International Journal of Applied Electromagnetics and Mechanics - Volume 18, issue 1-3

Authors: Suh, Young Soo

Article Type: Research Article

Abstract: This paper is concerned with robust control of a quad-rotor aerial vehicle attitudes (pitch, roll, yaw). Attitudes of the quad-rotor vehicle is affected by various sources of disturbances such as wind and ground effect. In this paper, we propose a new disturbance observer so that these disturbances are estimated and compensated by the disturbance observer. It is shown by simulations that the proposed disturbance observer effectively compensates disturbances.

DOI: 10.3233/JAE-2003-278

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 18, no. 1-3, pp. 103-114, 2003

Authors: Doh, Nakju | Chung, Wan Kyun | Youm, Youngil | Oh, Sang-Rok

Article Type: Research Article

Abstract: This paper proposes a shortest path generation scheme for point stabilization of the car-like robot. An implicit shortest point stabilization algorithm has been suggested conceptually by Vendittelli. As an extension, we present an algorithm which is more explicit and faster than previous one. Our scheme provides exact equations for practical implementation. Moreover, its computation time is remarkably lower than the previous one for the case in which the final point changes frequently. We provide a proof …of the optimality and validate the performance of our algorithm through the simulation and experiment. Show more

Keywords: shortest path, mobile robot, path generation, point stabilization, posture stabilization, car-like robot

DOI: 10.3233/JAE-2003-279

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 18, no. 1-3, pp. 115-125, 2003

Authors: Jung, Sung-Jae | Yun, Sung-Yong | Kim, Il-Hwan

Article Type: Research Article

Abstract: In this paper, a new distributive lighting control system for BA (Building Automation) is presented. For optimal lighting control and saving energy in buildings such as hotels, schools and offices, the group and pattern lighting control as well as individual lighting control at one time are required. All the modulated lighting control terminals are connected to the central control unit through a pair of power lines. These power lines provide both power and signals to the …each distributed terminal, and data are transmitted using the cyclic time division multiplex transmission algorithm. With this algorithm, a low-cost distributive control system for lighting applications has been achieved, allowing energy and maintenance saving and increasing the reliability of the lighting control system. Show more

DOI: 10.3233/JAE-2003-280

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 18, no. 1-3, pp. 127-137, 2003

Authors: Lee, Seok Won | Nam, Boo Hee

Article Type: Research Article

Abstract: In this paper, we propose a new structure for a binary data transmission using the neural network and Haar transform to reduce the noise and distortion in the channel. To solve the problems such as signal distortion and nonlinearity during the transmission and reception of the signal, we use the neural network to design an equalizer to adapt the change of the channel characteristics. Before transmitting digital information, two adjacent binary signals are Haar transformed and …are sent to the channel which is assumed to corrupt the signal by an additive white Gaussian noise (AWGN), and then we receive the noise-reduced signal through the inverse Haar transform. We analyze the probability of error and simulate the model to show the validity. Show more

DOI: 10.3233/JAE-2003-281

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 18, no. 1-3, pp. 139-147, 2003

Authors: Nakazawa, Shin-ichi | Ishihara, Tadashi | Inooka, Hikaru

Article Type: Research Article

Abstract: The time derivative of acceleration, sometimes called a jerk, plays an important role in vibration control, ride comfort evaluation and so on. It is usually required to estimate a jerk from a noisy acceleration signal. Simple numerical differentiation of a filtered acceleration signal often fails to give satisfactory result. A model-based estimation technique is proposed in this paper. Behavior of a jerk signal is modeled by a random walk process. Then the problem of estimating the …jerk is formulated as a state estimation problem. On the assumption that the observation noise has a colored noise component, a Kalman filter and an filter are derived for estimating the jerk. The performances of both estimators are compared by simulation. Although both filters provide comparable performances for ideal case, the filter with appropriate use of a priori information has better robustness than the Kalman filter and is more useful in real applications. Show more

DOI: 10.3233/JAE-2003-282

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 18, no. 1-3, pp. 149-163, 2003

Authors: Takahashi, Kazuhiko

Article Type: Research Article

Abstract: This paper investigates multi layer neural networks that involves the chaos neurons to achieve high efficiency of neural networks learning. Two types of neural networks are proposed. One of the multi layer neural network has the chaos neural network in its hidden layer. The other multi layer neural network is composed only using the chaos neurons. The learning ability of the neural networks involving the chaos neurons and/or chaos neural network is evaluated by benchmark experiment …with XOR problems. Experimental results show the feasibility of the chaos neurons to improve the learning of neural networks. As an engineering application example, the multi layer chaos neural network is applied for identifying nonlinear dynamical systems and its effectiveness is demonstrated. Show more

DOI: 10.3233/JAE-2003-283

Citation: International Journal of Applied Electromagnetics and Mechanics, vol. 18, no. 1-3, pp. 165-176, 2003