• Journal of the Korean Mathematical Society
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• v.40 no.6
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• pp.933-942
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• 2003

It is shown that if a paranormal contraction T has no nontrivial invariant subspace, then it is a proper contraction. Moreover, the nonnegative operator Q = T/sup 2*/T/sup 2/ - 2T/sup */T ＋ I also is a proper contraction. If a quasihyponormal contraction has no nontrivial invariant subspace then, in addition, its defect operator D is a proper contraction and its itself-commutator is a trace-class strict contraction. Furthermore, if one of Q or D is compact, then so is the other, and Q and D are strict ontraction.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.23 no.4
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• pp.374-379
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• 2014

Mobile robots with omni-directional wheels can generate instant omni-directional motion without requiring extra space to change the direction of the body. Therefore, they are capable of moving in an arbitrary direction under any orientation even in narrow aisles or tight areas. In this research, an omni-directional mobile robot based on Mecanum wheels was developed to achieve omni-directionality. A CompactRIO embedded real-time controller and C series motion and I/O modules were employed in the control system design. Ultrasonic sensors installed on the front and lateral sides were utilized to measure the distance between the mobile robot and the side wall of a workspace. Through intensive experiments, a performance evaluation of the mobile robot was conducted to confirm its feasibility for industrial purposes. Mobility, omni-directionality, climbing capacity, and tracking performance of a squared trajectory were selected as performance indices to assess the omni-directional mobile robot.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.5
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• pp.533-541
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• 2011

This paper presents a frequency-response test performed on an antagonistic actuation system consisting of two Mckibben pneumatic artificial muscles and a pneumatic circuit with pressure valves. Varying switching frequency to pressure valves from 0.1 Hz to 5 Hz, parameters of a linear model were estimated optimally to predict dynamic characteristics of the antagonistic actuation. A model-base control scheme with estimated parameters was built for the precise trajectory tracking of the antagonistic structure and realized on a reconfigurable embedded control system, CompactRIO. Experimental results showed that the proposed model-based control scheme gave good performance in trajectory tracking comparing with a PD control scheme when square wave and sinusoidal wave were given as references to follow.

• Journal of the Korean Society for Precision Engineering
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• v.31 no.2
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• pp.99-104
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• 2014

Active vibration control methods are required in the high speed rotor systems supported by magnetic bearings. A prediction control technique is one of the control methods. Gain and phase angle are primarily chosen with analyzing the responses for a certain rotor speed. The feasibility of this technique has been reported for only analytical simulations. Therefore this paper constructs the test rig supported by ball bearings with a magnetic bearing type actuator and develops a prediction control system by using LabVIEW and Compact RIO. Finally as rotating speeds are modulated, the gains and phase angles for the speeds are determined with vibration control of the test rig. This leads that the prediction control technique may be applied to the rotor system with the magnetic bearing.

• Journal of ILASS-Korea
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• v.28 no.1
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• pp.32-42
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• 2023

In this study, spray characteristics of n-heptane and propane were investigated under different injection pressure using various imaging techniques such as Mie-scattering, DBI (diffuse back-illumination), and Schlieren imaging techniques. NI compact RIO system was used to control a test injector. Spray penetration length, length-to-width ratio and number of black pixels were calculated by using MATLAB software to compare spray characteristics of each fuel. Longer spray penetration length and higher length-to-width ratio were observed in propane spray because of flash boiling caused by high saturated vapor pressure. Spray collapse occurred in propane spray due to the high plume-to-plume interaction. Moreover, rapid evaporation occurred in propane spray, so that nozzle tip wetting could not be observed. Rapid evaporation of propane also caused fewer residual droplets compared to n-heptane spray. Therefore, propane is advantageous in reducing the generation of soot emission from large droplets that are not atomized. However, additional evaluation should be conducted considering combustion efficiency and the possibility of deposits by nozzle tip icing during fuel injection.