• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.1
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• pp.146-153
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• 1996

A SCARA type direct drive robot which can be used in the assembly operation was designed and manufactured. Graphite fiber epoxy composite material was used in the fabrication of the robot arm structure in order to improve the speed of the robot arm with a high damping effect. For model-based control and sensitivity analysis of system parameters, the dynamic model of robot arm and drive servo amplifier parameters such as equivalent gains of PWM driver and velocity gains of servo system were estimated from frequency response tests. The complete dynamic model for overall robot system was used in the simulation of the open-loop control. The simulation results agreed reasonably well to the experimental results. The feedforward control using the dynamic models improved the trajectory tracking performance, decreasing the tracking error by factor of three compared with PID control. This study found that the inverse dynamic model of the robot arm including the drive servo system showed better performances than the case of arm dynamic model only.

• Journal of the Korea Concrete Institute
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• v.24 no.3
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• pp.233-240
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• 2012

Hybrid SHCC is being researched actively for its excellent performance in controlling macro and micro cracks using macro and micro fibers, respectively. However, a significant autogenous shrinkage of SHCC is expected since it possesses high unit cement volume in its mix proportion, resulting in autogenous shrinkage cracks. Therefore, this study was performed to evaluate mechanical property of shrinkage-reducing type hybrid SHCC mixed together with steel fiber and PE fiber with excellent micro/macro crack controlling performance. In order to evaluate mechanical property of shrinkage-reducing type hybrid SHCC, replacement ratios of 0% and 10% of expansive admixture and water to binder ratios of 0.45, 0.3, and 0.2 were considered as variables. Then, shrinkage, compressive, flexural, and direct tensile tests were performed. The test results showed that mix proportion with W/B 0.3 significantly improved mechanical performance by using 10% replacement of expansive admixture.

• The KIPS Transactions:PartD
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• v.9D no.3
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• pp.501-510
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• 2002

A various multimedia application services should be developed with techniques of high speed networks and computer. Among these, video-conference system over Internet is useful and important, and the standardization for it should be showed in ITU-T H.323. H.323 standardization consists of four components such as Terminal, MCU(Multipoint Control Unit), Gatekeeper, and Gateway. Among these, the functions of Gatekeeper are as follows, firstly the address translation service to translate the alias address into the IP address, secondary conference admission control service to control of conference start and termination, thirdly bandwidth management service for H.323 terminals. In this paper, we implemented the Gatekeeper for an efficient management of video-conference components in Internet environment, and will introduce our system. As the experimental results with CUSeeMe and Netmeeting which are well-known H.323 terminal, it is known that our gatekeeper should be satisfied with H.323 standardization.

• Korean Journal of Ecology and Environment
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• v.42 no.3
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• pp.317-330
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• 2009

To diminish the levels of organic matters, a novel S-CROM (continuous removal of organic matters in the stream system using freshwater bivalve), was developed and applied to the polluted stream discharging from the wastewater treatment plant, Pocheon stream, Pocheon city (Korea). Major pollutants of the stream were human population and industrial wastewaters. The study was conducted at a small dam constructed within the stream, often called 'bo', and designed with four tanks; no mussels and no sediment (negative control), no mussels and sediment (positive control), 30 mussels and sediment (D1), and 60 mussels and sediment (D2). Physicochemical and biological parameters were measured at 12 hours interval (day and night) after mussel stocking. Results indicated that Anodonta woodiana Lea (D2) clearly removed approximately 72% of chl-$\alpha$ and 57% of suspended solids on second day, however, there were no differences in removal activities between animal densities (P>0.5). Dislike a laboratory CROM system, which previously developed, there were no huge release of nutrient ($NH_3$-N and SRP), due perhaps to the higher flow rate and the lower animal density. Therefore, we may suggest that if we can determine the relevant current and the animal density considering the stream state, an S-CROM system has a strong potential to water quality improvement of eutrophic streams. Some characteristics on both CROM and S-CROM were compared.

