• Journal of Ocean Engineering and Technology
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• v.23 no.5
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• pp.1-8
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• 2009

This paper is a continuation of the recent development on Hermite-based divergence free element method and deals with a non-isothermal fluid flow thru the buoyancy driven flow in a square enclosure with temperature difference across the two sides. The basis functions for the velocity field consist of the Hermite function and its curl while the basis functions for the temperature field consists of the Hermite function and its gradients. Hence, the number of degrees of freedom at a node becomes 6, which are the stream function, two velocities, the temperature and its x and y derivatives. This paper presents numerical results for Ra = 105, and compares with those from a stabilized finite element method developed by Illinca et al. (2000). The comparison has been done on 32 by 32 uniform elements and the degree of approximation of elements used for the stabilized finite element are linear (Deg. 1) and quadratic (Deg. 2). The numerical results from both methods show well agreements with those of De vahl Davi (1983).

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.21 no.8
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• pp.733-740
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• 2011

This paper deals with the process to identify the transient exciting force generated from a rotary compressor. The compressor was assumed to be a rigid body. The equation of motion of a rigid compressor supported by three mounts was derived with 6 degree-of-freedom. The exciting forces at the center of mass of the compressor were estimated from the acceleration data measured at compressor shell. Compressor-pipe system was modeled numerically. The accelerations of compressor and pipe were predicted numerically by using the estimated exciting force. A new shape of pipe model was proposed to reduce the vibration. In the prediction by the method in this paper, the maximum acceleration of the pipe could be reduced by 53.7 % at the steady-state and by 12 % at the transient process. In the real experiments, the maximum acceleration of the pipe was reduced by 54.2 % at steady-state and 14.7 % at the transient process. It was verified that the numerical results showed good agreement with experimental results.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.506-506
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• 2000

To improve control performance of a non-linear system, many other researches have used the sliding mode control algorithm. The sliding mode controller is known to be robust against nonlinear and unmodeled dynamic terms. However. this algorithm raises the inherent chattering caused by excessive switching inputs around the sliding surface. Therefore, in order to solve the chattering problem and improve control performance, this study has developed the sliding mode controller with a perturbation estimator using the observer-based fuzzy adaptive network generates the control input for compensating unmodeled dynamics terms and disturbance. And, the weighting parameters of the fuzzy adaptive network are updated on-line by adaptive law in order to force the estimation errors to converge to zero. Therefore, the combination of sliding mode control and fuzzy adaptive network gives rise to the robust and intelligent routine. For evaluating control performance of the proposed approach. tracking control simulation is carried out for the hydraulic motion simulator which is a 6-degree of freedom parallel manipulator.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.20 no.6
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• pp.756-760
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• 2011

This paper proposed an alignment stage driven by piezo actuators for alignment process of a contact-type lithography. Among contact-type lithography processes, an UV-curable nanoimprint process is an unique process to be able to align patterns on upper and lower layers. An alignment stage of the UV-curable nanoimprint process requires nano-level resolution as well as high stiffness to overcome friction force due to contact moving. In this paper, the alignment stage consists of a compliant mechanism using flexure hinges, piezo actuators for high force generation, and capacitive sensors for high-resolution measurement. The compliant mechanism is implemented by four prismatic-prismatic compliant chains for two degree-of-freedom translations. The compliant mechanism is composed of flexure hinges with high stiffness, and it is directly actuated by the piezo actuators which increases the stiffness of the mechanism, also. The performance of the ultra-precision stage is demonstrated by experiments.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2012.04a
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• pp.324-329
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• 2012

Isolation tables are widely used for precision equipments and their isolation performances have been usually expressed and evaluated by transsmissibility. However, transmissibility is a concept for 1-degree of freedom(DOF) system. In practice, isolation tables are supproted by more than 4 springs. Each spring is subjected to vertical and horizontal ground vibrations, and also the table has more than 1-DOF. Therefore, isolation tables should be treated as multi-input/multi-output(MIMO) system of which isolation performance is expressed by transmissibility matrix. However, the matrix is too complicated to be an index for a system. In this paper, maximum singular value of transmissibility matrx is suggested as a simple performance index of a MIMO isolation system. Physical meaning of singular value is explained using a simple a 2-DOF isolation table. Furthermore, maximum singular values of passive, 3-DOF active and 6-DOF active isolation tables are obtained through experiments, and their meaning are explained and compared with each other.

