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检索条件"机构=Korea Institute of Robot and Convergence Applied Technology Division"

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Output feedback nonlinear control for electro-hydraulic systems

Output feedback nonlinear control for electro-hydraulic syst...

引用

作者： Kim, Wonhee Won, Daehee Shin, Donghoon Chung, Chung Choo Department of Electrical Engineering Hanyang University Seoul 133-791 Korea Republic of Division of Electrical and Biomedical Engineering Hanyang University Seoul 133-791 Korea Republic of Division for Applied Robot Technology Korea Institute of Industrial Technology Ansan Gyeonggi-Do 426-171 Korea Republic of

In this paper we present an output feedback nonlinear control for position tracking of electro-hydraulic systems (EHSs). Although previous nonlinear control methods improved the position tracking performance of EHS, all of the methods require full state feedback. However, due to cost and space limitations, it is not always possible to measure the full state of the EHS. The proposed method consists of a high gain observer and a passivity-based controller. The high gain observer is designed to estimate the full state, and the passivity-based control is implemented for position tracking. In order to design the passivity-based controller with the high gain observer, a defined Lyapunov condition guarantee that the origin of the tacking error dynamics is exponentially stable by selecting the controller gain. The stability of the closed-loop is studied using the singular perturbation theorem. The performance of the proposed method is validated through simulations and experiments. © 2012 Elsevier Ltd. All rights reserved.

关键词： Tracking (position)

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A modified Dynamic Window Approach in crowded indoor environment for intelligent transport robot

A modified Dynamic Window Approach in crowded indoor environ...

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International Conference on Control, Automation and Systems

作者： Baehoon Choi Beomseong Kim Euntai Kim KwangWoong Yang Department of Electrical and Electronic Engineering Yonsei University Division for Applied Robot Technology Korea Institute of Industrial Technology

ISBN: (纸本)9781467322478

We propose the modified dynamic window approach for indoor transport robot. The dynamic window approach is the popular collision avoidance algorithm that considers the heading direction of the robot, the distance to the obstacle, and the velocity of the robot. The objective function of the DWA thinks faster speed is better but it is very dangerous when there are many people around. They will feel discomfort with fast vehicle around them. This paper proposes that when the robot is in crowded place which means there are many dynamic obstacles around the robot, the robot move slow down to watch out the collision with them. It is implemented by using several fuzzy rules to determine the possible actions of the robot in DWA. Experiment results are given to validate our proposed method.

关键词： Dynamic window approach DWA Intelligent robot Motion planning

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Observer Based Nonlinear Tension Control for Multi Motor Wire Winding System

Observer Based Nonlinear Tension Control for Multi Motor Wir...

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International Conference on Control, Automation and Systems

作者： Donghoon Shin Wonhee Kim Youngwoo Lee Daehee Won Chung Choo Chung Department of Electrical Engineering Hanyang University Division for Applied Robot Technology Korea Institute of Industrial Technology Division of Electrical and Biomedical Engineering Hanyang University

ISBN: (纸本)9781467322478

In this paper, we present a tension control method for multi motor wire winding systems (MWSs). The objectives of MWS are tracking both the tension and velocity of wire. A velocity controller for rewinding motor is designed. A tension controller, whose inner loop is the velocity controller for unwinding motor, is developed. To filter out the measurement noises of velocities and estimate the load torque of motors, an augmented observer is proposed. The proposed method ensures good performance in the presence of the measurement noises of velocities noise and load torque. Simulation results validate the effectiveness of proposed method.

关键词： Multi motor wire winding systems Tension control

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A new target recognition scheme using 24GHz microwave RADAR

A new target recognition scheme using 24GHz microwave RADAR

引用

International Conference on Fuzzy Theory and it's Applications (iFUZZY)

作者： Baehoon Choi Beomseong Kim Euntai Kim Heejin Lee KwangWoong Yang School of Electrical & Electronic Engineering Yonsei University Seoul Korea Dept. of Electrical Electronic and Control Engineering Hankyong National University Kyonggi-do Korea Division for Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea

In this paper, the target recognition system using 24GHz radar for intelligent vehicle is represented. Several kind of radar measurement features are included to get performance. The proposed method is verified by experiments. The support vector machine based classification system is implemented. The result of the system is compared with other previous methods.

关键词： Radar Intelligent vehicles Microwave theory and techniques Vehicles Sensors Position measurement Educational institutions

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Indoor Localization using Laser Scanner and Vision Marker for Intelligent robot

Indoor Localization using Laser Scanner and Vision Marker fo...

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International Conference on Control, Automation and Systems

作者： Beomseong Kim Baehoon Choi Euntai Kim KwangWoong Yang School of Electrical & Electronic Engineering Yonsei University Division for Applied Robot Technology Korea Institute of Industrial Technology

ISBN: (纸本)9781467322478

Indoor localization is essential technology in service robot market. To localize the position of robot, laser scanner is widely used. But it has limit that laser scanner has probability return unexpected data when the space that the robot operate is too crowded. In this dynamic environment, the robot needs another sensor to complement weakness of laser scanner. This paper proposes vision sensor for complement sensor. But previous works that use vision sensor need many computational tasks. So this paper proposes the way to uses vision marker. This method makes the robot executing localization with efficiency. This algorithm applied on the robot platform and experiment show this algorithm is valid in dynamic and static environment.

