• Title/Summary/Keyword: velocity control algorithm

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Estimation of Rotational Center and Angle for Image Stabilization (영상 안정화를 위한 회전중심 및 각도 추정기법)

  • Seok, Ho-Dong;Yoo, Jun;Kim, Do-Jong
    • Journal of Institute of Control, Robotics and Systems
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    • v.10 no.7
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    • pp.611-617
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    • 2004
  • This paper presents a simple method of rotational motion estimation and correction for roll axis stabilization of an image. The scheme first computes the rotation center by taking least squares of selected local velocity vectors, and the rotational angle is found from special subset of motion vectors. Roll motion correction is then performed by the nearest neighbor interpolation technique. To show the effectiveness of our approach, the synthetic and real images are evaluated, resulting in better performance than the previous ones.

Tracking of a Moving Target Using the Accumulated Ultrasonic Image (초음차 응답 누적영상을 이용한 이동물체 추적)

  • Han, Moon-Yong;Hahn, Hern-Soo
    • Journal of Institute of Control, Robotics and Systems
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    • v.6 no.2
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    • pp.164-172
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    • 2000
  • To follow a moving target keeping a certain distance it is essential for a mobile robot to detect the target first and to measure its pose and velocity. This paper proposes a new solution for this problem using the accumulated ultrasonic image which is constructed by accumulating the returned ultrasonic signal along the time axis for a certain number of measurement periods. A moving target is separated by selecting the trajectory whose inclination is different from others in the imag since the inclination of a trajectory represents the relative speed of the target against the mobile robot. The proposed algorithm was implemented on a mobile robot and has shown that the robot follows a moving target successfully.

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[ " ]Mode Selecting Fuzzy Controller" to suppress the response of flexible system under irregular disturbance (불규칙 외란을 받는 유연한 계에 대한 "모드선택 퍼지제어")

  • Yoon, Y.S.;Kim, Y.K.;Ko, K.W.;Yeo, W.J.;Heo, H.
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 2002.11b
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    • pp.198-203
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    • 2002
  • A fuzzy logic controller design technique is proposed to apply for the control of flexible system under irregular disturbance. The fuzzy rules of $\ulcorner$Mode Selecting Fuzzy Controller$\lrcorner$ are constructed using displacement, velocity information and modal characteristics of the system. The frequency information of flexible system is picked up from $\ulcorner$Mode Selecting Unit$\lrcorner$ based on Fast-Fourier transform algorithm. Experiment is conducted to verify the proposed theoretical approach, Piezo ceramic and laser accelerometer are used as actuator and sensor in the experiments respectively

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A New Protection Strategy of Impressed Current Cathodic Protection for Ship

  • Oh, Jin-Seok;Kim, Jong-Do
    • Journal of Mechanical Science and Technology
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    • v.18 no.4
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    • pp.592-596
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    • 2004
  • Corrosion is never avoided in the use of materials with various environments. The underwater hull is normally protected against rusting by several coatings of anti-corrosive paint. The purpose of ICCP(Impressed Current Cathodic protection) system is to eliminate the rusting or corrosion, which occurs on metal immersed in seawater. The anode of ICCP system is controlled by an external DC source with converter. The function of anode is to conduct the protective current into seawater. The proposed algorithm includes the harmonic suppression control strategy and the optimum protection strategy and has tried to test the requirement current density for protection, the influence of voltage, the protection potential. This paper was studied the variation of potential and current density with environment factors, time and velocity, and the experimental results will be explained.

The design of neural network adaptive control system (신경회로망 적응제어시스템의 설계)

  • 김용택;김용호;이홍기;전홍태
    • 제어로봇시스템학회:학술대회논문집
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    • 1993.10a
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    • pp.150-155
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    • 1993
  • The neural network MRAC system is presented. The purpose of this paper is applied to a plant that is to be controlled in a strongly nonlinear environment. The proposed system has a learning and adaptive ability in the varying environment by using the back-propagation learning algorithm based on Lyapunov stability theory. N.N. regulator is a part of overall system and is guaranteed to be stable in initial stage. Nonlinear terms of the varying mass, colilori, centifugal, and gravity are compensated for by feedforward N.N. regulator. And the feedback controller (adaptive mechanism) works to eliminate errors of position, velocity which the feedforward controller cannot compensate for. Finally, the proposed system will be demonstrated by simulation of a two d.o.f robot manipulator.

