• Journal of Mechanical Science and Technology
• /
• 제18권3호
• /
• pp.337-346
• /
• 2004

The control scheme using fuzzy modeling and Parallel Distributed Compensation (PDC) concept is proposed to provide asymptotic tracking of a reference signal for the flexible joint manipulators with uncertain parameters. From Lyapunov stability analysis and simulation results, the developed control law and adaptive law guarantee the boundedness of all signals in the closed-loop multi-input/multi-output system. In addition, the plant state tracks the state of the reference model asymptotically with time for any bounded reference input signal.

• 한국군사과학기술학회지
• /
• 제10권3호
• /
• pp.161-172
• /
• 2007

This article suggests an inverse kinematics analysis of a two degree of freedom spatial parallel motion simulator and design methodology of the robust PID controller. The parallel motion simulator consists of a fixed base and a moving frame connected by two serial chains, with each serial chain containing one revolute joint and two passive spherical joint. First, an inverse kinematics problems are solved in order to find the joint variable necessary to bring the end effector to track the desired trajectory. Second, an inverse optimal PID controller is proposed to track trajectories in the face of uncertainty. And the $H_{\infty}$ optimality and robust stability of the closed-loop system is acquired through the PID controller. Finally numerical results show the effectiveness of the PID controller that is designed by square/linear tuning laws.

• 대한통합의학회지
• /
• 제10권3호
• /
• pp.63-72
• /
• 2022

Purpose : Several studies have investigated the effects of dynamic stretching (DS) and self-mobilization (SM), however, studies comparing the two interventions are rare. Therefore, the purpose of this study was to compare the effects of DS and SM on ankle strength, dorsiflexion range of motion (DFROM), and balance to determine which is superior. Methods : Thirty-two healthy young adults participated in this study. Participants were randomly assigned to two groups (SM and DS). DS was performed for the purpose of stretching the medial gastrocnemius muscle. For the SM group, ankle joint SM was performed in three ways. For all participants, the following measurements were performed as pre- and post-tests: isometric strength of dorsiflexor and plantar flexor, weight-bearing lunge test (WBLT) to evaluate DFROM, Tetrax system to evaluate static balance, and y balance test (YBT) to evaluate dynamic balance. Differences before and after the intervention within each group were compared using paired t-test. Also, the variable's variation was compared between groups using an independent t-test. Results : Significant differences were found in ankle dorsiflexor strength, WBLT, YBT, weight distribution index (WDI) (pillow and opened eyes; PO), and stability index (ST) (normal and closed eyes; NC) before and after intervention in the SM group (p<.05). In the DS group, significant differences were found in ankle dorsiflexor and plantar flexor strength, WBLT, YBT anterior, WDI (normal and opened eyes; NO, PO), and ST (NO, NC, PO, pillow and closed eyes) before and after the intervention (p<.05). Ankle plantar flexor strength and WDI (PO) were significantly different between groups. Conclusion : Based on the results of this study, DS or SM can be considered as a possibility for selective use according to variables for improving ankle joint function (DFROM, muscle strength, balance).

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1994년도 하계학술대회 논문집 A
• /
• pp.468-471
• /
• 1994

This paper presents the digital implementation of an optimal and robust VSS controller with sliding observer. Firstly, a discrete-time VSS control law which enables the system state to move into a sliding sector where the closed-loop system is stable is designed. Then optimal control theory is used to design an optimal sliding sector. Secondly, a sliding observer which provide robust state estimation against model-plant mismatches due to parameter uncertainties is designed for the sampled-data multivariable systems. Finally, modified sliding observer which effectively reduce chattering of state variables in state estimation was proposed. The proposed scheme was applied 10 a two degree of freedom inverted pendulum with passive joint to verify robust motion control. Computer simulation results confirm the viability of the proposed observer-based controller.

• Structural Engineering and Mechanics
• /
• 제30권6호
• /
• pp.733-761
• /
• 2008

The failure of reinforced concrete structures in recent earthquakes caused concern about the performance of beam column joints. Confinement of joint is one of the ways to improve the performance of beam column joints during earthquakes. This paper describes an experimental study of exterior beam-column joints with two non-conventional reinforcement arrangements. One exterior beam-column joint of a six story building in seismic zone III of India was designed for earthquake loading. The transverse reinforcement of the joint assemblages were detailed as per IS 13920:1993 and IS 456:2000 respectively. The proposed nonconventional reinforcement was provided in the form of diagonal reinforcement on the faces of the joint, as a replacement of stirrups in the joint region for joints detailed as per IS 13920 and as additional reinforcement for joints detailed as per IS 456. These newly proposed detailing have the basic advantage of reducing the reinforcement congestion at the joint region. In order to study and compare the performance of joint with different detailing, four types of one-third scale specimens were cast (two numbers in each type). The main objective of the present study is to investigate the effectiveness of the proposed reinforcement detailing. All the specimens were tested under reverse cyclic loading, with appropriate axial load. From the test results, it was found that the beam-column joint having confining reinforcement as per IS: 456 with nonconventional detailing performed well. Test results indicate that the non-conventionally detailed specimens, Type 2 and Type 4 have an improvement in average ductility of 16% and 119% than their conventionally detailed counter parts (Type1 and Type 3). Further, the joint shear capacity of the Type 2 and Type 4 specimens are improved by 8.4% and 15.6% than the corresponding specimens of Type 1 and Type 3 respectively. The present study proposes a closed form expression to compute the yield and ultimate load of the system. This is accomplished using the theory of statics and the failure pattern observed during testing. Good correlation is found between the theoretical and experimental results.

