• Journal of the Institute of Convergence Signal Processing
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• v.5 no.4
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• pp.301-307
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• 2004

This paper suggests a fuzzy variable structure control scheme for Takagi-Sugeno(T-S) fuzzy model and presents the attitude control of the wheel-driven inverted pendulum(WDIP) based on the proposed control algorithm. The proposed controller is designed based on the T-S fuzzy modeling of nonlinear system and the unification of gain matrices in linear subsystems that constitute the overall fuzzy model. The uncertainties generated in the gain matrix unifying procedure can be interpreted as the input disturbances of the conventional variable structure control. These unifying disturbances can be resolved by using the robustness property of the conventional variable structure system. Design example for wheel-driven inverted pendulum demonstrates the utility and validity of the proposed control scheme.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.34 no.3
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• pp.81-86
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• 2006

This paper deals with a driving current fault monitor design methodology for a DDV actuation system which has a dual hydraulic power supply system, and triplex electric control capability. A fault existing among these redundant channels should be detected accurately and removed timely, and the remaining channels are to be reconfigured in order to compensate the role of a removed faulty channel. An integrated analysis on the aerodynamics, flight control laws, and DDV actuation system is essential for the design of an actuation system fault monitor. A method to define a fault transient boundary which specifies a maximum travel of an actuation system caused by the first faulty operation is proposed based on the top level requirement on the fault effect specified in MIL-F-8785C.

• Journal of the Korean Society of Hazard Mitigation
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• v.7 no.1 s.24
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• pp.67-72
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• 2007

A model for predicting potentials of land erosion and deposition over a natural basin was developed based on the mass balance principle. The program was developed based on sediment mass balance principle for each cell in a GIS. Sediment yield from a cell was estimated with RUSLE. The outflow sediment from a cell was calculated by multiplying the sediment yield of the cell by the sediment delivery ratio (SDR) of the cell. The outflow sediment from the upstream cell becomes the incoming sediment of the downstream cell. Therefore the erosion and deposition potential of each cell could be determined from the sediment mass balance i.e., the difference between the incoming and outflow of sediments of each cell. The developed model was validated by comparing the predicted sediment yields for three basins with measured data.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.51 no.1
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• pp.45-51
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• 2002

In this paper are presented dynamic modeling and path-tracking of differential drive wheeled-mobile robots(WMRs) having the limited drive-torques. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to induce the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling method. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2004.07b
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• pp.826-829
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• 2004

휴대폰이나 PDA등의 카메라 렌즈구동용으로 탑재 가능한 소형 압전 초음파 리니어 모터를 개발하였다. 선형 동작을 위한 구동력은 압전 세라믹과 1개 또는 2개의 세라믹으로 이루어진 uni- 또는 bimorph 형태의 압전 엑츄에이터에서 얻을 수 있다. 즉 초음파 영역의 펄스형태의 전압을 인가함으로써 정 또는 역의선형 운동과 인가하는 전압의 주기에 따라 정밀한 위치조절이 가능하고 제조공정이 용이하고 구조가 간단한 것을 특징으로 하는 모터이다. 본 연구에서는 소형 압전 초음파 리니어 모터의 원리와 동작특성을 고찰하였다.

• Journal of the Korea Computer Industry Society
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• v.5 no.9
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• pp.993-1004
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• 2004

We propose the method for kinematic and dynamic modeling and Path-tracking of four-wheeled mobile robots with 2 d.o.f having the limited drive-torques. Controllability of wheeled-mobile robots is revealed by using the kinematic model. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to induce the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that the method proposed by this paper is efficient.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.5
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• pp.533-541
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• 2011

This paper presents a frequency-response test performed on an antagonistic actuation system consisting of two Mckibben pneumatic artificial muscles and a pneumatic circuit with pressure valves. Varying switching frequency to pressure valves from 0.1 Hz to 5 Hz, parameters of a linear model were estimated optimally to predict dynamic characteristics of the antagonistic actuation. A model-base control scheme with estimated parameters was built for the precise trajectory tracking of the antagonistic structure and realized on a reconfigurable embedded control system, CompactRIO. Experimental results showed that the proposed model-based control scheme gave good performance in trajectory tracking comparing with a PD control scheme when square wave and sinusoidal wave were given as references to follow.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.2
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• pp.76-83
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• 1996

