• Transactions of the Korean Society of Automotive Engineers
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• v.10 no.1
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• pp.209-215
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• 2002

A study of the guideway vehicle was made for a comparison of ride stabilities between its two primary steering types; one is the front wheel steering and the other the front-rear wheel. A numerical model as a closed loop system was built for an investigation of various factors to have an influence on the vehicular critical speed which is closely associated with ridabilities. It was shown that dynamics stabilities of the front steering type was much better over a large value of steering gain and the longer distance between front axle and guide link for both types provided better stabilities as well. A large steering gain ratio of the front to the rear significantly plays an important role in an improvement of stability in the front-rear steering. To observe a qualitative trend on stability behaviors, the root locus was obtained by considering a time lag which may be frequently caused by the complicated steering mechanism. In performing so, the appropriate selection of steering gain had a greater effect on the front-rear steering vehicle far more ride comfort. In addition, the dynamics model proposed here can be utilized for a more accurate evaluation on the vehicle design in lateral or yawing absorber and moreover expanded for the analysis of independent four-wheel steering vehicle.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.2
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• pp.140-150
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• 2002

The planar tracked vehicle model used in this investigation consists of two kinematically decoupled subsystems, i.e., the chassis subsystem and the track subsystem. The chassis subsystem includes the chassis frame, sprocket, idler and rollers, while the track subsystem is represented as a closed kinematic chain consisting of rigid links interconnected by revolute joints. In this study, the recursive kinematic and dynamic formulation of the tracked vehicle is used to find the vertical terce and the distance of an arbitrary track moved in the driving direction along the track. These distances and vertical forces obtained are used to get the deformation and sinkage of a terrain. The FEM(Finite Element Method) is adopted to analyze the interaction between tracked vehicle and terrain. The terrain is represented by a system of elements wish specified constitutive relationships and considered as a piecewise linear elastic, plastic and isotropic material. When the tracked vehicle is moving with different speeds on the terrain, the elastic and plastic deformations and the maximum sinkage for the four different types of isotropic soils are simulated.

• Journal of Ocean Engineering and Technology
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• v.34 no.3
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• pp.180-193
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• 2020

In this study, the end-effector tracking performance of a manipulator installed on a remotely operated vehicle (ROV) for autonomous underwater intervention is verified. The underwater manipulator is an ARM 7E MINI model produced by the ECA group, which consists of six joints and one gripper. Of the six joints of the manipulator, two are revolute joints and the other four are prismatic joints. Velocity control is used to control the manipulator with forward and inverse kinematics. When the manipulator approaches a target object, it is difficult for the ROV to maintain its position and posture, owing to various disturbances, such as the variation in both the center of mass and the reaction force resulting from the manipulator motion. Therefore, it is necessary to compensate for the influences and ensure the relative distance to the object. Simulations and experiments are performed to track the trajectory of a virtual object, and the tracking performance is verified from the results.

• Journal of Power Electronics
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• v.18 no.5
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• pp.1470-1478
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• 2018

Recently, wireless power transfer (WPT) via coupled magnetic resonances has attracted a lot of attention owing to its long operation distance and high efficiency. However, the WPT systems is over-coupling and a frequency splitting phenomenon occurs when resonators are placed closely, which leads to a decrease in the transfer power. To solve this problem, an adaptive frequency tracking control (AFTC) was used based on a closed-loop control scheme. An improved particle swarm optimization (PSO) algorithm was proposed with the AFTC to track the maximum power point in real time. In addition, simulations were carried out. Finally, a WPT system with the AFTC was demonstrated to experimentally validate the improved PSO algorithm and its tracking performance in terms of optimal frequency.

• Magazine of the Korean Society of Agricultural Engineers
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• v.45 no.7
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• pp.27-37
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• 2003

This study was performed to examine the flowing ability and filling ability of polypropylene fiber reinforced high performance concrete. The slump flow was decreased with increasing the polypropylene fiber content, rapidly. At the box-type filling ability, the difference of box height was increased with increasing the fiber content and the box-type passing ability was closed in fiber content 1 %. The final flowing distance of L-type was decreased with increasing the fiber content. Also, it was decreased above 0.75% of polypropylene fiber content, rapidly. The filling ability of L-type was badly showed above polypropylene fiber content 0.75%. Also, the compressive strength was decreased with increasing the fiber content, but the flexural strength was shown higher than that of the concrete without fiber. At the impact resistance, drop numbers for reaching in final fracture were increased with increasing the fiber content. Also, the drop numbers for reaching initial fracture of 1mm were increased with increasing the fiber content. At the acid resistance, the percent of original mass was decreased with increasing the fiber content.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.5 no.11
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• pp.2103-2120
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• 2011

