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In this paper, we propose torque-modulated backstepping control for uniform tracking errors in the vertical motion of two-dimensional electromagnetic scanners using only output measurement. Due to manufacturing tolerance, there are parameter uncertainties of two-dimensional electromagnetic scanners so that it is not easy to obtain uniform tracking error performance for the motion control of scanners...
Modern robot researches focus on disaster response to carry out several missions by a robot itself. Robot software should handle a large number of calculation under real-time constraints. And also, the software design should be complex to process a lot of sensors, which increases a number of factors to consider for the system performance. In this paper, we present the software architecture design...
In this paper, we present an observer based nonlinear controller using barrier Lyapunov function (BLF) for position tracking of Sawyer motor under yaw constraint. The dynamics of Sawyer motor is modified to apply BLF-based backstepping control design. To relax the matching condition, torque and force modulations are proposed. The modulations enable decoupling forces and torque of the Sawyer motor,...
In this paper, we propose a multi-stage speech enhancement technique for speech recognition. At first, a multi-channel speech enhancement method takes advantage of the spatial information of speech source. Then, in the second stage, single-channel speech enhancement based on data-driven approach is adopted to improve performance of speech recognition at server side. This method can improve the quality...
Combat effectiveness created by deployment of force is a key factor in leading successful combat operations. Measurements of combat effectiveness should consider the overall capabilities of the resources involved, and should capture spatial aspects to keep regional advantages for a combat operation. This study focuses on developing an analytical metric to measure combat effectiveness by adapting network...
In this paper, we propose enhanced nonlinear damping control for a class of singularly perturbed interconnected nonlinear systems (SPINSs). The proposed method transforms SPINS into a feedback connection of two subsystems. Then, nonlinear damping is implemented to improve the transient behavior of slow subsystem. The proposed method provides weighting factors for each tracking error, which enable...
In this paper, we proposed nonlinear adaptive speed controller for permanent magnet synchronous motors in the presence of unbalanced phase winding resistances. An adaptive control is designed to compensate for the resistance unbalance in a-b-c frame dynamics. Estimated neutral voltage which is non-zero due to the unbalance is used for the adaptive control. It is proven using singular perturbation...
This paper presents gain scheduling H2 controller for speed control of permanent magnet synchronous motors (PMSMs) in the sense of linear parameter varying (LPV) synthesis. First, the nonlinear dynamics of a PMSM is transformed to a LPV system which has state-dependent varying parameters. The proposed method is composed of torque modulation, commutation scheme and H2 controller based on parameter-dependent...
This paper proposes H∞ control based on linear parameter varying(LPV) systems for load torque compensation of the permanent magnet synchronous motors(PMSMs). The proposed method consists of torque modulation, commutation scheme and LPV H∞ controller. The dynamics of PMSMs was represented as the LPV systems depend on varying parameters. By the LPV modeling, we designed H∞ controller. Stability is proven...
This paper introduces a rescue robot to extract a casualty from hazardous environment and suggests a specific whole-body behavior strategy suitable for the rescue mission taking into account the characteristics of the robot configuration. Since the robot has redundant degrees of freedom, a task-priority based CLIK as differential inverse kinematics approach is adopted for real-time implementation...
This paper presents a sliding mode based model predictive controller for permanent magnet synchronous motor(PMSM). The proposed controller consists of model predictive controller(MPC) for outer velocity control loop and sliding mode controller(SMC) for inner current control loop. The SMC is proposed to track the desired currents in finite time. The MPC is developed to obtain optimal velocity control...
In this paper, we propose a sliding mode controller (SMC) based on singular perturbation theory for Sawyer motors. Since the dynamics of Sawyer motors can be divided into slow and fast subsystem, the current measurements are removed by using singular perturbation theory and passivity of the dynamics of Sawyer motors. Input voltages including auxiliary inputs for slow subsystem are designed to stabilize...
This paper deals with a method to measure the quality of Giga Internet service. The existing method needs both remote servers and a client application when measuring Internet quality such as throughput(speed), delay and loss. On the other hand, the proposed method only needs a single-sided application which is installed in a personal computer(PC). The key technique is to use traffic loopback algorithm...
The SDN controllers maintain the flow tables to manage all the data flows passing through the SDN switches. In some cases, monitoring activities are required for the specific flows to detect the special events. Current de facto standard of SDN architecture enforces SDN switch to stay awake all the time from the time it receives the event monitoring request from SDN controller to catch the target event...
This paper introduces an experimental rescue robot, HUBO T-100 for a development of a Korean rescue robot with a large load carrying capacity and presents its optimal motion control methods. The mission of the rescue robot is to move and lift patients or soldiers with impaired mobility for the rescue and assistance in the battlefields, hospitals, hazardous and disastrous environments. Another mission...
In this paper, we propose the nonlinear control based on singular perturbation theory for position tracking and yaw regulation of Sawyer motor. The method of singular perturbation is characterized by the existence of slow and fast transients in the system dynamics. Thus, we can apply to singular perturbation at sawyer motor due to separated motor dynamics into slow and fast dynamics. The proposed...
This paper introduces software architectures of the Rescue Robot that lifts and moves wounded soldiers in battle fields or hospitals. Since the Rescue Robot interacts with humans, the robot needs a real-time operation for human safety. Moreover, it is necessary that a large number of calculations and various sensing data to move the soldiers without any damages. One of challenging problems of designing...
This paper presents H2 control based on linear parameter varying (LPV) systems for speed control of permanent magnet synchronous motors(PMSMs). PMSMs model is rewritten in LPV systems which depend on online accessible time varying parameters given by real time information. Since the PMSM nonlinear model can be transformed into LPV systems, we design H2 control with gain scheduling. The proposed method...
Recently there have been a lot of discussions about the benefits and usages of SDN technologies, but not many practical proposals for how to interconnect the various heterogeneous and disparate networks maintained by the telecommunication companies. Current level of SDN technologies does not show any sign of transforming the whole legacy network into the SDN oriented one all at once, but instead,...
We innovate an approach to position control, a robust nonlinear damping backstepping with augmented observer for position control of permanent magnet stepper motors (PMSMs). The proposed method requires only position feedback and nominal value of Km over JL among PMSM parameters. We propose new 3rd order single-input single-output PMSM dynamics that consist of position, velocity, and acceleration...
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