

Robot position/force control has been a difficult task owing to the interaction between a robot and an environment with a rather high stiffness. In addition to the dynamic instability, the interaction causes the following problem : 1) chattering at steady-state, 2) dynamic coupling effect of robot, and 3) performance degradation due to a titled environment. To solve the problem, the Time Delay Control(TDC), which has been known to be quiet robust to plant uncertainties and disturbances, has been applied. In conjunction to TDC, the following three ideas were also used : 1) To reduce the amplitude of the chattering at the steady state, a novel scheme was adopted to enhance the resolution type solution of A/D conversion for the force sensor. 2) To reduce the dynamic coupling, a trajectory type position command was tried on a comparative basis to the step command, as well as a more accurate mass matrix was used instead of the constant mass matrix. 3) And finally to improve the performance in the tilted environment, force derivatives instead of position derivatives were used in the TDC law. Computer simulations and experiments resulted in obvious improvements on the quality of the hybrid control, thereby clearly demonstrating the effectiveness of TDC with the proposed ideas.

• Journal of IKEEE
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• v.8 no.2 s.15
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• pp.166-171
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• 2004

This paper describes a CMOS time to digital converter (TDC) that measures the interval between two signals and converts to a digital signal. There are various methods to measure the time interval. But several architectures have a limitation in resolution and in conversion time. Moreover, they have complex algorithms. But the proposed TDC circuit has achieved a high resolution (25ps) by using a high-speed digital sampler and simple algorithm. The sampler detects when input signals comes into the TDC and output is coded. The proposed multiphase clock generator was also implemented to achieve 25p resolution.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.5-10
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• 2005

We deal with the sliding mode control using the time delay estimation. The time delay estimation is able to weaken the need for obtaining a quantitative plant model analogous to the real plant so the sliding mode control with a time delay estimation (SMCTE) is very suitable for plant such as SMA actuators whose quantitative model is difficult to obtain. We have already studied the application of the time delay control (TDC) to SMA actuators in other literature. Based on the previous study on the TDC, we developed the gain tuning method for the SMCTE, which results were nearly the same as the TDC. With respect to the step response, the SMCTE proved its predominance in a comparison with other control schemes such as the PID control and the relay control. As well as the contribution of the above control methodology, the model identification for SMA actuators has also been studied. The dynamics for an SMA actuator was newly derived using the modified Liang's model. The derived dynamics showed a continuity at the change of the phase transformation process but the original Liang's model could not.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.763-766
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• 1996

A model helicopter is an unstable, multi-input multi-output nonlinear system exposed to strong disturbances and its system parameters change continually. In this paper, Time Delay Control(TDC) is adopted for these reasons. TDC uses past observation of the system's response and the control input to directly modify the control action rather than adjusting the controller gains leading to a model independent robust controller. TDC can force the plant to follow an appropriate reference model, but the reference model cannot be chosen arbitrarily. In this paper the procedure of choosing a reference model and the performance of the controller are presented.

• International Journal of Aeronautical and Space Sciences
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• v.12 no.3
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• pp.260-265
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• 2011

In this paper, integrated missile guidance and control systems using time-delay control (TDC) are developed. The next generation missile requires that an interceptor hits the target, maneuvering with small miss-distances, and has lower weight to reduce costs. This is possible if the synergism existing between the guidance and control subsystems is exploited by the integrated controller. The TDC law is a robust control technique for nonlinear systems, and it has a very simple structure. The feature of TDC is to directly estimate the unknown dynamics and the unexpected disturbance using one-step time-delay. To investigate the performance of the integrated controller, numerical simulations are performed as the maneuver of the target. The results show that the integrated guidance and control system has a good performance.

• Transactions of the Korean Society of Automotive Engineers
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• v.1 no.1
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• pp.1-13
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• 1993

The three-dimensional numerical analysis for in-cylinder flow of four-valve engine without intake port has been successfully computed. These computations have been performed using technique of the general coordinate transformation based on the finite-volume method and body-fitted non-orthogenal grids using staggered control volume and covariant variable as dependent one. Computations are started at intake valve opening and are carried through top-dead-center of compression. A k-$\varepsilon$model is used to represent turbulent transport of momentum. The principal study is the evolution of interaction between mean flow and turbulence and of the role of swirl and tumble in generating near TDC turbulence. Results for three different inlet flow configuration are presented. From these results, complex flow pattern may be effective for promoting combustion in spark-ignition engines and kinetic energy of mean flow near TDC is well converted into turbulent kinetic energy.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.7
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• pp.701-705
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• 2014

This article presents a comparison among several yaw and roll motion controllers for vehicle rollover prevention. In the previous research, yaw and roll motion controllers can be independently designed for rollover prevention. Following this idea, several yaw and roll motion controllers are designed and compared in terms of rollover prevention. For the yaw motion control, PID, LQR, SMC (Sliding Mode Control) and TDC (Time-Delay Control) are adopted. For the roll motion control, LQR, LQ SOF (Static Output Feedback) control, PID, and SMC are adopted. To compare the performance of each controller, simulation is performed on a vehicle simulation package, CarSim$^{(R)}$. From simulation, TDC and LQ SOF are the best for yaw and roll motion control, respectively.

• Journal of Drive and Control
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• v.15 no.3
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• pp.1-7
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• 2018

Humanoid robots have fascinated many researchers since they appeared decades ago. For the requirement of both accurate tracking control and the safety of physical human-robot interaction, torque control is basically desirable for humanoid robots. Humanoid robots are highly nonlinear, coupled, complex systems, accordingly the calculation of robot model is difficult and even impossible if precise model of the humanoid robots are unknown. Therefore, it is difficult to control using traditional model-based techniques. To realize model-free torque control, time-delay control (TDC) for humanoid robot was proposed with time-delay estimation technique. Using optimal walking trajectory obtained by particle swarm optimization, TDC with proposed scheme is implemented on whole body of a humanoid, not on biped legs even though it is performed by a virtual humanoid robot. The simulation results show the validity of the proposed TDC for humanoid robots.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.5
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• pp.893-898
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• 2017

A TDC(Time-to-Digital Converter) of counter-type is designed by $0.18{\mu}mCMOS$process and the supply voltage is 1.5 volts. The converted error of maximum $T_{CK}$ is occurred by the time difference between the start signal and the clock when the period of clock is $T_{CK}$ in the conventional TDC. And the converted error of -$T_{CK}$ is occurred by the time difference between the stop signal and the clock. However in order to compensate the disadvantage of the conventional TDC the clock is generated within the TDC circuit and the clock is synchronized with the start and stop signals. In the designed TDC circuit the conversion error is not occurred by the difference between the start signal and the click and the magnitude of conversion error is reduced (1/2)$T_{CK}$ by the time difference between the stop signal and the clock.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.30 no.1
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• pp.60-69
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• 2019

In this paper, we deal with forward-looking imaging, and focus on forward-looking synthetic inverse scattering imaging for a vehicle with curved motion. For image formation, time domain correlation(TDC) is used and a 2D image of the ground in front of the vehicle is generated. Because TDC is a technique that implements matched filtering for a space-variant system, it is robust to Gaussian additive noise of measurements. Furthermore, comparison and analysis between images from linear motion and curved motion show that the resolution of the image is improved; however, the entropy of the image is increased owing to curved motion.