• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.5
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• pp.1123-1131
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• 1993

A robust controller is proposed to design a flight autopilot for lateral motion control. The control system has two control loops in order to meet the performance and to maintain the stability-robustness for a nonsquare flight system with uncertain aerodynamic variations and disturbance. One is designed via linear quadratic Gaussian with loop transfer recovery(LQG/LTR) design methodology for the inner loop. The other is designed via proportional controller design method for the outer loop. To show the effectiveness of this control system, it is compared with the LQG/LTR control system for a square flight system and is analyzed for the performance/stability-robustness to model uncertainties and disturbance via wind gusts. It is found that the proposed control system has good heading command-following performance under allowable sideslip angle in spite of model uncertainties and disturbance.

• Journal of Advanced Navigation Technology
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• v.4 no.2
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• pp.103-113
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• 2000

There are several methods in the mathematical modeling of a satellite with flexible appendages. In this paper, the hybrid Lagrange's equations of motion using assumed modes method are derived. The assumed modes method is one of approximate methods which have shorter calculation time due to low-dimension compare with FEM. These consist of three-equations about angular velocities and two-equations about flexible deformations, and physically represent interaction between hub and solar panel. In an attitude control, a control law is designed to minimize a given performance index considering not only control input but also vibration suppression. For these purpose, this paper applies LQG and LQG/LTR schemes to this model and finally show the capability for attitude control including vibration suppression. Especially, this paper shows the method of assumption as nonsingular system through singular value division for LQG/LTR design.

• Molecules and Cells
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• v.26 no.1
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• pp.53-60
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• 2008

We characterized the human endogenous retrovirus (HERV-W) family in humans and primates. In silico expression data indicated that 22 complete HERV-W families from human chromosomes 1-3, 5-8, 10-12, 15, 19, and X are randomly expressed in various tissues. Quantitative real-time RT-PCR analysis of the HERV-W env gene derived from human chromosome 7q21.2 indicated predominant expression in the human placenta. Several copies of repeat sequences (SINE, LINE, LTR, simple repeat) were detected within the complete or processed pseudo HERV-W of the human, chimpanzee, and rhesus monkey. Compared to other regions (5'LTR, Gag, Gag-Pol, Env, 3'LTR), the repeat family has been mainly integrated into the region spanning the 5'LTRs of Gag (1398 bp) and Pol (3242 bp). FISH detected the HERV-W probe (fosWE1) derived from a gorilla fosmid library in the metaphase chromosomes of all primates (five hominoids, three Old World monkeys, two New World monkeys, and one prosimian), but not in Tupaia. This finding was supported by molecular clock and phylogeny data using the divergence values of the complete HERV-W LTR elements. The data suggested that the HERV-W family was integrated into the primate genome approximately 63 million years (Myr) ago, and evolved independently during the course of primate radiation.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.19-24
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• 2003

A new method for designing critical control systems is proposed in this paper. The controller structure is chosen as a Davison type integral controller with an observer. The proposed method consists of two steps. First, the state feedback critical control system is designed using a quadratic performance index with tunable parameters. Second, the observer gain matrix is determined by the formal LTR procedure using a Riccati equation. Consequently, the search space can be reduced considerably compared with the conventional approach. Although the proposed method sacrifices a large freedom for the choice of controller structure provided by the principle of matching, the controller structure used in this paper is not excessively complex and can be used for most applications. An illustrative design example is presented.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.552-558
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• 1993

In this paper, control of a planar two-link structurally flexible robotic manipulator executing unconstrained and constrained maneuvers is considered. The dynamic model, which is obtained by using the extended Hamilton's principle and the Galerkin criterion, includes the impact force generated during the transition from unconstrained to constrained segment of the robotic task. A method is presented to obtain the linearized equations of motion in Cartesian space for use in designing the control system. The linear quadratic Gaussian with loop transfer recovery (LQG/LTR) design methodology is exploited to design a robust feedback control system that can handle modeling errors and sensor noise, and operate on Cartesian space trajectory errors. The LQG/LTR compensator together with a feedforward loop is used to control the flexible manipulator. Simulated results are presented for a numerical example.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.101.6-101
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• 2002

The LQG/LTR controller is a robust and stable control which is systematic method with a view of engineering. And the scheme is adopted for the design of the controller to reduce the effects of the disturbances. In this paper, We develop an algorithm that decides the distance and directions between the guide line that is made by a series of magnets and MR sensors of vehicle. LQG/LTR and Controller Design of Lateral Control System for a vehicle is developed with 3 DOF (degree-of-freedom) model. The performance has been compared for the employed two types of controllers via computed simulations. The results show that the controller provides more robustness property for t...

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1992.04a
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• pp.369-373
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• 1992

Force control of a planar two-link structurally flexible robotic manipulator is considered in this study. The dynamic model is obtained by using the extended Hamilton's principle and the Galerkin criterion. A method is pressented toobtain the linearized equations of motion in Cartesian space for use in designing the control system. The approachto solving the control problem is to use feedforward and feedback control torques. The feedforward torques maneuver the flexible manipulatro along a nominal trajectory and the feedback torques minimize any deviations from the nominal trajectory. The linear quadratic Gaussian/loop transfer recovery (LQG/LTR) design methodology is explotied to design a robust feedback control system that can handle modeling errors and sensor noise, and operates on Cartesian space trajectory errors. The Lqg/LTR compenstaor together with a feedforward ollp is used to control the flexible manipulator. Simulated results are presented for a numerical example.

• Proceedings of the KIEE Conference
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• 2001.07d
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• pp.2267-2269
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• 2001

The looper control of hot strip finishing mill is one of the most important control item in hot strip rolling mill process. Loopers are placed between finishing mill stands and control the mass flow of the two stands. Another important action of the looper is to control the strip tension which influences on the width of the strip. So it is very important to control both the looper angle and the strip tension simultaneously but the looper angle and the strip tension are strongly interacted by each other. There are many control schemes such as conventional, non-interactive, LQ, LQG/LTR, and ILQ control in the looper control system. In this paper, we present the modeling for the looper of a hot strip finishing mill to control the tension of the strip and suggest the non-interactive(cross) and LQG/LTR control method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2012.10a
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• pp.179-180
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• 2012

• Mycobiology
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• v.36 no.3
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• pp.161-166
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• 2008

The retrotransposon marY1 is a gypsy family retroelement, which is detected ubiquitously within the fungal taxonomic groups in which mushrooms are included. To utilize marY1 as a molecular marker for the DNA fingerprinting of mushrooms, oligonucleotides marY1-LTR-L and marY1-LTR-R were designed on the basis of highly conserved regions from the multiple sequence alignment of 30 marY1 sequences retrieved from a nucleotide sequence database. In accordance with $\underline{Re}trotransposon$ $\underline{M}icrosatellite$ $\underline{A}mplified$ $\underline{P}olymorphism$ (REMAP) fingerprinting methodology, the two oligonucleotides were utilized together with the short sequence repeat primers UBC807 and UBC818 for polymerase chain reaction using templates from different mushroom genomic DNAs. Among the tested oligonucleotides, the marY1-LTR-L and UBC807 primer set yielded the greatest amount of abundance and variation in terms of DNA band numbers and patterns. This method was successfully applied to 10 mushroom species, and the primer set successfully discriminated between different commercial mushroom cultivars of the same strains of 14 Pleurotus ostreatus and 16 P. eryngii. REMAP reproducibility was superior to other popular DNA fingerprinting methodologies including the random amplified polymorphic DNA method.