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퍼지 로직 시스템을 이용한 항공기 가스터빈 엔진 오류 검출에 대한 연구
모은종(Eun-Jong Mo),지민석(Min-Seok Jie),김진수(Chin-Su Kim),이강웅(Kang-Woong Lee) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.1
A fuzzy inference logic system is proposed for gas turbine engine fault isolation. The gas path measurements used for fault isolation are exhaust gas temperature, low and high rotor speed, and fuel flow. The fuzzy inference logic uses rules developed from a model of performance influence coefficients to isolate engine faults while accounting for uncertainty in gas path measurements. Inputs to the fuzzy inference logic system are measurement deviations of gas path parameters which are transferred directly from the ECM(Engine Control Monitoring) program and outputs are engine module faults. The proposed fuzzy inference logic system is tested using simulated data developed from the ECM trend plot reports and the results show that the proposed fuzzy inference logic system isolates module faults with high accuracy rate in the environment of high level of uncertainty.
Robust Visual Servo Control of Robot Manipulators with Uncertain Dynamics and Camera Parameters
김진수,모은종,한성민,지민석,이강웅 제어·로봇·시스템학회 2010 International Journal of Control, Automation, and Vol.8 No.2
In this paper, an image-based robust controller is designed to compensate uncertainties with image Jacobian and robot dynamics due to uncertain depth measurement and load variations. The proposed controller with eye-in-hand structure has separate terms to compensate each of uncertainties. The ultimately uniform boundedness of the closed-loop system is proved by the Lyapunov method. The performance of the proposed control system is demonstrated by experimental results of a 5-link robot manipulator with two degree of freedom.
영상 자코비안 및 동특성 불확실성을 포함하는 로봇 매니퓰레이터의 영상기반 강인제어
김진수(Chin-Su Kim),모은종(Eun-Jong Mo),이강웅(Kang-Woong Lee) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.10
In this paper, we design an image-based robust controller to compensate uncertainties with image Jacobian and robot dynamics due to uncertain depth measurement and load variations. The proposed controller with eye-in-hand structure has separate terms to compensate each of uncertainties. The ultimate bounded ness of the closed-loop system is proved by the Lyapunov approach. The performance of the proposed control system is demonstrated by simulation and experimental results a 5-link robot manipulator with two degree of freedom.