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정종익,주도윤,Yusuke Fujiyama,이영삼 제어·로봇·시스템학회 2023 제어·로봇·시스템학회 논문지 Vol.29 No.9
This study investigates the transition control problem for a double inverted pendulum system, which has one stable and three unstable equilibrium points. We propose a method for implementing transition control using a lab-built double inverted pendulum and extend swing-up control to achieve this. The proposed method uses a two-degree-of-freedom control structure that combines feedforward and feedback controls. To obtain the feedforward trajectories offline, we construct an optimal control problem with two-point boundary values that has constraints on the dynamic equations, boundary values at the equilibrium points, and input and output constraints. We use energy as the cost of the optimal control problem and employ a direct collocation method to transform the continuous-time optimal control problem with constraints into a nonlinear optimization problem. During real-time control, we use a time-varying LQ controller as a feedback controller to compensate for the uncertainty of feedforward control and accurately follow the feedforward trajectories. We implement the proposed transition control based on high-level thinking using the lab-built light-weight rapid control prototyping (LW-RCP) system to shorten the design time and provide useful information in the design and experiment processes. Finally, we perform an actual transition control experiment and validate the performance of the proposed method using the experimental results.
모델기반 swing-up 제어를 위한 2단 도립진자의 구조 설계 및 계수 추정에 대한 연구
주도윤,최창규,정종익,이영삼 제어·로봇·시스템학회 2022 제어·로봇·시스템학회 논문지 Vol.28 No.9
Mathematical models and parameters with high accuracy are required for the swing-up control of a double inverted pendulum. This study proposes a mechanical structure of a double inverted pendulum having excellent matching characteristics with a mathematical model. The implementation of a parameter estimation method based on nonlinear optimization, which is essential for swing-up control, is also proposed. The proposed structure of a double inverted pendulum eliminates backlash using the direct drive of a BLDC motor, minimizes the unmodeled frictional force through bearing cleaning and oiling, minimizes unnecessary load torque using the double support of a timing pulley shaft and power transmission through a coupling, and constrains the pendulum rotation to one degree-of- freedom by adopting a dual-bearing joint. In addition, both 3D printing and CNC milling are appropriately used to satisfy the requirements for each mechanical part. The swing motion of the manufactured double inverted pendulum is measured using the lab-built light-weight rapid control prototyping 02 (LW-RCP02). The proposed parameter estimation method based on nonlinear optimization is implemented to match the response trajectory of the actual double inverted pendulum with that of a Simulink model implemented as an S-function. Finally, the effectiveness of the proposed double inverted pendulum design and parameter estimation method is confirmed by showing that the mathematical model that, based on the parameters estimated using the proposed method, accurately describes the response characteristics of the double inverted pendulum. .
3단 도립진자의 구조 제안 및 LW-RCP02를 이용한 Swing-up Control의 구현
최창규,주도윤,정종익,이영삼 제어·로봇·시스템학회 2022 제어·로봇·시스템학회 논문지 Vol.28 No.10
In this paper, we propose a new structure for a triple inverted pendulum with easy construction properties. We also implement a swing-up control for the proposed triple inverted pendulum using a lab-built rapid control prototyping environment known as light-weight rapid control prototyping 02 (LW-RCP02). The swing-up control of a triple inverted pendulum has a two-degree-of-freedom structure and requires a very accurate mathematical model. The proposed triple inverted pendulum adopts the same method that was developed for a double inverted pendulum by the authors’ laboratory to achieve excellent matching properties with the model. For free rotation of three pendulums, a hollow shaft revolute joint that can be used with a slip ring is newly proposed. Swing-up control of a triple inverted pendulum is implemented using Simulink and LW-RCP02. Moreover, a two-degree-of-freedom control structure combining feedforward and feedback is adopted for swing-up control of a triple inverted pendulum. We implement the parameter estimation method for the triple inverted pendulum and calculate the trajectory for feedforward control using estimated parameters and the direct transcription method. The uncertainty of feedforward control is compensated by adding a time-varying LQ feedback controller. As the sampling frequency of the implemented controller is 1KHz, real-time control is achievable using a standard PC. .
만성 신부전 환자에서 복막 투석중 발생한 Chyloperitoneum 1예
김영준,이순애,정상용,서상렬,임규철,정종익,김진휘,권덕호 대한신장학회 1998 Kidney Research and Clinical Practice Vol.17 No.4
Chylous ascites is extravasation of lymphatic fluid and retention in the peritoneal cavity due to traurna or obstruction of the lymphatic system. Chylous ascites is very rare complication of Continuous Ambulatory Peritoneal Dialysis(CAPD) and is associated with trauma to the lymphatics during catheter insertion in the early stage of CAPD and repeated mild trauma to the lyrnphatics during long-term dialysis. Chylous ascites in the CAPD is suspected when the drained peritoneal fluid is milky white and confirmed by demonstration of the specific components of chyle, such as elevated triglyceride and low cholesterol than plasma and should be differentiated from pseudochyle and bacterial peritonitis. We report a case of chylous ascites in a patient undergoing CAPD at 2 months later of initiation of CAPD, which was not improved by conservative management. So CAPD catheter was removed and renal replacement therapy was changed to hemodialysis.
신미경,정상용,신재욱,신동우,구양서,김진휘,천정현,정종익,권덕호 대한소화기학회 1999 대한소화기학회지 Vol.34 No.6
Multiple lymphomatous polyposis (MLP) is a rare type of malignant gastrointestinal lymphoma characterized by multiple polyps involving long segments of the gastrointestinal tract. The malignant cells of MLP share morphological, immunohistologic and cytogenetic similarity with cells of nodal- based mantle cell lymphoma. A few cases of synchronous with metachronous primary gastric lymphoma and adenocarcinoma were reported. However, we could not find any case of synchronous with metachronous MLP and gastric adenocarcinoma. We report a case of MLP involving various segments of gastrointestinal tract and synchronous gastric adenocarcinoma observed in a 78-year-old woman who complained of epigastric pain and indigestion.