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AIAA Guidance, Navigation, and Control Conference 2005

作者： Kim, Kwang Hoon Lee, Jang Gyu Park, Chan Gook School of Electrical Engineering and Computer Science Seoul National University ASRI #610 San 56-1 Sillim-dong Gwanak-gu Seoul 151-742 Korea Republic of School of Mechanical and Aerospace Engineering Seoul National University San 56-1 Sillim-dong Gwanak-gu Seoul 151-744 Korea Republic of School of Electrical Engineering and Computer Science Korea Republic of AIAA United States School of Mechanical and Aerospace Engineering

ISBN: (纸本)1563477378

This paper proposes a new FDI(Fault Detection and Isolation) method, which is called EPSA(Extended Parity Space Approach). This method is particularly suitable for fault detection and isolation of the system with one faulty sensor or two faulty sensors. In the system with two faulty sensors, the fault detection and isolation probability may be decreased when two faults are occurred between the sensors related to the large fault direction angle. Nonetheless, the previously suggested FDI methods to treat the two-faults problem do not consider the effect of the large fault direction angle. In order to solve this problem, this paper analyzes the effect of the large fault direction angle and proposes how to increase the fault detection and isolation probability. The proposed FDI method is verified through Monte Carlo simulation. Copyright © 2005 by the American Institute of Aeronautics and Astronautics, Inc. All rights reserved.

关键词： Space applications

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AN ALGORITHM FOR SYSTEM IMMERSION INTO NONLINEAR OBSERVER FORM: FORCED SYSTEM

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IFAC Proceedings Volumes 2005年第1期38卷 121-126页

作者： Juhoon Back Hyungbo Shim Jin H. Seo ASRI School of Electrical Engineering and Computer Science Seoul National University Kwanak P.O.Box 34 Seoul 151-600 Korea

The class of nonlinear system that can be put into nonlinear observer form (linear system with output injection) can be broadened if we employ the system immersion. We provide an algorithm with which one can check whether a forced system with relative degree r can be transformed into nonlinear observer form or not. The proposed algorithm is an extension of the previous result and does not require the relative degree 1 assumption. In addition, it is seen that, the immersibility can always be checked via algebraic computations except one special case when the relative degree equals to the system dimension (in the case, only one first order differential equation appears in the algorithm).

关键词： observer system immersion forced system

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A Simple Condition for Checking Non-vanishing Basin of Attraction Stability for a Class of Positive Nonlinear Systems

A Simple Condition for Checking Non-vanishing Basin of Attra...

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IEEE Conference on Decision and Control

作者： H. Shim N.H. Jo ASRI School of Electrical Engineering and Computer Science Seoul National University Seoul South Korea School of Electrical Engineering Soongsil University Seoul South Korea

When dealing with positive nonlinear systems, conventional stability requires too much for the equilibrium points located on the boundary of the positive orthant, which encourages the consideration of ‘stability with respect to the positive orthant.' In addition, since this case arises often when the bifurcation occurs, variation of stability property (regarding the size of basin of attraction) along the variation of the parameter becomes of interest. Motivated by this fact, NvBA(Non-vanishing Basin of Attraction)-stability was recently proposed and investigated. In particular, it was claimed that NvBA-stability holds if and only if the same property holds for the reduced order system on a parametrized center manifold. However, the verification of NvBA-stability is not easy in general, because a solution to the partial differential equation for the center manifold needs to be found. In this paper, we present a readily verifiable condition for the NvBA-stability by restricting the system structure and by utilizing the information about the location of another equilibria that split from or merge into the equilibrium of interest due to the parameter variation. The proposed condition requires neither the solution to the center manifold equation nor the construction of Lyapunov functions.

关键词： Stability Nonlinear systems Bifurcation Reduced order systems Partial differential equations Lyapunov method Systems biology Chemical engineering Kinetic theory Finance

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On the Number of Integrators Needed for Dynamic Observer Error Linearization via Integrators

On the Number of Integrators Needed for Dynamic Observer Err...

