• 제어로봇시스템학회:학술대회논문집
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• 1996.10a
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• pp.20-23
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• 1996

This paper deals with the flexible manipulator with rotational and translational degrees of freedom, which has an arm of time-varying length with the prismatic joint. The tracking control problem of the flexible manipulator is considered. First we design the controller of the 2-type robust servo system based on the finite horizon optimal control theory for the trajectory planned as a discontinuous velocity. Next, to reduce the tracking error, we use the method of the dynamic programming and of modifying the reference trajectory in time coordinate. The simulation results show that the dynamic modeling is adequate and that the asymptotic stabilization of the flexible manipulator is preserved in spite of nonlinear terms. The PTP control error has been reduced to zero completely, and the trajectory tracking errors are reduced sufficiently by the proposed control method.

• International Journal of Control, Automation, and Systems
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• v.3 no.spc2
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• pp.270-277
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• 2005

In this paper, a decentralized control problem is considered for multimachine power systems with nonlinear interconnections and disturbances. A direct feedback linearization compensator is employed to cancel most of the nonlinearities, and then a backstepping procedure is applied to deal with the interconnections and to reduce the effects of a disturbance that does not satisfy the matching condition. In this procedure, the disturbance is handled by using a smooth approximation of the signum function. Practical stability is achieved under the assumption that the infinite norm of the disturbance is known. However, even in the case where the infinite norm of the disturbance is not known precisely, the proposed control system still guarantees $L_2$ stability. Furthermore, the origin is globally uniformly asymptotically stable in the absence of the disturbance. A three-machine power system is considered as an application example.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.6
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• pp.46-54
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• 1998

This paper presents a method for designing robust fuzzy $H^{\infty}$ controllers which stabilize nonlinear systems with parameter uncertainty adn guarantee an induced $L_{2}$ norm bound constraint on disturbance attenuation for all admissible uncertainties. Takagi and Sugeno's fuzzy models with uncertainty are used as the model for the uncertain nonlinear systems. Fuzzy control systems utilize the concept of so-called parallel distributed compensation(PDC). Using a single quadratic Lyapunov function, the stability condition satisfying decay rate and disturbance attenuation condition for Takagi and Sugeno's fuzzy model with parameter uncertainty are discussed. A sufficient condition for the existence of robust fuzzy $H^{\infty}$ controllers is then presented in terms of linear matrix inequalities(LMIs). Finally, design examples of robust fuzzy $H^{\infty}$ controllers for uncertain nonlinear systems are presented.

• Proceedings of the Materials Research Society of Korea Conference
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• 2011.05a
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• pp.243.1-243.1
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• 2011

We demonstrate a facile and robust layer-by-layer (LbL) assembly method for the fabrication of nonvolatile resistive switching memory (NRSM) devices based on superparamagnetic nanocomposite multilayers, which allows the highly enhanced magnetic and resistive switching memory properties as well as the dense and homogeneous adsorption of nanoparticles, via nucleophilic substitution reaction (NSR) in nonpolar solvent. Superparamagnetic iron oxide nanoparticles (MP) of about size 12 nm (or 7 nm) synthesized with oleic acid (OA) in nonpolar solvent could be converted into 2-bromo-2-methylpropionic acid (BMPA)-stabilized iron oxide nanoparticles (BMPA-MP) by stabilizer exchange without change of solvent polarity. In addition, bromo groups of BMPA-MP could be connected with highly branched amine groups of poly (amidoamine) dendrimer (PAMA) in ethanol by NSR of between bromo and amine groups. Based on these results, nanocomposite multilayers using LbL assembly could be fabricated in nonpolar solvent by NSR of between BMPA-MP and PAMA without any additional phase transfer of MP for conventional LbL assembly. These resulting superparamagnetic multilayers displayed highly improved magnetic and resistive switching memory properties in comparison with those of multilayers based on water-dispersible MP. Furthermore, NRSM devices, which were fabricated by LbL assembly method under atmospheric conditions, exhibited the outstanding performances such as long-term stability, fast switching speed and high ON/OFF ratio comparable to that of conventional inorganic NRSM devices produced by vacuum deposition.

