• Journal of the Korea Institute of Information and Communication Engineering
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• v.20 no.9
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• pp.1679-1687
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• 2016

Mobile robots are effectively used in industrial fields that require flexible manufacturing systems. Mobile robots have to move with mechanical loads such as product parts along the specified paths, and are usually equipped with kinematic controllers. When the loads and nonlinear frictions are too high, satisfactory control performances can not be expected with the kinematic controllers, so some dynamic controllers have been developed. Conventional dynamic controllers require the exact weights and locations of the loads; however, the loads are frequently changed and unknown so that the control performances of the conventional controllers are limited. This paper proposes an adaptive PD control method using gradient descent learning to have sufficient dynamic control performance for unknown loads. Simulation studies have been conducted for various load conditions to verify that the adaptive PD control method have much broader convergence region than the convention method.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.56 no.5
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• pp.944-957
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• 2007

In general mechanical servo systems, friction deteriorates the performance of controllers by its nonlinear characteristics. Especially, friction phenomenon causes steady-state tracking errors and limit cycles in position and velocity control systems, even though gains of controllers are tuned well in linear system model. Even if sensor is used higher accuracy level, it is difficult to improve tracking performance of the position to the same level with a general control method such as PID type. Therefore, many friction models were proposed and compensation methods have been researched actively. In this paper, we consider that the variation of mover's mass is various by loading and unloading. The normal force variation occurs by it and other parameters. Therefore, the proposed control system is composed of main position controller and a friction compensator. A parameter estimator for a nonlinear friction model is designed by adaptive control law and adaptive backstopping control method.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.34 no.2
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• pp.377-387
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• 2014

This study mainly treats a new type of the bracing friction damper system, which is able to minimize structural damage under earthquake loads. The slotted bolt holes are placed on the shear faying surfaces with an intention to dissipate considerable amount of friction energy. The superelastic shape memory alloy (SMA) wire strands are installed crossly between two plates for the purpose of enhancing recentering force that are able to reduce permanent deformation occurring at the friction damper system. The smart recentering friction damper system proposed in this study can be expected to reduce repair cost as compared to the conventional damper system because the proposed system mitigates the inter-story drift of the entire frame structure. The response mechanism of the proposed damper system is firstly investigated in this study, and then numerical analyses are performed on the component spring models calibrated to the experimental results. Based on the numerical analysis results, the seismic performance of the recentering friction damper system with respect to recentering capability and energy dissipation are investigated before suggesting optimal design methodology. Finally, nonlinear dynamic analyses are conducted by using the frame models designed with the proposed damper systems so as to verify superior performance to the existing damper systems.

• Aerospace Engineering and Technology
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• v.6 no.1
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• pp.19-28
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• 2007

In this study, a nonlinear 2 degree of freedom mathematical model has been developed for impact analysis of the nose landing gear of a light aircraft which is composed of an wheel & tire, an Oleo-pneumatic shock strut and the castering wheel fork for the differential braking steering, and then the response of impact is computed using a numerical method. The mathematical model of a nose landing gear contains nonlinear characteristics which are an impact load - deflection property of a tire and internally frictional forces between an inner surface of an upper cylinder and a bearing of a lower rod due to side forces like the declined angle of strut, the moment due to an wheel fork, the side drag due to a steering and it is computed using the 4th-order Runge-Kutta method. The comparison process between analytical results and experimental results of the other proven nose landing gear is carried out to verify the mathematical model.

• Journal of the Institute of Convergence Signal Processing
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• v.5 no.3
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• pp.210-215
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• 2004

The dynamic model of ac servo motor is influenced very much due to rotor resistance change and nonlinear characteristic. By using the sliding mode control the dynamic behavior of system can be made insensitive to plant parameter change and external disturbance. This paper describes the application of the sliding mode control for position control of ac servo motor. The control scheme is derived and designed. A design method based on external load parameters has been developed for the robust control of ac induction servo drive. The proposed control scheme are given based on the variable structure controller and slip frequency vector control. Simulated results are given to verify the proposed design method by adoption of sliding mode and show robust control for a change of shaft initial J, viscous friction B and torque disturbance.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.5
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• pp.551-557
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• 2014

This paper presents a robust lateral controller for autonomous guidance of a farm tractor in field operations. Although mechanical steering actuators have recently been used for passenger vehicles, the steering actuator of the farm tractor is based on a hydraulic system, resulting in limited bandwidth and a larger time delay. Based on a kinematic tractor model with steering actuator dynamics, a nonlinear control technique called dynamic surface control is applied to design a robust lateral controller that compensates for uncertainty owing to steering actuator and road geometry. Finally, tracking performance and robustness of the proposed controller are validated via commercial tractor simulations, with respect to the time delay of the steering actuator and road geometry (e.g., up and down hills), on a given field with a constant friction coefficient.