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IEEE Conference on Decision and Control

作者： Kyung Tak Yu N.H. Jo J.H. Seo ASRI School of Electrical Engineering and Computer Science Seoul National University Seoul South Korea School of Electrical Engineering Soongsil University Seoul South Korea

ISBN: (纸本)0780395670

In this paper, an illustrative example is given, which shows that the number of integrators needed for the dynamic observer error linearization using integrators can not be bounded by a function of the dimension of the system and the number of outputs in contrast to dynamic feedback linearization results. Some necessary conditions for dynamic observer error linearization are also provided.

关键词： Nonlinear dynamical systems Output feedback Sufficient conditions Nonlinear systems Upper bound State feedback Observability computer science Geometry

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An Algorithm for Dynamic Linearization by Generalized Output Injection

An Algorithm for Dynamic Linearization by Generalized Output...

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IEEE Conference on Decision and Control

作者： Kyung Tak Yu Juhoon Back J.H. Seo ASRI School of Electrical Engineering and Computer Science Seoul National University Seoul South Korea Department of Electrical and Electric Engineering Imperial College London London UK

ISBN: (纸本)0780395670

In this paper, a constructive algorithm is proposed for solving a generalized characteristic equation for a single-output nonlinear system. By a reasonable restriction of systems, the proposed method is feasible in the sense that we can obtain the functions satisfying the generalized characteristic equation step by step instead of getting them simultaneously. The proposed algorithm can be used for a dynamic observer error linearization by generalized output injection for a single-output nonlinear system.

关键词： Heuristic algorithms Nonlinear systems Nonlinear dynamical systems Nonlinear equations Differential equations Polynomials computer science computer errors State-space methods

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NEW SUPERVISORY CONTROL USING CONTROL-RELEVANT SWITCHING

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IFAC Proceedings Volumes 2005年第1期38卷 91-96页

作者： Tae-Woong Yoon Jung-Su Kim Dept. of Electrical Engineering. Korea University Anam-dong 5-ga Seongbuk-gu 136-713 Seoul Korea ASRI School of Electrical Engineering and Computer Science #060 Seoul National University Kwanak PO Box 34 Seoul 151-600 Korea

This paper presents a new supervisory control scheme, which is based on a control-relevant switching logic. Unlike most of the existing switching methods considering only estimator performance, the proposed scheme takes both estimator and controller performance into account. As an index to the controller performance, an iISS (integral-Input-to-State Stability) Lyapunov function is employed; it is ensured that the Lyapunov function satisfies a certain inequality. This Lyapunov-based switching is then coupled to the state-dependent dwell-time switching developed recently, and the state of the uncertain plant is shown to converge asymptotically .

关键词： supervisory control iISS Lyapunov function dwell-time switching

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A disposable MEMS-based micro-biopsy catheter for the minimally invasive tissue sampling

A disposable MEMS-based micro-biopsy catheter for the minima...

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IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005

作者： Park, Sunkil Lee, Ahra Jeong, Myoung-Jun Choi, HyunMin Song, Si Young Bang, Seung Min Paik, Seung-Joon Lim, Jung-Min Jeon, Doyoung Lee, Seung Ki Chu, Chong Nam Cho, Dongil Dan School of Electrical Engineering and Computer Science Seoul National University San 56-1 Shinlim-dong Kwanak-gu Seou 151-742 Korea Republic of Department of Internal Medicine Yonsei University College of Medicine Seoul Korea Republic of Department of Mechanical Engineering Sogang University Seoul Korea Republic of Department of Electrical Engineering Dankook University Seoul Korea Republic of School of Mechanical and Aerospace Engineering Seoul National University Seoul Korea Republic of ASRI ISRC Seoul National University Seoul Korea Republic of

ISBN: (纸本)0780389123

This paper presents a novel minimally invasive MEMS (Micro Electro Mechanical System)-based micro-biopsy catheter for the diagnosis of gastrointestinal tissue samples. Conventional macro-scale biopsy tools such as biopsy forceps often cause a significant discomfort, infectous risk, and injury to the patients. In this study, a disposable micro-scale biopsy tool is proposed for the first time and MEMS technology is implemented for the fabrication process. Micro-biopsy catheter successfully extract tissue samples from the small intestines of the anesthetized rabbit and pig. The proposed micro biopsy catheter is found to be useful in minimally invasive diagnosis. © 2005 IEEE.

