• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1993.10a
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• pp.1137-1146
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• 1993

In order to analyze lateral control in the forward manuever of a tractor- trailer combination , a human operator model and a kinematic vehicle model were utilized for the operator/vehicle system. By combining the vehicle and operator models, a mathematical model of the closed-loop operator/vehicle system was formulated. A computer program was developed so as to simulate the motion of the tractor-trailer combination . In order to verify the operator/vehicle system model, the results of the field trials were compared with the simulated results. There was found to be reasonably good agreement between the two.

• Smart Structures and Systems
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• v.15 no.4
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• pp.1041-1062
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• 2015

In this paper a method of finding optimal positions for piezoelectric actuators and sensors on different structures is presented. The genetic algorithm and multi-objective genetic algorithm are selected for optimization and $H_{\infty}$ norm is defined as a cost function for the optimization process. To optimize the placement concerning the selected modes simultaneously, the multi-objective genetic algorithm is used. The optimization is investigated for two different structures: a cantilever beam and a simply supported plate. Vibrating structures are controlled in a closed loop with feedback gains, which are obtained using optimal LQ control strategy. Finally, output of a structure with optimized placement is compared with the output of the structure with an arbitrary, non-optimal placement of piezoelectric patches.

• Journal of the Korean Institute of Navigation
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• v.22 no.1
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• pp.79-89
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• 1998

When an automatic course-keeping is concerned , as is quite popular in modern navigation, the closed-loop steering system consists of autopilot device, power unit(or telemotor unit), steering gear, magnetic or gyro compass and ship dynamics. In order to estimate steering system of ship in open seas, we need to know the characteristics of each component of the system and also to know the characteristics of disturbance to ship dynamics. Calculation methods of irrgular disturbances are based on the linear superposition principle. In this paper, for the purpose of evaluation of automatic steering of ships , the influences of linear control constants of autopilot on propulsive energy loss are investigated bya performance index is introduced from the viewpoint of energy saving. Numberical calculations are carried out for an are carrier and for a fishing boat in multi-directional waves.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1862-1863
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• 2006

In this paper, A new tuning method for IMC-PID controller is proposed with the identification using the relay method from closed-loop transfer function. It is considered a second-order plus delay time(SOPDT) model and selected a third-order plus delay time transfer function model as a target function. The filter function is derived from the suitable target function to satisfy the design specifications. A robustness test was done to verify the robust-stability.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1929-1930
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• 2006

Human like robot arm posture for grasping by considering the shape of the target object is quite a challenge in the field of robotics. In this paper, an optimized grasp posture with respect to the shape of the object considering the wrist joint angle and elbow elevation angle, in order to verify that the grasp posture is human like has been proposed. Given a target object, the candidates for grasp are computed by the method described in this paper. For each candidate, the closed loop inverse kinematics has been solved for the corresponding hand position and orientation. From the obtained joint angles through inverse kinematics, the elbow elevation angle has been computed and compared with the elbow elevation angle obtained through human movement data by the characteristic equation. After considering all the candidates, the hand position and orientation with minimum wrist joint and difference in elbow elevation angles has been utilized as the optimized grasp posture. Simulation results are presented.

• Proceedings of the KIEE Conference
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• 2005.07d
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• pp.2723-2725
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• 2005

In this paper, a robust $H{\infty}$ stabilization problem to a uncertain discrete-time nonlinear systems with time-delay via fuzzy static output feedback is investigated. The Takagi-Sugeno (T-S) fuzzy model is employed to represent an uncertain nonlinear systems with time-delayed state. Then parallel distributed compensation technique is used for designing of the robust fuzzy controller. Using a single Lyapunov function, the globally asymptotic stability and disturbance attenuation of the closed-loop fuzzy control system are discussed. Sufficient conditions for the existence of robust $H{\infty}$ controllers are given in terms of linear matrix inequalities via similarity transform and congruence transform technique.

• Transactions of Materials Processing
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• v.15 no.1 s.82
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• pp.47-56
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• 2006

It is well known that the family-mold has an advantage to reduce the cost for production and mold. However, defects are frequently occurred by over packing the smaller volume cavity during molding, especially when the family-mold has a volumetric difference between two cavities. In this study, the cavity-filling imbalance was confirmed by the temperature and the pressure sensors, and a variable-runner system was developed for balancing the cavity-filling. Experiments of balancing the cavity filling was carried out in the family-mold with the variable-runner system, and balancing the cavity-filling was confirmed by changing the cross-sectional area of a runner in the variable-runner system with the temperature and pressure sensors. The influence of the injection speed to the balancing-capability of the variable-runner system was also examined in the experiment.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.560-564
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• 1996

A mixed H$^{2}$/$H^{\infty}$ controller design method for linear systems with time delay in all variables and parameter uncertainties in all system matrices is proposed. Robust $H^{\infty}$ performance and H$^{2}$ performance condition that accounts for model-matching of closed loop system and disturbance rejection is also derived. With expressing uncertain system with linear fractional transformation form, we transform the robust stability and performance problem to the H$^{2}$/$H^{\infty}$ optimization problem and design a mixed H$^{2}$/$H^{\infty}$ controller. Using the proposed method, mixed H$^{2}$/$H^{\infty}$ controller for underwater vehicle with time delay and parameter variations are designed. Simulations of a design example with hydrodynamic parameter variations and disturbance are presented to demonstrate the achievement of good robust performance.t performance.ance.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1966-1971
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• 2005

Though several previous anti-windup techniques have been proposed, they are limited to linear systems or friction is not considered. Thus this paper proposes a compensation scheme for input-constrained robot systems with friction to cope with the windup phenomenon and shows its effectiveness by simulations. Given a feedback linearizing controller for a robot system designed without considering its input constraint, an additional dynamic compensator is proposed to account for the constraint. The dynamic anti-windup is based on the minimization of a reasonable performance index, and properties of the resulting closed-loop are presented.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.40 no.4
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• pp.235-242
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• 2003

In this paper, a fuzzy controller is designed to suppress and stabilize the chaotic behavior of Chua's circuit. This controller is constructed by the following two phases. First, Chua's circuit is represented by an affine fuzzy model. Second, a fuzzy controller is designed so that the stability of the closed-loop system composed of the fuzzy controller and the affine fuzzy model of Chua's circuit is rigorously guaranteed. The stability condition of the affine fuzzy system is derived and is recast in the formulation of linear matrix inequalities. The guaranteed stability is global and asymptotic. Finally, the applicability of the suggested methodology is highlighted via computer simulations.