• Journal of the Computational Structural Engineering Institute of Korea
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• v.22 no.2
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• pp.173-179
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• 2009

Reduction scheme is remarkably useful in the case requiring the repeated calculation procedure. Recently, the efficiency of the reduction scheme has been improved by combining scheme of sub-domain method. But, when the global domain is partitioned into a few sub-domains, sub-domains without constraints can be produced. it is needed to extract the ritz vector from each sub-domain to construct the reduced system of each sub-domain. it is easy to extract the ritz vector from sub-domain with constraint. on the other hand, pseudo inverse method should be employed to extract the ritz vector from sub-domain without constraint. generally, the pseudo inverse takes a large number of computing time to obtain a reduced system of a sub-domain without boundary condition. This trouble can be overcome by the reduced pseudo inverse scheme which proposed in this study. This scheme is based on the static condensation that is not related with selection of the primary degrees of freedom. Numerical examples demonstrate that present method saves computational cost effectively. In addition, it is shown that the reduced system based on the proposed scheme predicts the accurate eigenvalues of global system.

• Proceedings of the KIEE Conference
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• 1998.11b
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• pp.460-462
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• 1998

In this study, we deal with a multivariable system which its input and output are coupled. This study presents a method for designing a controller which allows a coupled system to be transformed to a decoupled system in a standard model adopting 2DOF controller. And Wiener-Hopf($H_2$) approach is used so that the designed controller can minimize given cost function.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.657-662
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• 2003

A mechanical system controlled by human operator, such as master-slave system, includes human dynamics in the whole system and such a system is called a human-machine system. In the system, operator's skill is required considerably in order to realize a meaningful operation. In this paper, a new concept and design strategy of compensator that improves the operativity of human-machine system are proposed. The compensator is called "collaborater "that is named after "collaborator" who works together with people. We mean not to design the automatic controller but the compensator that works together with a machine so that human feels the fulfillment in the operation. Our aim is to realize cooperation of people and a machine on a higher level.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1993.10a
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• pp.299-304
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• 1993

A 1/4 car model(2 DOF system) is employed to evaluate the performance included a quadratic cost functional in frequency domain. The design procedure of feedback control to optimize the performance index results in a modified Linear-Quadratic-Gaussian problem and cultivates a quite simple control algorithm. Computer simulation result is shown that the LQG method using frequency shaped performance index is outstanding in ride comfort and its response converges to the steady state very rapidly in comparison with the known passive suspension, classical design methods LQR/ and LQG.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.48.3-48
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• 2002

1) Linear state feedback control design problem for plant with unknown deterministic disturbance is considered and a method to realize state feedback by using adaptive observer which estimates the unknown disturbance simultaneously is proposed. 2) From the viewpoint of practical application, we propose an extended adaptive observer with direct plant path from input to output, which is necessary to use the acceleration type sensors as plant output. 3) Theoretical result is confirmed by numerical simulation of 1-DOF vibration control system.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.6
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• pp.1-10
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• 1997

This paper presents an adaptive optimal learning controller for uncertian robot systems which makes use fo simple DNN(dynamic neural network) units to estimate uncertain parameters and learn the unknown desired optimal input. With the aid of a lyapunov function, it is shown that all that error signals in the system are bounded and the robot trajectory converges to the desired one globally exponentially. The effectiveness of the proposed controller is hsown by applying the controller to a 2-DOF robot manipulator.

• The Journal of Korea Robotics Society
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• v.15 no.2
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• pp.131-138
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• 2020

This paper proposes a low-cost robotic surgery system composed of a general purpose robotic arm, an interface for daVinci surgical robot tools and a modular haptic controller utilizing smart actuators. The 7 degree of freedom (DOF) haptic controller is suspended in the air using the gravity compensation, and the 3D position and orientation of the controller endpoint is calculated from the joint readings and the forward kinematics of the haptic controller. Then the joint angles for a general purpose robotic arm is calculated using the analytic inverse kinematics so that that the tooltip reaches the target position through a small incision. Finally, the surgical tool wrist joints angles are calculated to make the tooltip correctly face the desired orientation. The suggested system is implemented and validated using the physical UR5e robotic arm.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.350-350
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• 2000

Since the heat exchange system, such as the boiler of power plant, gas turbine, and radiator require a high rate heat efficiency and the efficiency of these systems is depended on the control methods. However, it is important f3r operator to understand control system of these systems. In order to properly apply control equipment to these process control systems, such as boiler, any other heat process, or process control system it is necessary to understand the basic aspects and operation principle of the process that relate control, interrelationships of the process characteristics, and the dynamics that are involved. Generally, PID controllers are used in these systems but it is difficult for engineer to understand the complex dynamics and the tuning method because of the coupling action and disturbance in the system loop. In this paper, we design an effective experimental system fur automatic control education and analyze its characteristics through experimental system and industrial plant control software to study how they can team automatic control system by experiments.

• The Journal of the Korea Contents Association
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• v.15 no.5
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• pp.18-26
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• 2015

In this paper, we presented a design and control method of multi-stage with wagon and lift stage. Multi-stage system has 4 degree-of-freedom(DOF), i.e., forward/backward/left/right/rotate and up/down motion. Wagon mechanism in the type of two wheel and steering is proposed in order to improve for the maneuverability compared to the existing differential-type wagons. Also, the lift mechanism is designed by interlocking type in order to make the maximum height bigger than 10 times of the original height. We also proposed a path planning algorithm. The performance of the propped system is validated via multi motion experiments, so that the multi-stage system is useful for various performances production.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.32 no.1
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• pp.17-27
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• 2019

In this paper, we study the applicability of Tuned Mass Damper(TMD) to improve seismic performance of piping system under earthquake loading. For this purpose, a mode analysis of the target pipeline is performed, and TMD installation locations are selected as important modes with relatively large mass participation ratio in each direction. In order to design the TMD at selected positions, each corresponding mode is replaced with a SDOF damped model, and accordingly the corresponding pipeline is converted into a 2-DOF system by considering the TMD as a SDOF damped model. Then, optimal design values of the TMD, which can minimize the dynamic amplification factor of the transformed 2-DOF system, are derived through GA optimization method. The proposed TMD design values are applied to the pipeline numerical model to analyze seismic performance with and without TMD installation. As a result of numerical analyses, it is confirmed that the directional acceleration responses, the maximum normal stresses and directional reaction forces of the pipeline system are reduced, quite a lot. The results of this study are expected to be used as basic information with respect to the improvement of the seismic performance of the piping system in the future.