• Title/Summary/Keyword: velocity control algorithm

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Optimal placement of MR dampers for 20-story nonlinear benchmark building (20층 비선형 벤치마크 빌딩에 대한 자기유변유체 감쇠기의 최적위치 결정)

  • 장종우;조상원;이인원;윤우현
    • Proceedings of the Earthquake Engineering Society of Korea Conference
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    • 2003.09a
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    • pp.467-472
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    • 2003
  • The objective of optimal placement of dampers for a structure is to maximize the effectiveness of the vibration control with the same number of dampers. While many optimal placement methods of linear viscous dampers have been proposed and used, there are only a few methods for MR dampers. Here some optimal location indices for MR dampers are proposed, which are similar to those for linear viscous dampers and show how large the structural responses on each floor we. Every time an additional MR damper is implemented, the optimal location index on each floor is measured, and then the next damper is installed on the floor with the maximum location index. In these sequential procedures, the peak interstory drift, the peak interstory velocity and the absolute acceleration of each floor are selected as the optimal location indeices. Four different earthquakes with various scales are loaded to the 20-story nonlinear benchmark building model (Otori et at. 2000, 2002). Passive On/Off algorithms are used in order to represent the control algorithm of MR dampers.

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Development of the Localization Algorithm for a Hovering-type Autonomous Underwater Vehicle using Extended Kalman Filter (확장칼만필터를 이용한 호버링타입 무인잠수정의 위치추정알고리즘 개발)

  • Kang, Hyeon-seok;Hong, Sung-min;Sur, Joo-no;Kim, Dong-hee;Jeong, Jae-hun;Jeong, Seong-hoon;Choi, Hyeung-sik;Kim, Joon-young
    • Journal of Advanced Navigation Technology
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    • v.21 no.2
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    • pp.171-178
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    • 2017
  • In this paper, in order to verify the performance of a localization algorithm using GPS as an auxiliary sensor, the algorithm was applied to a hovering-type autonomous underwater vehicle (AUV) to perform a field test. The applied algorithm is an algorithm to improve the accumulated positional error of dead reckoning using doppler velocity logger(DVL) and tilt-compensated compass module (TCM) mounted on the AUV. GPS when surfaced helps the algorithm to estimate the position and the heading bias error of TCM for geodetic north, which makes it possible to perform dead reckoning on north-east-down (NED) coordinates. As a result of field test performing heading control, it was judged that the algorithm could improve the positional error, enhance the operational capability of AUV and contribute to the research of underwater navigation depending on a magnetic compass.

Adaptive self-structuring fuzzy controller of wind energy conversion systems (풍력 발전 계통의 자기 구조화 적응 퍼지 제어기 설계)

  • Park, Jang-Hyun
    • Journal of the Korean Institute of Intelligent Systems
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    • v.23 no.2
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    • pp.151-157
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    • 2013
  • This paper proposes an online adaptive fuzzy controller for a wind energy conversion system (WECS) that is intrinsically highly nonlinear plant. In real application, to obtain exact system parameters such as power coefficient, many measuring instruments and off-line implementations are required, which is very difficult to perform. This shortcoming can be avoided by introducing fuzzy system in the controller design in this paper. The proposed adaptive fuzzy control scheme using self-structuring algorithm requires no system parameters to meet control objectives. Even the structure of the fuzzy system is automatically grows on-line, which distinguishes our proposed algorithm over the previously proposed fuzzy control schemes. Combining derivative estimator for wind velocity, the whole closed-loop system is shown to be stable in the sense of Lyapunov.