• 한국건축시공학회지
• /
• 제10권3호
• /
• pp.129-136
• /
• 2010

지붕 개폐형태의 대공간 막 구조물은 멀티미디어적인 요소 및 전천후 공간을 활용할 수 있지만, 다수의 연결 조인트에 의해 구조물이 형성되므로 누수에 취약한 문제점이 있다. 특히 개폐식 지붕 맞댐부위의 우수차단 시스템은 우수의 직접적인 유입을 차단하는 역할을 하고 있으므로 바람을 동반한 강우환경에서도 수밀성능이 요구된다. 따라서 상기의 환경 조건을 부여한 수밀성 실험을 통하여 우수차단 시스템의 디테일에 대한 수밀성능을 평가하고자 한다. 실험 결과, 모든 실험체에서 누수가 발생하였으며, 우수의 유입경로는 동일한 것으로 확인되었다. 특히, 바람에 의하여 물입자들이 구조물 내부로 들이치는 현상이 주원인이므로 이를 보완한 새로운 우수차단 시스템의 디테일이 요구된다. 이 연구를 통해 강우 환경과 바람 환경을 동시에 부여하였을 때 발생될 수 있는 우수 침입 경로를 확인하였으며, 수밀 성능 확보 유무가 사전에 검토되어 져야함을 알 수 있었다. 또한, 디테일을 사전에 작성하여 모형 수밀성 시험을 반드시 시행한 후 그 결과에 따라 설계 디테일의 변경, 개선, 보완시공을 하여야 할 것이다.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• 제7권2호
• /
• pp.288-307
• /
• 2013

This paper formulates resource allocation for decode-and-forward (DF) relay assisted multi-cell orthogonal frequency division multiple (OFDM) networks as an optimization problem taking into account of inter-cell interference and users fairness. To maximize the transmit rate of system we propose a joint interference coordination, subcarrier and power allocation algorithm. To reduce the complexity, this semi-distributed algorithm divides the primal optimization into three sub-optimization problems, which transforms the mixed binary nonlinear programming problem (BNLP) into standard convex optimization problems. The first layer optimization problem is used to get the optimal subcarrier distribution index. The second is to solve the problem that how to allocate power optimally in a certain subcarrier distribution order. Based on the concept of equivalent channel gain (ECG) we transform the max-min function into standard closed expression. Subsequently, with the aid of dual decomposition, water-filling theorem and iterative power allocation algorithm the optimal solution of the original problem can be got with acceptable complexity. The third sub-problem considers dynamic co-channel interference caused by adjacent cells and redistributes resources to achieve the goal of maximizing system throughput. Finally, simulation results are provided to corroborate the proposed algorithm.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1991년도 하계학술대회 논문집
• /
• pp.805-808
• /
• 1991

In this paper, dynamical model and control architecture are developed for the closed chain motion of two N-joint manipulators holding a rigid object. Controller consist of forward controller which is reduced order model and compensator that compensates for modeling error. Control laws are determined so as to decouple the force and position controlled degree of freedom(DOF) during motion of the system.

• 한국경영과학회지
• /
• 제23권4호
• /
• pp.75-86
• /
• 1998

We address the problem of determining the optimal processing times and pallet/fixture allocation in Flexible Manufacturing systems in order to minimize tool cost while meeting throughput targets of multiple part types. The problem is formulated as a nonlinear program superimposed on a closed queueing network of the FMSs under consideration. A numerical example reveals the potential of our approach for significant cost saving. We argue that our model can be Integrated Into the process planning system of an FMS to generate efficient process plans quickly.

• 로봇학회논문지
• /
• 제12권2호
• /
• pp.194-205
• /
• 2017

A redundantly actuated planar 3-degree-of-freedom parallel mechanism is analyzed to show its high application potential as a haptic device. Its structure along with the closed form forward position solutions is briefly discussed. Then its geometric and kinematic characteristics via singularity analysis, the kinematic isotropy index, and the input-output force transmission ratio are investigated both for the redundantly actuated cases and for the non-redundantly actuated case. In addition, comparative joint torque simulations of the mechanism with different number of redundant actuations as well as without redundant actuation are conducted to confirm the improved joint torque distribution characteristics. Through these analyses it is shown that the geometric and kinematic characteristics of the redundantly actuated mechanism are superior to the ones of the mechanism without redundant actuation. Thus, it can be concluded that the suggested planar mechanism with redundant actuation has a very high potential for haptic device applications.