• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 B
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• pp.687-689
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• 1998

This paper represents fundamental developments in Fuzzy and Neural approaches. The Fuzzy Controller(FC) and plant are cascaded in Adaptive framework. Each of which produces its outputs. The adjustable parameters all pertain to the fuzzy controller is implemented as an Adaptive FC to adjust the environments of the plant. There is an error meaure block which is a difference between the actual state and desired state. We introduce error back propagation algorithm in neural method. To speed up convergence, we follow a steepest decent in the sense that each parameter set update leads to a smaller error measure and is learned by this methodology. Inverted pendulum is a typical testbed to measure the effectiveness of nonlinear control system. finally we simulated the adaptive fuzzy controller to be able to bring back to the upright position of the its angle and angular velocity.

• 한국전자통신학회논문지
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• 제13권1호
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• pp.93-100
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• 2018

본 연구는 정밀한 각속도 추종을 위해 토크오차를 보상하는 제어기와 구현에서 제어기의 안정성을 보완하는 방법을 제안한다. 또한 설계된 제어기가 점근적인 안정할 수 있음을 리아프노프 안정도이론에 근거하여 증명하였다. 제안된 제어기는 d축 기준전류를 임의 값에 대한 제어가 가능하고, 속도이득과 전류이득의 두 가지로 손쉽게 제어성능을 달성할 수 있도록 하였다. 약 750W급의 IPMSM에 적용한 결과 레퍼런스 속도 1200[RPM]에 대한 정상상태 오차는 0.1[%]이내이며, 약 5[Nm]의 상수부하에서 약 0.2초 이내에 외란을 극복하여 점근적인 안정한 제어기임을 확인 할 수 있다.

• Nuclear Engineering and Technology
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• 제27권5호
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• pp.661-669
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• 1995

원자력시설에서 점검 및 보수작업을 위하여 이동로보트 KAEROT을 개발하였다. 이동로보트의 주행장치는 소차륜들이 부착된 유성차륜의 형태로 구성되어 높은 안정성을 유지하며 계단을 포함한 많은 장애물의 승하강이 가능하도록 설계하였다 본 논문에서는 로보트의 원격조작을 용이하게 하기 위하여 이동로보트의 기구학적 해석을 통하여 역기구학 해를 구하였고, 자동 계단승월 알고리즘을 제안하였다. 제안된 알고리즘은 이동경로를 결정한 후 제안된 기준경로를 추종할 수 있도록 각 차륜의 각속도를 구하는 것이다. 제작 오차가 있는 실험실내 계단에 대하여 시뮬레이션 및 실험을 수행하였다. 제안된 알고리즘은 로보트 몸체의 경사각도를 낮게 유지시킬 수 있었고, 주행중 안정성을 높혀주었다.

• PNF and Movement
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• 제5권1호
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• pp.49-56
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• 2007

Objectives : We find that the reaction force on the elbow joint during elbow flexion, extension with and without an object in the hand can be calculated the equations of motion that the sum of the torque and the sum of the force acting on the elbow joint must be zero and (moment of inertia x angular acceleration) and (mass x acceleration). Methods : we have calculated the equations of motion (${\Sigma}F=0$, ${\Sigma}{\tau}=0$, ${\Sigma}F=ma$, ${\Sigma}{\tau}=Ia$) to investigate the reaction force on the elbow joint during elbow flexion, extension by means of the simplified free-body technique for coplanar forces. Results : we found that the reaction force on the elbow joint during elbow flexion, extention as constant acceleration motion is more than constant velocity, static motion. Also, we found that the relation between during flexion and during extension like this ; $J_{flexion}$ < $J_{extension}$.

• 대한기계학회논문집
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• 제10권2호
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• pp.265-279
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• 1986

Ra=$10^{6}$, Pr=5에서 관열전도율과 두께가 변화할 때의 단일수평관에서의 자연대류 열전달에 관하여 유한차분법을 이용하여 해석적으로 연구하였다. .delta.$_{w}$ /d$_{o}$ =0.1에서 관열전도율이 높을수록 높은 온도와 높은 국소 누셀트 수를 나타 내며, .theta.=20。에서의 원주방향속도는 (r-r$_{o}$ )=0.08에서 최대가 되며 반경방향속 도는 (r-r$_{o}$ )=0.14에서 최대가 된다. 관외벽온도는 관 두께가 증가함에 따라 거의 유사하게 감소한다. $K_{w}$ /K$_{f}$ =75에서 각도변위가 증가함게 따라 국소 누셀트수는 현저히 증가하나 관 두께가 증가함에 따라서는 감소한다. .delta.$_{w}$ / d$_{o}$ =0.1에서 평균 누셀트수와 평균 온도는 무차원 열전도율이 증가함에 따라 $K_{w}$ /K$_{f}$ ＞15에서는 평균 누셀트 수는 서서히 증가하고 평균 온도는 거의 같 은 값을 가지며 지수함수로 표시할 수 있었다. $K_{w}$ /K$_{f}$ =75,50에서 평균 누 셀트수와 온도는 무차원 관 두께가 증가함에 따라 거의 직선적으로 감소되며 선형 함 수로 나타낼 수 있었다.

