• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2000년도 춘계학술대회논문집
• /
• pp.251-256
• /
• 2000

This paper presents dynamic modeling and controller design of a tracked vehicle installed with the double-rod type ERSU(electro-rheological suspension unit). A 16 DOF(degree-of-freedom) model for the tracked vehicle is established by Lagrangian method. After showing the spring and damping characteristics of the proposed ERSU, equivalent 2 DOF 1/12 tracked vehicle model is then formulated by regarding the spring and viscous damping coefficients under the static state as constant values. A robust LSDP(loop-shaping design procedure) $H_{\infty}$ controller compensating spring and damping parameter variations is then designed in order to suppress unwanted vibration of the vehicle. The control responses such as vertical and pitch acceleration are presented in time domain.

• 한국정밀공학회지
• /
• 제26권4호
• /
• pp.64-71
• /
• 2009

A 3-D rehabilitation robot system is developed in this paper. The robot system is for the rehabilitation of upper extremities, especially the shoulder and elbow joints, and has 3-D workspace for enabling occupational therapy to recover physical functions in activities of daily living(ADL). The rehabilitation robot system, which is driven by actuators, has 1 DOF in horizontal rotational motion and 2 DOF in vertical rotational motion, where all actuators are set on the ground. Parallelogram linkage mechanisms lower the equivalent inertia of the control elements as well as control forces. Also the mechanisms have high mechanical rigidity for the end effector and the handle. Passive motion mode experiments have been performed to evaluate the proposed robot system. The results of the experiments show and excellent performance in simulating spasticity of patients.

• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1996년도 추계학술대회 논문집
• /
• pp.643-647
• /
• 1996

The dynamic behavior of hydrostatic table is represented as the theoretical model, 1-dof, 2-dof rigid body spring-damper system, and finite element model. By the experimental and theoretical methods, the validity of these models and some other dynamic behaviors, such as the effects of unbalanced load and three dimensional motion, are investigated. To make easier to consider the dynamic behavior of hydrostatic table in design process, the stiffness and damping coefficients are calculated using the simple approximation method delived from the mass flow continuity condition, and compared with experimental results.

• 한국자동차공학회논문집
• /
• 제13권1호
• /
• pp.83-89
• /
• 2005

This paper presents vehicle stability control algorithm based on 3-DOF vehicle model. The brake control inputs have been directly derived from the sliding control law based on a three degree of freedom plane vehicle model with differential braking. The simulation has performed using a full nonlinear 3-dimensional vehicle model and the performance of the controller has been compared to that of a direct yaw moment controller. Simulation results show that the proposed controller can provide a vehicle with better performance than conventional controller with respect to brake actuation without compromising stability at critical driving conditions.

• 시스템엔지니어링학술지
• /
• 제2권2호
• /
• pp.39-44
• /
• 2006

With the advent of low cost, miniature and high-g hardened inertial sensors and actuators, many kind of smart munitions are becoming practical such as 1D or 2D TCM, SFM, Range Extended GPS guided munitions and so on. They have more complicated trajectory control algorithm than conventional munitions'. Therefore it is necessary to study the complicated operation algorithm of smart munitions with M&S in advance of developing them. The purpose of this paper is to introduce a practical M&S method to study an operation concept of smart munitions using PRODAS and Matlab.

• 대한조선학회논문집
• /
• 제29권3호
• /
• pp.125-130
• /
• 1992

실제 해상에서 운항중인 선박의 6자유도 운동 및 해상의 파도를 계측할 수 있는 시스템을 개발하였다. 이 시스템은 Miles의 방법에 따라 7개의 가속도계로 선체의 운동을 계측하고, 초음파 파고계를 이용하여 선수부에서의 상대운동을 계측하여 상대운동에서 선체운동을 소거함으로써 해상에서의 파랑에 관한 정보(파고 및 주기)를 해석할 수 있다. 모형시험을 수행하여 개발된 시스템의 우수성을 확인하였으며, 원격조종 모형시험시 운동계측기로의 적용가능성도 발견하였다.

• 전자공학회논문지SC
• /
• 제41권6호
• /
• pp.1-10
• /
• 2004

본 논문에서는 가상 구멍뚫기 작업의 표현을 위한 햅틱 렌더링 시스템을 제안하였다. 가상 모델을 만들기 위하여 영상 처리기법과 Delaunay 삼각형을 이용하였고, 실시간 어플리케이션에 적용하기 위해 간단하면서도 효율적인 후크의 법칙을 이용하여 힘을 생성하였다. 또한, 직렬형 메커니즘으로 표현하기 어려운 큰 힘을 표현하면서, 병렬형 메커니즘의 특이점 문제를 함께 해결하기 위하여 여유구동 6자유도 병렬형 메커니즘을 햅틱장치로 제안하였고 두 종류의 구멍뚫기 실험을 통하여 큰 힘을 표현할 수 있는 능력을 검증하였다.

• Journal of Electrical Engineering and Technology
• /
• 제6권5호
• /
• pp.706-712
• /
• 2011

Necessary and sufficient conditions for the existence of diagonal, block-diagonal, and triangular decoupling controllers in linear multivariable systems for the most general setting are presented. The plant model in this study is sufficiently general to accommodate non-square plant and non-unity feedback cases with one-degree-of-freedom (1DOF) or two-degree-of-freedom (2DOF) controller configuration. The existence condition is described in terms of rank conditions on the coefficient matrices in partial fraction expansions.

• 한국막학회:학술대회논문집
• /
• 한국막학회 1998년도 추계 총회 및 학술발표회
• /
• pp.166-168
• /
• 1998

막분리공정에서 분리막 오염은 투과율 감소에 큰 영향을 받는데 그 이유는 주로 막재질의 변질 및 막 표면에서의 농도 분극 현상에 기인하고 분리막의 종류 및 분획분자량의 차이에 따라 막분리 능력이 달라질 수 있다. 본 연구에서는 상용화되어 있는 UF/MF 중공사막에 미치는 막오염 정도와 세정 특성을 알아보았다. 막오염 정도는 막의 Pore size, 소재, 막구조에 따라서 단백질 수용액을 처리하여 막의 오염이 어떻게 일어나는지를 알아보았고 막오염 정도를 검토하기 위하여 초기순수에 대한 흡착후 투과량을 DOF(Degree of fouling)로 정의하였다. 막의 세정특성은 0.1N-NaOH을 사용하여 화학적 세정효과를 확인하였고 초기 순수에 대한 세정후 회복정도를 DOC(Degree of Cleaning)로 정의하였다. 또한 UF막에서 분획분자량별 특성과 MF막에서 소재별/구조적 특성이 DOF와 DOC에 미치는 영향에 대해서 알아보았다.

• 한국정밀공학회지
• /
• 제18권12호
• /
• pp.66-72
• /
• 2001

In this paper, by using pseudo-inverse matrix of the spatial redundant flexible manipulators, a position control method and its effect in vibration suppression was presented. Vibration suppression control was developed using lumped mass spring model of the flexible manipulators. With 2 elastic links and 7 rotory joint manipulator ADAM, (1)position control for no redundancy, and (2)position control for one redundant DOF(degree of freedom) were tested. The objective of this experiment is to show the effect of position control, using pseudo-inverse matrix. toward the improvement of operation, and at the same time, to reduce the vibration of the link and the magnitude of the joint torque.