• International Journal of Control, Automation, and Systems
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• v.4 no.2
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• pp.255-270
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• 2006

In this paper, a design method of nonlinear autopilot for ship-to-ship missiles is proposed. Ship-to-ship missiles have strongly coupled dynamics through roll, yaw, and pitch channel in comparison with general STT type missiles. Thus it becomes difficult to employ previous control design method directly since we should find three different solutions for each control fin deflection and should verify the stability for more complicated dynamics. In this study, we first propose a control loop structure for roll, yaw, and pitch autopilot which can determine the required angles of all three control fins. For yaw and pitch autopilot design, missile model is reduced to a minimum phase model by applying a singular perturbation like technique to the yaw and pitch dynamics. Based on this model, a multi-input multi-output (MIMO) nonlinear autopilot is designed. And the stability is analyzed considering roll influences on dynamic couplings of yaw and pitch channel as well as the aerodynamic couplings. Some additional issues on the autopilot implementation for these coupled missile dynamics are discussed. Lastly, 6-DOF (degree of freedom) numerical simulation results are presented to verify the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1028-1032
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• 2004

In order to prevent machine tool feed slide system from transient vibrations during operations, machine tool designers usually adopt some typical design solutions; box-in-box typed feed slides, optimizing moving body for minimum weight and dynamic compliance, and so on. Despite all efforts for optimizing design, a feed drive system may experience severe transient vibrations during high-speed operation if its feed rate control is unsuitable. A rough feed rate curve having discontinuity in its acceleration profile causes a serious vibration problem in the feed slides system. This paper presents a feed rate optimization of a ball screw driven machine tool feed slide system for its minimum vibration. Firstly, a ball screw feed drive system was mathematically modeled as a 6-degree-of-freedom lumped parameter system. Next, a feed rate optimization of the system was carried out for minimum vibrations. The main idea of the feed rate optimization is to find out the most appropriate smooth acceleration profile with jerk continuity. A genetic algorithm was used in this feed rate optimization

• Nuclear Engineering and Technology
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• v.45 no.6
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• pp.707-720
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• 2013

We analyze piecewise homogenization with flux-weighted cross sections and preservation of averaged currents at the boundary of the homogenized domain. Introduction of a set of flux discontinuity ratios (FDR) that preserve reference interface currents leads to preservation of averaged region reaction rates and fluxes. We consider the class of numerical discretizations with one degree of freedom per volume and per surface and prove that when the homogenization and computing meshes are equal there is a unique solution for the FDRs which exactly preserve interface currents. For diffusion submeshing we introduce a Jacobian-Free Newton-Krylov method and for all cases considered obtain an 'exact' numerical solution (eight digits for the interface currents). The homogenization is completed by extending the familiar full assembly homogenization via flux discontinuity factors to the sides of regions laying on the boundary of the piecewise homogenized domain. Finally, for the familiar nodal discretization we numerically find that the FDRs obtained with no submesh (nearly at no cost) can be effectively used for whole-core diffusion calculations with submesh. This is not the case, however, for cell-centered finite differences.

• The Journal of the Acoustical Society of Korea
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• v.22 no.6
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• pp.505-511
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• 2003

As the technique of automobile industry is being advanced, the advancement of vehicle ride is being required. In order to achieve this purpose, the study on the vibration which are produced by moving vehicle is carried out actively. In order to analysis, the tire vibration characteristics for passing over a cleat, the tire is modeled with 7-DOFs (degree of freedom). The model is verified against simulations and experiments. The effects of proposed tire design parameters such as the tire tread rubber, tread ring, apex are considered. According to the results of analysis, the tire design parameters that can reduce the tire and wheel vibration quantity are conducted.

• The Journal of Korea Robotics Society
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• v.13 no.1
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• pp.55-62
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• 2018

In this paper, a method for estimation of external force on an end-effector using joint torque sensor is proposed. The method is based on portion of measure torque caused by external force. Due to noise in the torque measurement data from the torque sensor, a recursive least-square estimation algorithm is used to ensure a smoother estimation of the external force data. However it is inevitable to create a delay for the sensor to detect the external force. In order to reduce the delay, modified recursive least-square is proposed. The performance of the proposed estimation method is evaluated in an experiment on a developed six-degree-of-freedom robot. By using NI DAQ device and Labview, the robot control, data acquisition and The experimental results output are processed in real time. By using proposed modified RLS, the delay to estimate the external force with the RLS is reduced by 54.9%. As an experimental result, the difference of the actual external force and the estimated external force is 4.11% with an included angle of $5.04^{\circ}$ while in dynamic state. This result shows that this method allows joint torque sensors to be used instead of commonly used external sensory system such as F/T sensors.