In this research, we consider the replication strategy for the applications of video streaming in wireless mesh networks (WMNs). In particular, we propose a closed-form of optimal replication densities for a set of frames of a video streaming by exploiting not only the skewed access probability of each frame but also the skewed loss probability and skewed encoding rate-distortion information. The simulation results demonstrate that our method improves the replication performance in terms of user-perceived quality (UPQ) which includes: 1) minimum average maximum reconstructed distortion for high peak signal-to-noise ratio (PSNR), 2) small reconstructed distortion fluctuation among frames for smooth playback, and 3) reasonable average maximum transmission distance for continuous playback. Furthermore, the proposed strategy consumes smaller storage capacity compared to other existing optimal replication strategies. More importantly, the effect of encoding rate is carefully investigated to show that high encoding rate does not always gain high performance of replication for video streaming.

• Journal of the Semiconductor & Display Technology
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• v.7 no.3
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• pp.11-16
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• 2008

The authors investigated an overhead shuttle (OHS) system for automatic transferring the liquid crystal display (LCD) panels. The constructed tracks of OHS system include the linear and curve regions and have been installed on the ceiling to transfer the cassette of LCD glass along the closed-loop and open-loop tracks. In this study, the OHS system was implemented by a proposed linear motor to solve encoder installation and the system cost problems of the long distance transfer system. In addition, we utilized a new algorithm of the position detection and a new control algorithm for driving linear motor. The newly developed control algorithm was demonstrated from both a computer simulation and an experimentation, indicating that the highly reliable and speedy transfer system can enhance the LCD panel productivity of commercial OHS system.

• International Journal of Aeronautical and Space Sciences
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• v.15 no.2
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• pp.163-172
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• 2014

This paper proposes a novel guidance law based on the block backstepping sliding mode control and extended state observer (ESO), which also takes into account the autopilot dynamic characteristics of the near space interceptor (NSI), and the impact angle constraint of attacking the maneuvering target. Based on the backstepping control approach, the target maneuvers and the parameter uncertainties of the autopilot are regarded as disturbances of the outer loop and inner loop, respectively. Then, the ESO is constructed to estimate the target acceleration and the inner loop disturbance, and the block backstepping sliding model guidance law is employed, based on the estimated disturbance value. Furthermore, in order to avoid the "explosion of complexity" problem, first-order low-pass filters are also introduced, to obtain differentiations of the virtual control variables. The stability of the closed-loop guidance system is also proven, based on the Lyapunov theory. Finally, simulation results demonstrate that the proposed guidance law can not only overcome the influence of the autopilot dynamic delay and target maneuvers, but also obtain a small miss distance.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.5
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• pp.487-492
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• 2007

This paper presents the development of digital robust fuzzy controller for uncertain nonlinear systems. The proposed approach is based on the intelligent digital redesign(IDR) method with considering the relaxed stability condition of fuzzy control system. The term IDR in the concerned system is to convert an existing analog robust control into an equivalent digital counterpart in the sense of the state-matching. We shows that the IDR problem can be reduced to find the digital fuzzy gains minimizing the norm distance between the closed-loop states of the analog and digital robust control systems. Its constructive conditions are expressed as the linear matrix inequalities(LMIs) and thereby easily tractable by the convex optimization techniques. Based on the nonquadratic Lyapunov function, the robust stabilization conditions are given for the sampled-data fuzzy system, and hence less conservative. A numerical example, chaotic Lorentz system, is demonstrated to visualize the feasibility of the proposed methodology.

• The korean journal of orthodontics
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• v.19 no.2
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• pp.25-34
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• 1989

This experiment was performed to study the effect of prostaglandin $E_2$ on tooth movement and root resorption in orthodontically treated cats. Twenty five cats were divided into five groups and closed coil springs delivered 80gm were stretched between upper canine and 3rd premolar. $10{\mu}g$ of $PGE_2$ was injected locally in the submucosal area of the upper right canine, while the left side served as a control and was injected saline 0.1ml. The distance between canine tip and central cusp tip of the 3rd premolar was measured. Scanning electron photomicrographs were made of the coronal half of the distal root surface of canines and cemental craterings were observed and quantified using point-counting volumetry. Data were analyzed by 2-way ANOVA and paired t-test. The results were as follows: 1. The rate of tooth movement of the $PGE_2$ side was increased, particularly at 1 day, compared with the control side. 2. The rate of tooth movement was minimum from 7 days to 10 days. 3. The resorption of root surface of the $PGE_2$ side was decreased from 4 days to 10 days, compared with the control side.