• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.92.1-92
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• 2001

Sliding mode control of spacecraft attitude tracking with actuator, especially reaction wheel, is presented. The sliding mode controller is derived based on quaternion parameterization for the kinematic equations of motion. The reaction wheel dynamic equations represented by wheel input voltage are presented. The input voltage to wheel is calculated from the sliding mode controller and reaction wheel dynamics. The global asymptotic stability is shown using a Lyapunov analysis. In addition the robustness analysis is taken for nonlinear system with parameter variations and disturbances. It is shown that the controller ensures control objectives for the spacecraft with reaction wheels.

• Journal of Families and Better Life
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• v.4 no.2
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• pp.1-8
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• 1986

This article presents a short objective test for measuring attitudes toward consumerism. The samples are composed of 196 home economics and social studies teachers of middle and high school. The test is shown to have high internal consistency reliability(${\alpha}$=70) and unidimensionality. The test is also shown to have satisfactory content validity and concurrent validity. Extention of the test for stability and predictive validity are discussed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.425-429
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• 1996

Our unicycle has simple mechanical structure. But unicycle's dynamic system is a very sensitive unstable nonlinear system. In this paper, a fuzzy inference control mechanism was established throughout an inquiry into human riding a unicycle, and we developed a direct fuzzy controller to control our unicycle robot. This proposed fuzzy controller is consisted with fuzzy logic controllers for attitude stability and wheel's velocity. Computer simulation results show that our fuzzy controller has very powerful performance to unstable nonlinear unicycle robot system.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.34 no.4
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• pp.40-46
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• 2006

It is required to develop a highly reliable attitude & orbit control system of satellite that is less expensive as the technology of satellite design & integration is recently matured dramatically. To accomodate this kind of needs, the two axis attitude control method for wheel-based momentum-biased satellite system whose momentum bias vector points to a certain direction(sun direction), is developed using simple but reliable sensors and actuator: three axis magnetometer and coarse sun sensor are used as sensors, and magnetic torque bars are used as actuator. Classical PD type controller design methodologies are applied on a satellite system for the two axis control with the proper assumptions. Nonlinear simulation results are included to demonstrate the long term stability and the performance of closed-loop system design results.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 1999.06a
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• pp.162-169
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• 1999

Herringbone groove journal bearing (HGJB) is developed to improve the static and dynamic performances of hydrodynamic journal bearing. Conventional studies on HGJB were based on the Narrow Groove theory assuming that the number of grooves approaches infinity. In this study, an oil lubricated HGJB is analyzed using Finite Element Method. Load carrying capacity, attitude angle, stiffness and damping coefficients are obtained numerically for various bearing configurations especially for the inclined width ratio and asymmetric ratio and compared with the results obtained using Finite Volume Method. The bearing load and stability characteristics are dependent on geometric parameters such as inclined width ratio, asymmetric ratio, groove depth ratio, groove width ratio, groove angle.

• The Journal of Korea Robotics Society
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• v.4 no.2
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• pp.88-96
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• 2009

In this paper, we present a linear controller for attitude of aircraft. We use a rotational matrix in one approach and a quaternion in the other approach. We also find some interesting mathematical properties concerning a symmetric rotational matrix and we use these properties to analyze the stability of the proposed control law. We find that the quaternion approach is better than rotational matrix approach because there exists no singular region problem in quaternion approach. On the other hand, singular region problem may happens in rotational matrix approach. The controller structure of the quaternion is also very simple compared with the one proposed by using a rotational matrix approach. We make use Matlab Simulink to simulate and illustrate the theoretical claims. The graphic animation program is developed based on Open-GL for the computer simulation of the proposed control algorithm.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.586-588
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• 2004

Although stable control algorithm has been implemented to the biped robot, the stability is not guaranteed because of encoder errors and/or rigid body elastics. Hence precise body pose estimation is required for more natural and long term walk. Specially pelvis sloping by gravity or uneven ground on landing place are most critical reason for undulated motion. In order to overcome these difficulties an estimation system for foot position and orientation using PSD sensors and Gyro sensors is proposed along with calibration algorithm and experimental verification.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.22 no.4
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• pp.859-867
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• 1998

An oil lubricated Herringbone aroove jounal bearing(HGJB) with eight-circular-profile grooves on the non-rotating bearing surface is analyzed numerically and experimentally. The load carrying capacity, attitude angle, stiffness and damping coefficients are obtained numerically for the various bearing configurations. The onset speed of instability is also examined for the various eccentricity ratios. The configuration parameters of HGJB, such as groove depth ratio, groove width ratio, and groove angle, are dependent on each other because the grooves are generated by using eight small balls rolling over the inner surface of the sleeve with press fit. Therefore, it is not allowed to suggest a set of optimal design parameters such as the one for the rectangular profile HGJB. The overall results from numerical and experimental analysis prove that the circular profile HGJB has an excellent stability characteristics and the higher load carrying capacity than the plain journal bearing.

• Tribology and Lubricants
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• v.16 no.6
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• pp.425-431
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• 2000

Herringbone groove journal bearing (HGJB) is developed to improve the static and dynamic performances of hydrodynamic journal bearing. Conventional studies on HGJB were based on the Narrow Groove theory assuming that the number of grooves approaches infinity. In this study, an oil lubricated HGJB is analyzed using Finite Element Method. Load carrying capacity, attitude angle, stiffness and damping coefficients are obtained numerically for various bearing configurations especially for the inclined width ratio and asymmetric ratio and compared with the results obtained using Finite Volume Method. The bearing load and stability characteristics are dependent on geometric parameters such as inclined width ratio, asymmetric ratio, groove depth ratio, groove width ratio, and groove angle.

• Tribology and Lubricants
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• v.12 no.1
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• pp.29-35
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• 1996

The static and dynamic stability analysis of air-lubriceted tilting pad journal bearing which considers tilting effect of each pad and preload but neglects pad inertia were performed. And these characteristic analysis were performed with elasticity effect too. A direct numerical method is used in calculating the static characteristics such as load carrying capacity, firction force and perturbation method is used for calculation of dynamic characteristics. The stability analysis was performed with the variation of bearing number, eccentricity ratio and attitude angle considering pad elasticity effect.