• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.485-492
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• 1990

This paper propose a optimal design method for robust notion controllers of under-water vehicles using the combined technique between classical and modern theories. The proposed method is presented which utilizes classical control methods to obtain a good robustness and modern control methods to set optimal gains. LQ, SVD, multivariable frequency analysis and Bode-Root Locus (BRL) plot are used.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 추계학술대회논문집A
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• pp.507-514
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• 2001

Direct drive servovalve(DDV) is a kind of one-stage valve since the rotary motion of DC motor is directly transferred to the linear motion of valve spool through the link. Since the structure of DDV is simple, it is less expensive, more reliable and offers reduced internal leakage and reduced sensitivity to fluid contamination. However, the flow force effect on the spool motion is significant such that it induces large steady-state error in a step response. If the proportional control gain is increased to reduce the steady-state error, the system becomes unstable. In order to satisfy the system design requirements, the classical controller is designed using the analytical Bode method.

• 대한기계학회논문집A
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• 제26권4호
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• pp.754-763
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• 2002

Direct drive servovalve(DDV) is a kind of one-stage valve since the rotary motion of DC motor is directly transferred to the linear motion of valve spool through the link. Since the structure of DDV is simple, it is less expensive, more reliable and offers reduced internal leakage and reduced sensitivity to fluid contamination. However, the flow force effect on the spool motion is significant such that it induces large steady-state error in a step response. If the proportional control gain is increased to reduce the steady-state error, the system becomes unstable. In order to satisfy the system design requirements, the classical controller is designed using the analytical Bode method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.58-62
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• 1987

In this paper, path planning, modelling, and control of manipulators are described. The path planning deals with specifying how to define the motion of hand along straight line paths in the minimum amount of time. A new model was developed for the manipulator, which is based on the classical equations of motion of a rigid body. A new control algorithm was developed which controls the manipulator in terms of the position and orientation of the hand.

• 제어로봇시스템학회논문지
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• 제15권8호
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• pp.823-830
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• 2009

For developing automotive parts and telematics devices the real car test often shows limitation because it needs high cost, much time and has the possibility of the accident. Therefore, a Vehicle Driving Simulator (VDS) instead of the real-car test has been used by some automotive manufactures, research centers, and universities. The VDS is a virtual reality device which makes a human being feel as if one drives a vehicle actually. Unlike actual vehicle, the simulator has limited kinematic workspace and bounded dynamic characteristics. So it is difficult to simulate dynamic motions of a multi-body vehicle model fully. In order to overcome these problems, a washout algorithm which restricts workspace of the simulator within the kinematic limits is needed, and analysis of dynamic characteristics is required also. However, a classical washout algorithm contains several problems such as time delay and generation of wrong motion signal caused by characteristics of filters. Specially, the classical washout algorithm has the simulator sickness when driver hardly turns brakes and accelerates the VDS. In this paper, a new washout algorithm is developed to enhance the motion sensitivity and improve the simulator sickness by using the vehicle tilt signal which is generated in the real time vehicle dynamic model.

• 제어로봇시스템학회논문지
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• 제10권6호
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• pp.519-528
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• 2004

For reappearance of driving perception in a driving simulator, a washout algorithm is required. This algorithm can reappear the vehicle driving motions within workspace of the driving simulator. However classical washout algorithm contains several problems such as selection of order, cut-off frequency of filters, generation of wrong motion cues by characteristics of filters, etc. In order to overcome these problems, this paper proposes a new washout algorithm which gives more accurate sensations to drivers. The algorithm consists of an artificial inclination of the motion plate and human perception model with band pass filter and dead zone. As a result of this study, the motion of a real car could be reappeared satisfactorily in the driving simulator and the workspace of motion plate is restrained without scaling factor.

• 한국항공우주학회지
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• 제39권8호
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• pp.725-734
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• 2011

높은 받음각에서 항공기는 Wing Rock 이라고 알려진 Limit cycle 형태의 횡방향 진동 운동을 보일 수 있다. 이 논문에서는 이러한 불안정 진동운동과 관련한 불확실성에 적응하여 안정화시키는 고전 및 신경회로망기반 적응제어기법들의 상세 설계내용을 제시하였다. 모든 기법들은 80도 후퇴각을 가진 삼각날개를 갖는 모델에 적용하여 시뮬레이션하였고 그 결과를 비교분석하였다.

• 한국소음진동공학회논문집
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• 제21권10호
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• pp.951-959
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• 2011

In this study, an OTM(on-the-move) antenna which is mounted on ground vehicles and is used for mobile communication between vehicle and satellite while moving was addressed. Since LOS(line-of-sight) of antenna should direct satellite consistently while vehicle moving to guarantee high satellite communication quality, active antenna LOS stabilization is a core technology for OTM antenna. Stabilization of a satellite tracking antenna which consists of 2-DOF gimbals, an elevation gimbal over an azimuth gimbal, was considered in this study. In consideration of driving mechanism which consists of gear train and flexible driving shafts, a two-mass-system dynamic model coupled with vehicle motion was presented. An internal PI-control loop + outer PI-control loop structure has been suggested in order to damp the torsional vibration and stabilize control system. The classical pole-placement method was applied to design control gains. In addition, a vehicle motion compensation control beside of the feedback control loop has been suggested to improve LOS stabilization performances. The feasibility of the proposed control design was verified along with some experimental results.

• 대한물리의학회지
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• 제8권2호
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• pp.153-161
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• 2013

PURPOSE: This study aimed to investigate the effect of complex theraputic exercise on visual analog scale of pain, shoulder' range of motion for middle-aged women with breast cancer related lymphedema. METHODS: The 14 middle-aged women involved voluntary in this study and then they were divided into two groups(n =7 per group). The complex exercise program was implemented over 4 weeks, 60 minutes per day, with 3 types of exercise for stimulation whereas the control group was performed a classical decongestive physiotherapy in a same day. For data analysis, the mean and standard deviation were estimated; 2 way repeated measures ANOVA was carried out. RESULTS: First, The level of VAS was significantly reduced on time, interaction effect in the group. Second, most factors of ROM were significantly increased on time, interaction effect whereas extension was not significantly increased. CONCLUSION: In conclusion, Our results showed that complex therapeutic exercise could improve or maintain VAS and ROM of shoulder joint for middle-aged women with breast cancer related lymphedema.

• 한국정밀공학회지
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• 제20권4호
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• pp.49-58
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• 2003

In this study, the equation of motion of impacting elastic structures was derived through the theory, and the shape control of impact force using correlations of the dynamic characteristics and impact force history between two elastic structures was accomplished. Through numerical analysis and experiments, the classical contact mechanisms were verified, and the effects of the relative motion between impactor and elastic structure on the impact force shape were studied, and then the shape change of impact force depending on the impact position and mode shape of cantilever beam were analyzed. The 2-DOF impactor was designed and used. Reconstruction characteristics of impact force in cantilever beam were reviewed .