• 한국운동역학회지
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• 제20권2호
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• pp.175-182
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• 2010

The purpose of this study was to evaluate the biomechanical effect of sports taping on the lower limb during drop landing. Twelve male university students who have no musculoskeletal disorder were recruited as the subjects. Principal strain, median frequency, vertical GRF, loading rate, angular velocity and resultant joint moment were determined for each trial. For each dependent variable, paired t-test was performed to test if significant difference existed between taped and untaped conditions(p<.05). The results showed that principal strain of the thigh and the shank in taping group were significantly less than those found in control group. These indicated that sports taping may prevent excessive mechanical strain caused by impact force during the deceleration phase. Flexion(-)-extension(+) and varus(-)-valgus(+) resultant joint moment of the knee joint in taping group were greater than corresponding value for control group. It seems that extensor muscle of the knee joint were not only supported by sports taping during knee flexion but also sports taping is effective for minimizing the possibility of injury.

• 로봇학회논문지
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• 제6권3호
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• pp.220-229
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• 2011

This paper focuses on a development of an anthropomorphic robot hand. Human hand is able to dexterously grasp and manipulate various objects with not accurate and sufficient, but inaccurate and scarce information of target objects. In order to realize the ability of human hand, we develop a robot hand and introduce a control scheme for stable grasping by using only kinematic information. The developed anthropomorphic robot hand, KITECH Hand, has one thumb and three fingers. Each of them has 4 DOF and a soft hemispherical finger tip for flexible opposition and rolling on object surfaces. In addition to a thumb and finger, it has a palm module composed the non-slip pad to prevent slip phenomena between the object and palm. The introduced control scheme is a quitely simple based on the principle of virtual work, which consists of transposed Jacobian, joint angular position, and velocity obtained by joint angle measurements. During interaction between the robot hand and an object, the developed robot hand shows compliant grasping motions by the back-drivable characteristics of equipped actuator modules. To validate the feasibility of the developed robot hand and introduced control scheme, collective experiments are carried out with the developed robot hand, KITECH Hand.

• 제어로봇시스템학회논문지
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• 제22권6호
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• pp.411-416
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• 2016

This paper presents the design methodology of an unknown input observer for Lipschitz nonlinear systems with unknown inputs in the framework of convex optimization. We use an unknown input observer (UIO) to consider both nonlinearity and disturbance. By deriving a sufficient condition for exponential stability in the linear matrix inequality (LMI) form, existence of a stabilizing observer gain matrix of UIO will be assured by checking whether the quadratic stability margin of the error dynamics is greater than the Lipschitz constant or not. If quadratic stability margin is less than a Lipschitz constant, the coordinate transformation may be used to reduce the Lipschitz constant in the new coordinates. Furthermore, to reduce the maximum singular value of the observer gain matrix elements, an object function to minimize it will be optimally designed by modifying its magnitude so that amplification of sensor measurement noise is minimized via multi-objective optimization algorithm. The performance of UIO is compared to a nonlinear observer (Luenberger-like) with an application to a flexible joint robot system considering a change of load and disturbance. Finally, it is validated via simulations that the estimated angular position and velocity provide true values even in the presence of unknown inputs.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2006년도 하계종합학술대회
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• pp.933-934
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• 2006

High level perceptual tasks such as context understanding, SLAM and object recognition are essential for intelligent robot to provide services for human supports. Those intelligent robots often use camera sensor for vision information, sonar or laser sensor for range information, encoder for angular velocity of wheel and so on. The information is generated at different time intervals by the different H/W devices and S/W algorithms. The generation of high level information requires the specific mixture of low level information. And the information should be represented to be useful for robots to use in their ecological niche. In conventional robot systems, perceptual module requires the resource to use by tightly coupling whenever it is needed. So the resource and information cannot be easily shared and even could be invalid for the delayed information. In this paper, we propose a synchronization system of robot-centered information for context understanding. Our system represents information for the robot capacity and synchronizes the information that is asynchronously generated, where is employed the black-board architecture.

• 천문학회지
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• 제39권1호
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• pp.25-30
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• 2006

We completed four color light curves of the near-contact binary CN And during three nights from September to December 2004 using the 61-cm reflector and BV RI filters at Sobaeksan Observatory. We determined four new times of minimum light (two timings for primary eclipse, two for secondary). Newly obtained BV RI light curves and the radial velocity curves from Rucinski et a1. (2000) were simultaneously analyzed to derive the system parameters of CN And. We used the semi-detached mode 4 of the 2003-version of the Wilson-Devinney binary model, and interpreted the asymmetry of the light curve by introducing two spots; a cool spot on the primary component and a hot spot on the secondary component. New photometric parameters are not much different from those of Cicek et a1. (2005), and it is considered that the system is in the era of broken contact. From the orbital period study with all available timings including our data, we found a continous period decrease with a rate of $P_{obs}=--1.82{\times}10^{-7}\;d\;yr^{-1}$ that can be explained with two possible mechanisms. We think the most likely cause of the period decrease is a thermal mass transfer from the primary to the secondary component, rather than angular momentum loss due to a magnetic stellar wind.