• The Journal of Engineering Geology
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• v.18 no.4
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• pp.439-446
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• 2008

We have developed a method to evaluate pumping rates from a system of pumping-well family. For a given system actual pumping rates depend on pump characteristics and the sum of the static head and the dynamic head. The static head is the elevation difference between the natural groundwater level and the outlet of the pipeline that connects all the wells. Major components of the dynamic head are groundwater drawdown in the well and pipeline head loss. The dynamic head and the pump characteristics depend on the pumping rates. Actual pumping rates are determined at the intersections of the system total-head curves and the pump characteristic curves. The Newton-Raphson's method is used to solve the nonlinear simultaneous equations. The method is applied to a hypothetical well family. Impacts of various design and operational parameters on the pumping rates are analyzed.

• Journal of the Korean Society of Marine Environment & Safety
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• v.20 no.5
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• pp.552-557
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• 2014

The objective of the This study is to access the speed performance employing the sea trial test and CFD with the our own designed and manufactured one-man boat. The overall design process including hull form design was explained. The sea trial was carried out with a manufactured boat in the clam sea. Brake power at the design speed of a boat through the sea trial was measured as 1680 W. The flow computation was conducted considering free surface and dynamic trim using a commercial CFD code(STAR-CCM+). The result of computation provided the information that residual resistance is bigger than fraction's at design speed. The total efficiency were predicted based on the sea trial and CFD. The Total efficiency was divided into shaft efficiency and quasi-propulsive efficiency. By using quasi-propulsive efficiency, it becomes possible to predict speed performance of boat in future. The results can provide information regarding hull form design, performance analysis and development of a boat in future.

• Journal of the Earthquake Engineering Society of Korea
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• v.9 no.2 s.42
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• pp.37-46
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• 2005

To date, many viable smart base isolation systems have been proposed and investigated. In this study, a novel friction pendulum system (FPS) and an MR damper are employed as the isolator and supplemental damping device, respectively, of the smart base isolation system. A fuzzy logic controller (FLC) is used to modulate the MR damper because the FLC has an inherent robustness and ability to handle non linearities and uncertainties. A genetic algorithm (GA) is used for optimization of the FLC. The main purpose of employing a GA is to determine appropriate fuzzy control rules as well to adjust parameters of the membership functions. To this end, a GA with a local improvement mechanism is applied. This method is efficient in improving local portions of chromosomes. Neuro fuzzy models are used to represent dynamic behavior of the MR damper and FPS. Effectiveness of the proposed method for optimal design of the FLC is judged based on computed responses to several historical earthquakes. It has been shown that the proposed method can find optimal fuzzy rules and the GA optimized FLC outperforms not only a passive control strategy but also a human designed FLC and a conventional semi active control algorithm.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.7 no.2
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• pp.176-197
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• 1995

Two-dimensional and three-dimensional structures of tidal currents on southeastern waters of Korea off Kyungnam coast were investigated via a series of numerical models based on dynamic principles. With a two-dimensional tidal model, tidal regimes of major eight tidal constituents (M$_2$, S$_2$, K$_1$, O$_1$, N$_2$, K$_2$, P$_1$, Q$_1$) were computed. Model results showed that the computed results were in good agreement with coastal observations. On the basis of these results the model was further improved to compute three-dimensional structure of tidal current in inner Jinhai and Masan Bay regions of the model area where severe pollutions occur due to red tide by combination of the previous two-dimensional model and inner three-dimensional model. For this work, three-dimensional Galerkin-Spectral model and two-dimensional depth-integrated model are dynamically combined by the method presented by Davies (1980). In addition to the previous work by Davies, the advective term and quadratic bottom friction term are included in present Three-dimensional numerical model. The computed results of M$_2$ tidal current ellipses with respect to depth showed general agreements with those of current observations by KORDI (1990).