• Journal of the Korea Computer Graphics Society
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• v.25 no.3
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• pp.85-92
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• 2019

A 3D virtual character playing a role in a digital story-telling has a unique style in its appearance and motion. Because the style reflects the unique personality of the character, it is very important to preserve the style and keep its consistency. However, when the character's motion is directly controlled by a user's motion who is wearing motion sensors, the unique style can be discarded. We present a novel character motion control method that uses only a small amount of animation data created only for the character to preserve the style of the character motion. Instead of machine learning approaches requiring a large amount of training data, we suggest a search-based method, which directly searches the most similar character pose from the animation data to the current user's pose. To show the usability of our method, we conducted our experiments with a character model and its animation data created by an expert designer for a virtual reality game. To prove that our method preserves well the original motion style of the character, we compared our result with the result obtained by using general human motion capture data. In addition, to show the scalability of our method, we presented experimental results with different numbers of motion sensors.

• Journal of the Institute of Convergence Signal Processing
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• v.2 no.3
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• pp.50-56
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• 2001

As the fuzzy control is applied to servo system, the hardware implementation of the fuzzy information systems requires the high speed operations, short real time control and the small size systems. The aims of this study is to develop hardware of the fuzzy information systems to be apply to servo system. In this paper, we propose a calculation method of approximate reasoning for fuzzy control based on $\alpha$ -level set decomposition of fuzzy sets by quantize $\alpha$ -cuts. This method can be easily implemented with analog hardware. The influence of quantization Bevels of $\alpha$-cuts on output from fuzzy inference engine is investigated. It is concluded that 4 quantization levels give sufficient result for fuzzy control performance of dc servo system. The hardware implementation of proposed operation method and of the defuzzification by gravity center method which is directly converted to PWM actuating signal is also presented. It is verified useful with experiment for dc servo system.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.1
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• pp.1-8
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• 2016

In this study, we propose a control algorithm for Inertially Stabilized Platforms (ISP), which combines Disturbance Observer (DOB) with conventional proportional integral derivative (PID) control algorithm. A single axis ISP system was constructed using a direct drive motor. The joint friction was modeled as a nonlinear function of joint speed while the accuracy of the model was verified through experiments and simulation. In addition, various Q-filters, which have different orders and relative degrees of freedom (DOF), were implemented. The stability and performance of the ISP were compared through experimental study. The performance of the proposed PID-plus-DOB algorithm was compared with the experimental results of the conventional double loop PID control under artificial vehicle motion provided motion simulator with six DOF.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.31 no.4
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• pp.393-401
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• 1995

In this paper, vector analysis on the novel quick torque control of Induction Motors(I.M) based on voltage-controlled type is conducted. It was very difficult to get a step response of torque when the primary voltage was selected as control input of induction motors in conventional quick torque control methods. To solve this problem, the new control method was developed using a new concept of pulse addition which can realize the stepwise torque response of a specified settling time of $\Delta$. The new method was successfully confirmed through DSP(Digital Signal Processor) system-based experiments. However, it was a little difficult to understand the control mechanism intutionally. The purpose of this paper is to provide more understanding about the quick torque control mechanism using the vector analysis.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.6
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• pp.1036-1055
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• 1992

In this paper the feedback linearization of the valve-controlled nonlinear hydraulic velocity control system and the implementation of the digital state feedback controller is studied. The $C^{\infty}$ nonlinear transfomation to the electro-hydraulic velocity control system, which transforms nonlinear system to linear equivalent one, is obtained. It is shown that this transformation is global one. The digital controller to this linearized model is obtained by using the one-step ahead state estimator and implemented to real plant. The proposed implementation method is easier than the other proposed methods and it is possible to control in real time. The experiment and simulation study show that the implementation of the digital state feedback controller based on the feedback linearized model is successful..

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.12
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• pp.1059-1066
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• 2007

An experimental study has been conducted to investigate the flow separation control effects of a blowing jet on an elliptic airfoil at a Reynolds number of 7.84×105 based on the chord length. A blowing jet was obtained by pressing a plenum inside the airfoil and ejecting flow out of a thin jet slot that located in leading edge or trailing edge. The experimental results have shown that the blowing jet had an effect of suppressing the flow separation, resulting in the higher suction pressure distribution and higher normal force. The increase in Cn was more pronounced at higher incidence, whereas the effectiveness of the blowing jet reduced at lower incidences. The leading edge pulsating blowing with 90° was the most effective in controlling the flow separation than other types of blowing jet configuration tested in this research. Moreover, when the pulsating blowing was applied, the stall angle was postponed about 2°-3°. The continuous and pulsating blowing jet is a direct and effective flow separation control for improving the aerodynamic characteristics and performances of airfoil.