A5067229991- Hydraulic and Pneumatic Systems
- Adaptive Control of Nonlinear Systems
- Stability and Control of Uncertain Systems
- Control Systems in Engineering
- Elevator Systems and Control
- Fault Detection and Control Systems
- Prosthetics and Rehabilitation Robotics
- Robotic Mechanisms and Dynamics
- Iterative Learning Control Systems
- Image and Video Stabilization
- Advanced Sensor and Control Systems
- Electric Motor Design and Analysis
- Advanced Control and Stabilization in Aerospace Systems
- Soft Robotics and Applications
- Industrial Automation and Control Systems
- Advanced Optical Imaging Technologies
- Real-time simulation and control systems
- Aerospace Engineering and Energy Systems
- Innovative Microfluidic and Catalytic Techniques Innovation
- Embedded Systems Design Techniques
- Industrial Vision Systems and Defect Detection
- Radar Systems and Signal Processing
- Sensorless Control of Electric Motors
- Magnetic Bearings and Levitation Dynamics
- Welding Techniques and Residual Stresses
Kyonggi University
2023-2025
Samsung (South Korea)
2022-2023
University of Surrey
2023
Mohamed bin Zayed University of Artificial Intelligence
2023
University of Strathclyde
2023
Korea Advanced Institute of Science and Technology
2013-2021
Yeungnam University
2021
The automation of organic compound synthesis is pivotal for expediting the development such compounds. In addition, enhancing efficiency can be achieved by incorporating autonomous functions alongside automation. To achieve this, we developed an robot that harnesses power artificial intelligence (AI) and robotic technology to establish optimal synthetic recipes. Given a target molecule, our AI initially plans pathways defines reaction conditions. It then iteratively refines these using...
This letter presents a design framework and novel control strategy for compact coaxial magnetic-gear-based actuation module suitable small-to-mid-sized mechanical robotic applications. The proposed adopts non-contact magnetic coupling mechanism to transmit rotational power with predetermined gear ratio, in contrast traditional gear-based transmissions. approach offers several advantages such as enhanced backdrivability, hardware safety, transparency when compared conventional contact-based...
This paper presents a robust current tracking controller for permanent magnet synchronous motors (PMSMs) with performance recovery property electric power steering (EPS) applications. The contributions of this work are twofold. First, disturbance observer (DOB) is designed to compensate the disturbances arising from model–plant mismatches while reducing closed-loop sensitivity. Second, improve in frequency domain by assigning system. verified through simulations and experiments using 500 W...
With recent active research related to autonomous driving, object tracking technology using driving sensors such as LiDAR and radar has also undergone extensive development. Accordingly, attempts are being made apply not only on vehicles but in various fields security surveillance. However, since surveillance systems should be able detect track objects even under extreme environmental conditions snow, rain, fog during the day or night, that meet relevant requirements essential. In South...
This paper presents a position control strategy for pump-controlled electro-hydrostatic actuator (EHA) using feedforward with disturbance compensation. As the observer is used to estimate nonlinear dynamics of EHA, which has valve-opening conditionals, as well external disturbances, an additional adopted achieve rapid response. The effectiveness proposed verified through experiment EHA test bench. controller shows better tracking performance compared conventional PID controller.
This paper studies the high performance robust motion control of a pump-controlled electro-hydrostatic actuation (EHA) with single-rod hydraulic actuator. Started from observation that EHA system has almost linear dynamics in small operating range, technique is taken into account. To nominalize nonlinear system, disturbance observer implemented to existing closed-loop system. Thanks that, feedforward for linearized provides rapid response. The proposed method validated via experiments.
In the paper, reinterpretation of a disturbance observer formulated in transfer function domain is considered. Recalling that produces an additional suppresion performance to existing closed-loop system, idea this paper can be add-on controller only suppress disturbances. By inducing equivalent block diagram from generalized based control system [9], we obtain feedback and open-loop function. Then, role as newly analyzed. Also, reason robust stability margin reduction phenomenon explaned...
In the paper, a generalized design of disturbance observer formulated in transfer function domain is presented for class single-input single-output (SISO) linear systems. Since conventional approaches seem to have difficulties handling all general cases and Linear Matrix Inequalities (LMI) based H-infinity optimization problem can deal with plants, proposed generally designed using an approach. First, frame when control input system output are available. Then, from frame, minimizing L <inf...
This paper introduces and controls a new variable radius pulley that passively changes the effective of drive in belt driven transmission response to changing load torque. The mechanism used this is based on principle increases when torque applied by cam element elastic element. A belt-driven with conventional constant has fixed maximum speed, but speed enable more efficient driving. explains operation experiments performed position control robot joint applying pulley.
This paper presents the concept of a new rubber compression mechanism for rotary compact series elastic elements, which can be used in robotic joints human–machine interaction devices. A element is realized using materials with higher specific energy and density than steel or fiberglass, are commonly commercial springs. To overcome nonlinearity hysteresis proposed mechanism, mathematical Bouc–Wen model developed through parameter identification proposed. describes working principle modeling...
This paper proposes an (EHA) system driven in three modes to improve the low reactivity of existing EHA system. By using a small high-pressure accumulator, servo valve, and mode switching circuits can be changed so that they are suitable for each according driving conditions. Each consists mode, hybrid charging operates on same principle as The is activated when high-speed position control performed, with help add-on valve controller, volume hydraulic cylinder stiffened quickly while...
In this paper, a generalized design of disturbance observer is presented for class stable linear time-invariant single-input single-output (SISO) systems. First, general configuration proposed when control input and system output are available. Then, the problem minimizing estimation error generally formulated as an H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> optimization in order to produce two parameters stably. From observation...
Studies on autonomous driving have started to focus snowy environments, and studies acquire data remove noise pixels caused by snowfall in such environments are progress. However, research determine the necessary weather information for control of unmanned platforms sensing degree real time has not yet been conducted. Therefore, this study, we attempted conditions. To end, were acquired LiDAR sensors various areas South Korea, Sweden, Denmark. Snow, which was extracted using a snow removal...
In this paper, a backstepping control based on disturbance observer is proposed for an electro-hydrostatic actuation (EHA) system. Compared to conventional hydraulic system, the EHA which employs closed circuit with bi-directional pump, known be more energy efficient and environmentally clean. To solve problem induced by mismatched disturbances in cylinder position control, controller combined designed using derived nonlinear model of The experimental result shows that performance robust...
In the paper, an add-on controller design based on disturbance observer for a class of single-input single-output (SISO) linear systems is proposed in H <sub xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">∞</sub> framework. Motivated by previous research reinterpretation as controller, designed to minimize reference tracking error which ultimate objective every control system minimizing estimation error. Since may amplify certain frequency band when...