We have developed the unconventional robot arm which is composed of the two main parts, one is a ball screw and the other is a robot arm. The dynamic systems of the robot arm and ball screw are unstable systems coupled with each other. The ball screw mechanism is unstable system but controllable system. The robot arm's dynamics is quasi stable system when ball screw's angular position is zero, else, unstable system. Our system has the duality between stability and controllability at the view point of control. This duality causes difficulty to control of the robot arm using normal control law. We have investigated the location of the characteristic roots of the dynamic equation. And we have found out that the best condition for the control of the arm is quasi stable state. In this paper, we have proposed multiple control laws which are consist of three components to guarantee the stability and controllability simultaneously. The computer simulations were carried out based on VSC about the angular position control of the robot arm, and it is confirmed that the good performances could be obtained by using new controller.

• 한국신재생에너지학회:학술대회논문집
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• 2010.11a
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• pp.71.2-71.2
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• 2010

고체산화물연료전지는 청정에너지원으로써 기존의 발전방식을 대신할 차세대 에너지원으로 각광 받고 있다. 고체산화물 연료전지는 고온에서 작동하는 특성상 실험을 통하여 전극미세구조 및 구동조건을 최적화하는 것은 매우 어렵다. 본 연구는 전기화학식을 이용한 전산모사를 통해서 고체산화물 연료전지의 구동조건에 따른 성능 평가 및 전극의 미세구조 최적화 과정을 수행하였다. 전극 내 전달현상을 무시하고 오직 전기화학반응만을 고려한 전산모사는 단전지의 전극미세구조 및 구동조건에 따른 전지성능을 빠르게 예측할 수 있으며, 이를 기반으로 다양한 조건에서 얻은 전지 성능 데이터를 통해 전극미세구조를 최적화하였다. 개회로전압, 활성화분극, 저항분극, 물질수송손실을 표현하기 위하여 Nernst 식, Butler-Voler 식, 옴의 법칙, dusty-gas 모델을 각각 사용하였으며, 전극미세구조 및 구동조건의 변화는 물질확산계수 및 교환전류밀도를 통하여 그 영향이 전지성능에 반영된다. 온도, 압력, 주입 연료의 조성에 대한 성능평가가 수행되었으며, 1023K, 1 bar의 조건하에서 최적의 단전지 성능을 위한 기공도와 기공크기를 조사하였다. 더 향상된 단전지 성능 확보를 위해서 실험에서 쓰이는 기능층(functional layer)과 유사하게 넓은 반응 면적과 원활한 반응물 및 생성물의 이동을 보장하도록 기공도 및 기공크기를 그레이딩한 전극구조(graded-electrode)를 디자인하고 성능을 평가하였다. 그 결과 기존의 전지구조 대신에 그레이딩된 전극을 사용할 경우 50%이상 향상된 전지성능을 예측할 수 있었다.

• Transactions of the KSME C: Technology and Education
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• v.5 no.2
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• pp.115-126
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• 2017

This paper proposes an accelerated life evaluation of drive shaft for the power train parts of special purpose vehicle. It is necessary the real load data of usage level driving load condition for life evaluation of power train parts, but we can't get the load spectrum data for evaluation in many case of special purpose vehicle. So, in this paper, the road load spectrum data for evaluation is created by modeling and simulation based on vehicle data and special road condition. The inverse power model is used for accelerated life test. The equivalent torque of load spectrum is achieved using the Miner's Rule. This paper also proposes the calibrated acceleration life test method for drive shaft. The fatigue test is performed through three stress levels. The lifetime at normal stress level is predicted by extrapolation, and is verified through comparison of experimental results and load spectrum data.