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Design of Neuro-Fuzzy Controller for Velocity Control of DC Servo Motor with Variable Loads (가변부하를 갖는 직류 서보 전동기의 속도제어를 위한 뉴로-퍼지 제어기 설계)

  • Kim, Sang-Hoon;Kang, Young-Ho;Nam, Moon-Hyun;Kim, Lark-Kyo
    • Proceedings of the KIEE Conference
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    • 1999.07b
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    • pp.513-515
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    • 1999
  • In this paper, Neuro-Fuzzy controller which has the characteristic of Fuzzy control and artificial Neural Network is designed A fuzzy rule to be applied is selected automatically by the allocated neurons. The neurons correspond to Fuzzy rules which are created by the expert. In order to adaptivity, the more precise modeling is implemented by error back propagation learning of adjusting the link-weight of fuzzy membership function in Neuro-fuzzy controller. The more classified fuzzy rule is used to include the property of Dual mode Method. To test the effectiveness of the algorithm designed above the experiment for DC servo motor with variable load as variable load plant is implementation.

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Generation Human -like Arm Motion to Catch a Moving Object

  • Kwon, Oh-Kyu;Park, Poo-Gyeon
    • 제어로봇시스템학회:학술대회논문집
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    • 2001.10a
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    • pp.161.5-161
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    • 2001
  • Robots are required to assist our activities in daily life. In this paper, we focus on arm movement to catch moving object as one of important tasks frequently performed by human. We propose an algorithm which enables a robot to perform human-like arm motion to catch a moving object. First we analyze human hand trajectories and velocity profiles to catch an object. From the experimental results, we extract some characteristics in the process of approaching and following a moving object and confirm that these are necessary to realize human-like motion. We then adopt an instantaneous optimal control method which evaluates the error and energy cost at each sampling step, and design two time-varying weight matrices to introduce human characteristic into robot motion. The matrix concerning the error is defined as a time-increasing ...

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"Mode Selecting Fuzzy Controller" to suppress the response of flexible system under irregular disturbance (불규칙 외란을 받는 유연한 계에 대한 "모드선택 퍼지제어")

  • Yoon, Young-Soo;Kim, Yong-Kwan;Ko, Kwang-Won;Yeo, Woon-Joo;Hoon Heo
    • Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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    • 2002.11a
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    • pp.326.1-326
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    • 2002
  • A fuzzy logic controller design technique is proposed to apply to the control of flexible system under irregular disturbance. The fuzzy rules of $\ulcorner$Mode Selecting Fuzzy Controller$\lrcorner$ are constructed using displacement, velocity information and modal characteristics of the system. The frequency information of flexible system is picked up from $\ulcorner$Mode Selecting Unit$\lrcorner$ based on Fast-Fourier transform algorithm. Experiment is conducted to verify the proposed theoretical approach. (omitted)

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Bistable tuned mass damper for suppressing the vortex induced vibrations in suspension bridges

  • Farhangdoust, Saman;Eghbali, Pejman;Younesian, Davood
    • Earthquakes and Structures
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    • v.18 no.3
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    • pp.313-320
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    • 2020
  • The usage of conventional tuned mass damper (TMD) was proved as an effective method for passive mitigating vortex-induced vibration (VIV) of a bridge deck. Although a variety of linear TMD systems have been so far utilized for vibration control of suspension bridges, a sensitive TMD mechanism to wind spectrum frequency is lacking. Here, we introduce a bistable tuned mass damper (BTMD) mechanism which has an exceptional sensitivity to a broadband input of vortex shedding velocity for suppressing VIV in suspension bridge deck. By use of the Monte Carlo simulation, performance of the nonlinear BTMD is shown to be more efficient than the conventional linear TMD under two different wind load excitations of harmonic (sinusoidal) and broadband input of vortex shedding. Consequently, an appropriate algorithm is proposed to optimize the design parameters of the nonlinear BTMD for Kap Shui Mun Bridge, and then the BTMD system is localized for the interior deck of the suspension bridge.

Federated Variable Dimension Kalman Filters with Input Estimation for Maneuvering Target Tracking (기동하는 표적의 추적을 위한 연합형 가변차원 입력추정필터)

  • Hwang-bo, Seong-Wook;Hong, Keum-Shik;Choi, Sung-Lin;Choi, Jae-Won
    • Journal of Institute of Control, Robotics and Systems
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    • v.5 no.6
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    • pp.764-776
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    • 1999
  • In this paper, a tracking algorithm for a maneuvering single target in the presence of multiple data from multiple sensors is investigated. Allowing individual sensors to function by themselves, the estimates from individual sensors on the same target are fused for the purpose of improving the state estimate. The filtering method adopted in the local sensors is the variable dimensional filter with input estimatio technique, which consists of a constant velocity model and a constant acceleration model. A posteriori probability for the maneuvering hypothesis is newly derived. It is shown that the relation function of the a posteriori probability is a function of only the covariance of the fused estimates. Simulation results are provided.

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