关键词： Biopsy

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A disposable MEMS-based micro-biopsy catheter for the minimally invasive tissue sampling

A disposable MEMS-based micro-biopsy catheter for the minima...

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2005 IEEE/RSJ International Conference on Intelligent Robots and Systems

作者： Sunkil Park Ahra Lee Myoung-Jun Jeong HyunMin Choi Si Young Song Seung Min Bang Seung-Joon Paik Jung-Min Lim Doyoung Jeon Seung Ki Lee Chong Nam Chu Dongil Cho School of Electrical Engineering and Computer Science Seoul National University Seoul South Korea Department of Internal Medicine Yonsei University College of Medicine Seoul South Korea Department of Mechanical Engineering Sogang University Seoul South Korea Department of Electrical Engineering Dankook University Seoul South Korea School of Mechanical and AeroSpace Engineering Seoul National University Seoul South Korea ASRI ISRC ERC-NBS Seoul National University Seoul South Korea

This paper presents a novel minimally invasive MEMS (micro-electromechanical system)-based micro-biopsy catheter for the diagnosis of gastrointestinal tissue samples. Conventional macro-scale biopsy tools such as biopsy forceps often cause a significant discomfort, infectious risk, and injury to the patients. In this study, a disposable micro-scale biopsy tool is proposed for the first time and MEMS technology is implemented for the fabrication process. Micro-biopsy catheter successfully extracts tissue samples from the small intestines of the anesthetized rabbit and pig. The proposed micro biopsy catheter is found to be useful in minimally invasive diagnosis.

关键词： Catheters Minimally invasive surgery Sampling methods Biopsy Micromechanical devices Gastrointestinal tract Injuries Fabrication Intestines Rabbits

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TDM-based coordination function (TCF) in WLAN for high throughput

TDM-based coordination function (TCF) in WLAN for high throu...

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IEEE Conference and Exhibition on Global Telecommunications (GLOBECOM)

作者： Chaegwon Lim Chong-Ho Choi School of Electrical Engineering and Computer Science and ASRI Seoul National University Seoul South Korea

IEEE 802.11 has become a dominant standard for wireless local area network (WLAN), and the users' demand for high throughput of IEEE 802.11 is continuously increasing. We propose a new medium access control scheme, TDM-based coordination function (TCF), which can be used when all the stations are within the radio transmission range. TCF uses information on the number of active stations explicitly to eliminate the contention period in the DCF (distributed coordination function) of IEEE 802.11. TCF can improve overall throughput and provide fair sharing of resources among active stations. Also, TCF is simple and can be implemented distributively. Simulation is performed to compare TCF with DCF and FCR (fast collision recovery) in terms of performance.

关键词： Wireless LAN Throughput Media Access Protocol Data communication Intelligent networks computer science Wireless communication Communications technology Wireless networks Bluetooth

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An anti-windup design for single input adaptive control systems in strict feedback form

An anti-windup design for single input adaptive control syst...

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American Control Conference (ACC)

作者： Hyun Min Do T. Basar Jin Young Choi School of Electrical Engineering and Computer Science ASRI Seoul National University South Korea Coordinated Science Laboratory and Department of Electrical and Computer Engineering University of Illinois Urbana IL USA

This work presents an anti-windup design method for improving the performance of single input adaptive control systems in strict feedback form with input saturation. By an appropriate modification of the adaptation laws without saturation, excessive adaptation is prevented during an input saturation. A stability analysis and a proof of asymptotic convergence of the output tracking error are provided. The performance of the proposed design is demonstrated through simulations.

关键词： Adaptive control Control systems Windup Design methodology Control nonlinearities Strain control computer science Feedback loop Error correction Stability analysis

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