• Journal of Periodontal and Implant Science
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• v.47 no.5
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• pp.292-311
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• 2017

Purpose: Beyond the limited scope of non-specific polyclonal regulatory T cell (Treg)-based immunotherapy, which depends largely on serendipity, the present study explored a target Treg subset appropriate for the delivery of a novel epitope spreader Pep19 antigen as part of a sophisticated form of immunotherapy with defined antigen specificity that induces immune tolerance. Methods: Human polyclonal $CD4^+CD25^+CD127^{lo-}$ Tregs (127-Tregs) and $na\ddot{i}ve$ $CD4^+CD25^+CD45RA^+$ Tregs (45RA-Tregs) were isolated and were stimulated with target peptide 19 (Pep19)-pulsed dendritic cells in a tolerogenic milieu followed by ex vivo expansion. Low-dose interleukin-2 (IL-2) and rapamycin were added to selectively exclude the outgrowth of contaminating effector T cells (Teffs). The following parameters were investigated in the expanded antigen-specific Tregs: the distinct expression of the immunosuppressive Treg marker Foxp3, epigenetic stability (demethylation in the Treg-specific demethylated region), the suppression of Teffs, expression of the homing receptors CD62L/CCR7, and CD95L-mediated apoptosis. The expanded Tregs were adoptively transferred into an $NOD/scid/IL-2R{\gamma}^{-/-}$ mouse model of collagen-induced arthritis. Results: Epitope-spreader Pep19 targeting by 45RA-Tregs led to an outstanding in vitro suppressive T cell fate characterized by robust ex vivo expansion, the salient expression of Foxp3, high epigenetic stability, enhanced T cell suppression, modest expression of CD62L/CCR7, and higher resistance to CD95L-mediated apoptosis. After adoptive transfer, the distinct fate of these T cells demonstrated a potent in vivo immunotherapeutic capability, as indicated by the complete elimination of footpad swelling, prolonged survival, minimal histopathological changes, and preferential localization of $CD4^+CD25^+$ Tregs at the articular joints in a mechanistic and orchestrated way. Conclusions: We propose human $na\ddot{i}ve$ $CD4^+CD25^+CD45RA^+$ Tregs and the epitope spreader Pep19 as cellular and molecular targets for a novel antigen-specific Treg-based vaccination against collagen-induced arthritis.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.10
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• pp.1648-1654
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• 2016

This paper analyzes complex vector current control for the enhanced cross-coupling compensation in accordance with parameter variation in grid-connected inverter system, and verifies through simulation and experiment. Complex vector current control is performed in the synchronous reference frame through d-q transformation. It generates cross-coupling components with rotating nominal angular frequency. In general, cross-coupling elements are compensated by decoupling terms added to output of conventional decoupling PI controller. But, it is impossible to compensate them perfectly which transient response is especially deteriorated such as large overshoot and slow tracking, when variation of grid impedance or measurement error occurs. However, complex vector current control can improve stability and response characteristic of current control regardless of the situation as before. Decoupling controller and complex vector controller are represented through complex forms, and these controllers are analyzed by using frequency response in s-domain, respectively. It is verified that complex vector controller has more superior response characteristic than decoupling controller through MATALB, PSIM and experimental in 5kW grid-connected inverter when L filter parameter is varied from 1.1mH to increase double, 2.2mH.

• Nuclear Engineering and Technology
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• v.46 no.2
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• pp.169-182
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• 2014

High-performance research reactors require fuel that operates at high specific power to high fission density, but at relatively low temperatures. Research reactor fuels are designed for efficient heat rejection, and are composed of assemblies of thin-plates clad in aluminum alloy. The development of low-enriched fuels to replace high-enriched fuels for these reactors requires a substantially increased uranium density in the fuel to offset the decrease in enrichment. Very few fuel phases have been identified that have the required combination of very-high uranium density and stable fuel behavior at high burnup. U-Mo alloys represent the best known tradeoff in these properties. Testing of aluminum matrix U-Mo aluminum matrix dispersion fuel revealed a pattern of breakaway swelling behavior at intermediate burnup, related to the formation of a molybdenum stabilized high aluminum intermetallic phase that forms during irradiation. In the case of monolithic fuel, this issue was addressed by eliminating, as much as possible, the interfacial area between U-Mo and aluminum. Based on scoping irradiation test data, a fuel plate system composed of solid U-10Mo fuel meat, a zirconium diffusion barrier, and Al6061 cladding was selected for development. Developmental testing of this fuel system indicates that it meets core criteria for fuel qualification, including stable and predictable swelling behavior, mechanical integrity to high burnup, and geometric stability. In addition, the fuel exhibits robust behavior during power-cooling mismatch events under irradiation at high power.