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강태삼(Taesam Kang),윤광준(Kwang Joon Yoon),하태현(Tae-Hyun Ha),이기건(Gigun Lee) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.1
This paper describes the design of a robust H-infinity attitude controller for a quad-rotor. The linear model of a quad-rotor was estimated using PEM (Prediction Error Minimization) method with experimental input and output data. To design an attitude controller, an extended plant was constructed by adjusting several uncertainties and weighting functions. An H-infinity controller was obtained by applying H-infinity methodology to the extended plant. Through frequency-domain analysis, it was shown that the designed controller can overcome uncertainties up to 75% of the plant model. The performance and robustness of the controller were verified through time-domain simulation.
강태삼(Taesam Kang),허민재(Minjae Hur),김병하(Byung-Ha Kim) 대한기계학회 2009 대한기계학회 춘추학술대회 Vol.2009 No.11
For the direction control of a fish robot, it is necessary to identify a linear model for the dynamics of it. In this paper, experimental results for the identification of the fish robot model are proposed. Time domain and frequency domain analysis of the dynamic model is studied. Based on the linear model, designed is a robust direction controller using H-infinity control methodology. Simulation and experimental results of the controller are included.
Steven Aurecianus,Taesam Kang(강태삼),Chung Gwon Han(한충권),Jungkeun Park(박정근) 제어로봇시스템학회 2016 제어·로봇·시스템학회 논문지 Vol.22 No.9
A Crimp Force Monitor (CFM) is equipment for detecting crimp errors by analyzing crimp signals obtained from force and strain sensors. The analysis is commonly performed by aligning a measured crimp signal with a reference signal and comparing their difference. Current analysis methods often suffer from wrong alignments that result in false negative detections. This paper presents a new crimp signal analysis method in CFM. First, a falling edge alignment is proposed that matches falling edges of the measured and the reference signals by minimizing the absolute difference summation. Second, a signal parameter error is introduced to evaluate the crimp quality difference between the measured signal and the reference. For calculating the signal parameter error, part of a signal is identified and divided into several regions to maximize the signal parameter errors. Experiments showed that the proposed method can improve the signal alignment and accurately detect bad crimps especially with the strain sensor.
지능형 운행체를 위한 비전 센서 기반 자이로 드리프트 감소
경민기,당 코이 누엔,강태삼,민덕기,이정욱,Kyung, MinGi,Nguyen, Dang Khoi,Kang, Taesam,Min, Dugki,Lee, Jeong-Oog 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.7
Accurate heading information is crucial for the navigation of intelligent vehicles. In outdoor environments, GPS is usually used for the navigation of vehicles. However, in GPS-denied environments such as dense building areas, tunnels, underground areas and indoor environments, non-GPS solutions are required. Yaw-rates from a single gyro sensor could be one of the solutions. In dealing with gyro sensors, the drift problem should be resolved. HDR (Heuristic Drift Reduction) can reduce the average heading error in straight line movement. However, it shows rather large errors in some moving environments, especially along curved lines. This paper presents a method called VDR (Vision-based Drift Reduction), a system which uses a low-cost vision sensor as compensation for HDR errors.
전창완(Chang-Wan Jeon),강태삼(Taesam Kang) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.4
Recently many people have been troubled with perennial allergic rhinitis. But there is no way to cure for root of it until now. Therefore many medical treatments to release symptoms of perennial allergic rhinitis have been researched. One of them is localized aerosol hyperthermia, which injects 42℃~43℃ vapor into nasal cavity. Vapor inhalator for localized aerosol hyperthermia has been researched in foreign country. But on the other hand it has rarely been researched inside of the country. Since most clinics and hospitals have used imported vapor inhalator, it is needed to develop domestic vapor inhalator. In the paper, a superior vapor inhalator compared to former developed one is developed. The superiority of it comes from direct-vapor heating instead of water heating to control vapor temperature. The developed vapor inhalator has shorter rising time than the existing one because of direct-vapor heating. Furthermore vapor generation part and control part of the vapor inhalator developed as one piece mock-up. It enables the vapor inhalator to have smaller size. Many laboratory tests are performed and compared to existing results to prove its performance.