Optimal path planning for the capturing of a moving object

  • Kang, Jin-Gu;Lee, Sang-Hun;Hwang, Cheol-Ho;Lee, Jang-Myung
    • 제어로봇시스템학회:학술대회논문집
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    • 2004.08a
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    • pp.1419-1423
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    • 2004
  • In this paper, we propose an algorithm for planning an optimal path to capture a moving object by a mobile robot in real-time. The direction and rotational angular velocity of the moving object are estimated using the Kalman filter, a state estimator. It is demonstrated that the moving object is tracked by using a 2-DOF active camera mounted on the mobile robot and then captured by a mobile manipulator. The optimal path to capture the moving object is dependent on the initial conditions of the mobile robot, and the real-time planning of the robot trajectory is definitely required for the successful capturing of the moving object. Therefore the algorithm that determines the optimal path to capture a moving object depending on the initial conditions of the mobile robot and the conditions of a moving object is proposed in this paper. For real-time implementation, the optimal representative blocks have been utilized for the experiments to show the effectiveness of the proposed algorithm.

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Optimal path planning for the capturing of a moving object

  • Hwang, Cheol-Ho;Lee, Sang-Hun;Ko, Jae-Pyung;Lee, Jang-Myung
    • 제어로봇시스템학회:학술대회논문집
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    • 2003.10a
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    • pp.186-190
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    • 2003
  • In this paper, we propose an algorithm for planning an optimal path to capture a moving object by a mobile robot in real-time. The direction and rotational angular velocity of the moving object are estimated using the Kalman filter, a state estimator. It is demonstrated that the moving object is tracked by using a 2-DOF active camera mounted on the mobile robot and then captured by a mobile manipulator. The optimal path to capture the moving object is dependent on the initial conditions of the mobile robot, and the real-time planning of the robot trajectory is definitely required for the successful capturing of the moving object. Therefore the algorithm that determines the optimal path to capture a moving object depending on the initial conditions of the mobile robot and the conditions of a moving object is proposed in this paper. For real-time implementation, the optimal representative blocks have been utilized for the experiments to show the effectiveness of the proposed algorithm.

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Trajectory Optimization for Biped Robots Walking Up-and-Down Stairs based on Genetic Algorithms (유전자 알고리즘을 이용한 이족보행 로봇의 계단 보행)

  • Jeon Kweon-Soo;Kwon O-Hung;Park Jong-Hyeon
    • Journal of the Korean Society for Precision Engineering
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    • v.23 no.4 s.181
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    • pp.75-82
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    • 2006
  • In this paper, we propose an optimal trajectory for biped robots to move up-and-down stairs using a genetic algorithm and a computed-torque control for biped robots to be dynamically stable. First, a Real-Coded Genetic Algorithm (RCGA) which of operators are composed of reproduction, crossover and mutation is used to minimize the total energy. Constraints are divided into equalities and inequalities: Equality constraints consist of a position condition at the start and end of a step period and repeatability conditions related to each joint angle and angular velocity. Inequality constraints include collision avoidance conditions of a swing leg at the face and edge of a stair, knee joint conditions with respect to the avoidance of the kinematic singularity, and the zero moment point condition with respect to the stability into the going direction. In order to approximate a gait, each joint angle trajectory is defined as a 4-th order polynomial of which coefficients are chromosomes. The effectiveness of the proposed optimal trajectory is shown in computer simulations with a 6-dof biped robot that consists of seven links in the sagittal plane. The trajectory is more efficient than that generated by the modified GCIPM. And various trajectories generated by the proposed GA method are analyzed in a viewpoint of the consumption energy: walking on even ground, ascending stairs, and descending stairs.

Automatic Stair-Climbing Algorithm of the Planetary Wheel Type Mobile Robot in Nuclear Facilities (원자력시설내에서의 유성차륜형 이동로보트의 자동계단 승월기법)

  • Kim, Byung-Soo;Kim, Seung-Ho;Lee, Jongmin
    • Nuclear Engineering and Technology
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    • v.27 no.5
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    • pp.661-669
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    • 1995
  • A mobile robot, named KAEROT, has been developed for inspection and maintenance operations in nuclear facilities. The main feature of locomotion system is the planetary wheel assembly with small wheels. This mechanism has been designed to be able to go over the stairs and obstacles with stability. This paper presents the inverse kinematic solution that is to be operated by remote control. The automatic stair climbing algorithm is also proposed. The. proposed algorithms generates the moving pathes of small wheels and calculates the angular velocity of 3 actuation wheels. The results of simulations and experiments are given for KAEROT peformed on the irregular stairs in laboratory. It is shown that the proposed algorithm provides the lower inclination angle of the robot body and increases its stability during navigation.