关键词： Indoor Localization Laser Scanner Vision Marker

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A vision system for UAV position control

A vision system for UAV position control

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IEEE Conference on Aerospace

作者： Baik, Kyeonghoon Shin, Jinok Ji, Sanki Shon, Woonghee Park, Sangdeok Division for Applied Robot Technology Korea Institute of Industrial Technology Korea Republic of

ISBN: (纸本)9781424473502

In this paper, we propose a vision-based control system for the localization of an unmanned aerial vehicle (UAV) which equips on-board cameras. The proposed approach is combined a visual odometer with inertial measurement from IMU and pressure signal which compensate attitude and altitude, respectively. For the autonomous control of a UAV, we consider only natural landmarks provided by a feature tracking algorithm without the help of visual beacons or landmarks at known positions. The displacement of the UAV is estimated by the homography, the relationship between a pair of points. The experimental results show that it is possible to extract useful position information from the proposed vision system even when the UAV flies high, and the information can be used temporary position control of UAVs during GPS failure. © 2011 IEEE.

关键词： Position control

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Natural changing of emotional expression by considering correlation of behavior history

Natural changing of emotional expression by considering corr...

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IEEE International Symposium on Consumer Electronics

作者： Ahn, Ho Seok Choi, Jin Young Lee, Dong-Wook Shon, Woong Hee Department of Applied Robot Technology Convergent Technology R and D Division Korea Institute of Industrial Technology 1271-18 Sa-3-dong Sangrok-gu Ansan 426-910 Korea Republic of

ISBN: (纸本)9781612848433

This paper presents a novel method for natural changing of emotional expression. Although formal behavior generation method using the simulated annealing algorithm selects various behaviors, there are weak correlations among behavior history. To make strong correlations, we restrict the randomness of the simulated annealing algorithm. This method sifts unapt candidate behavior combinations out by considering the previous behavior combinations and makes adequate range of candidate behavior combinations. We have verified the continuity of the proposed method using a cyber robot simulator. © 2011 IEEE.

关键词： Simulated annealing

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Position tracking and flatness controller with disturbance observer in hydraulic servo systems

Position tracking and flatness controller with disturbance o...

引用

50th Annual Conference on Society of Instrument and Control Engineers, SICE 2011

作者： Kim, Wonhee Shin, Donghoon Won, Daehee Chung, Chung Choo Department of Electrical Engineering Hanyang University Seoul 133-791 Korea Republic of Division for Applied Robot Technology Korea Institute of Industrial Technology Ansan Gyeonggi-Do 426-171 Korea Republic of Division of Electrical and Biomedical Engineering Hanyang University Seoul 133-791 Korea Republic of

ISBN: (纸本)9784907764395

A position tracking and flatness controller with disturbance observer (DOB) is proposed in hydraulic servo systems (HSSs). In this paper, we assume that the disturbance is a biased sinusoidal signal with unknown frequency. DOB is designed in the form of 2nd high pass filter to estimate the disturbance. The nonlinear controller is designed to compensate the estimation error of the disturbance and to track the desired position and load pressure as a near IO linearizing inner-loop load pressure controller and a feedback plus feedforward outer-loop position controller. The desired load pressure is designed using differential flatness property of the HSS mechanical subsystem. The performance of the proposed method is validated via simulations. © 2011 SICE.

关键词： Tracking (position)

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A method of mother wavelet function learning for DWT-based analysis using EEG signals

A method of mother wavelet function learning for DWT-based a...

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IEEE SENSORS

作者： Won-Seok Kang Kookrae Cho Seung-Hyun Lee Division of IT Convergence Daegu-Gyeongbuk Institute of Science and Technology Daegu South Korea Division of Robot System Daegu-Gyeongbuk Institute of Science and Technology Daegu South Korea

ISBN: (纸本)9781424492909

In brain signals analysis, there are the supplementary devices such as EEG, fNIRS, MEG, fMRI, PET, etc. EEG is a popular secondary device due to the advantages of easy usability, mobility and low-cost. Many researchers have employed a Discrete Wavelet Transform (DWT) to classify EEG signals and make a clustering of the signal in brain-computer interface and medicine diagnosis. The precision of classification and clustering for EEG analysis depend on a mother wavelet. In order to improve the precision, the previous works has taken a hand-selection method to find out the best mother wavelet after simulation. It is necessary to improve the tested precision because the best mother wavelets for the acquired EEG signals are different depending on the subjects. In this paper, we suggest a novel approach which can select the best mother wavelets for DWT-based analysis in time-series sequences of EEG signals. To show the efficiency of the proposed method, we utilized a clustering method which can separate unsupervised EEG signals into the groups such as the ADHD (Attention Deficit Hyper-activity Disorder), the normal children, and the children in the boundary between ADHD and Normal children. As a result of simulation, we confirmed that the novel method improved the precision about 15% more than the previous.

关键词： Electroencephalography Discrete wavelet transforms Pediatrics Artificial neural networks Wavelet analysis

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Impedance control of electro hydraulic servo system using input output linearization

Impedance control of electro hydraulic servo system using in...

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International Conference on Control, Automation and Systems ( ICCAS)

作者： Donghoon Shin Wonhee Kim Youngwoo Lee Daehee Won Chung Choo Chung Department of Electrical Engineering Hanyang University Seoul South Korea Division for Applied Robot Technology Korea Institute of Industrial and Technology Ansan South Korea Division of Electrical and Biomedical Engineering Hanyang University Seoul South Korea

In this paper, we present an impedance control method for electro hydraulic servo systems (EHSSs). The definition of impedance is a transfer function from external force to velocity error. By the proposed method, the transfer function from external force to velocity error becomes the desired transfer function. And we calculate the steady-state position and velocity error. Simulation results validate the effectiveness of proposed method and the steady-state position and velocity error.

关键词： Impedance Force Transfer functions Steady-state Dynamics Pistons Equations

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