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Estimating Hydrodynamic Coefficients of Real Ships Using AIS Data and Support Vector Regression

  • Hoang Thien Vu;Jongyeol Park;Hyeon Kyu Yoon
    • Journal of Ocean Engineering and Technology
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    • v.37 no.5
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    • pp.198-204
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    • 2023
  • In response to the complexity and time demands of conventional methods for estimating the hydrodynamic coefficients, this study aims to revolutionize ship maneuvering analysis by utilizing automatic identification system (AIS) data and the Support Vector Regression (SVR) algorithm. The AIS data were collected and processed to remove outliers and impute missing values. The rate of turn (ROT), speed over ground (SOG), course over ground (COG) and heading (HDG) in AIS data were used to calculate the rudder angle and ship velocity components, which were then used as training data for a regression model. The accuracy and efficiency of the algorithm were validated by comparing SVR-based estimated hydrodynamic coefficients and the original hydrodynamic coefficients of the Mariner class vessel. The validated SVR algorithm was then applied to estimate the hydrodynamic coefficients for real ships using AIS data. The turning circle test wassimulated from calculated hydrodynamic coefficients and compared with the AIS data. The research results demonstrate the effectiveness of the SVR model in accurately estimating the hydrodynamic coefficients from the AIS data. In conclusion, this study proposes the viability of employing SVR model and AIS data for accurately estimating the hydrodynamic coefficients. It offers a practical approach to ship maneuvering prediction and control in the maritime industry.

ATTITUDE CONTROL OF SMALL SCIENTIFIC SATELLITE USING GEOMAGNETISM (지구자기장을 이용한 소형과학위성의 자세조정)

  • 배성구;석재호;최규홍
    • Journal of Astronomy and Space Sciences
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    • v.8 no.1
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    • pp.85-98
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    • 1991
  • Geomagnetism was used to control the attitude of the small scientific satellite at low altitude in sun-synchronous orbit. First, we analyzed the telemetry data. The rotation state of the satellite, can be known from the magnitude and variations of the magnetic field which is measured from the 3 axis magnetometer. In axisymmetric case, it is possible to control the attitude of the satellite by changing the rotation velocity of each 3 axis. The algorithm and the program were developed to calculate the supply time of the current operating the magnetorquer. This attitude control can be applied when the satellite is in tumbling motion and after passive control is attained by the Gravity gradient boom.

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Design and Analysis of Fuzzy PID Control for Nonlinear System (비선형 시스템을 위한 퍼지 PID 제어기의 설계 및 해석)

  • Kim, Sung-Ho;Lee, Cheul-Heui
    • Proceedings of the KIEE Conference
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    • 2000.11d
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    • pp.650-652
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    • 2000
  • Although Fuzzy Logic Controller(FLC) adopted three terms as input gives better performance. FLC is in general composed of two-term control because of the difficulty in the construction of fuzzy rule base. In this paper, a three-term FLC which is similar to PID control but acts as a nonlinear controller is proposed. To reduce the complexity of the rule base design and increase efficiency, a simplified fuzzy PID control is induced from a hybrid velocity/position type PID algorithm by sharing a common rule base for both fuzzy Pi and fuzzy PD parts. It is simple in structure, easy in implementation, and fast in calculation. The phase plane technique is applied to obtain the rule base for fuzzy two-term control and them. The resultant rule base is Macvicar-Whelan type. The frequency response information is used in tuning of membership functions. Also a tuning strategy for the scaling factors is Proposed based on the relationship between PID gain and them. Simulation results show better performance and the effectiveness of the proposed method.

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