• Journal of Institute of Control, Robotics and Systems
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• v.4 no.1
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• pp.10-18
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• 1998

불확실한 변수와 비선형성을 가지는 유연조인트 로봇의 견실제어 방안을 제시한다. 그리고 본 시스템에서 불확실구조는 일치성을 유지하지 않는 불일치성 불확실 시스템이다. 제어기는 리아노프의 방안에 근거를 두고있다. 견실제어는 연산토크법을 사용하고 삽입제어기법을 통하여 좌표변환을 통해 구성된다. 제어기 설계과정은 우선 연산토크방법에 의해 시스템 동역학에서 정격부분을 선형으로 2개의 부분시스템으로 구성한다. 이후 좌표변환을 이용하여 각 부분시스템에 제어기를 구축한다. 이 방안을 통하여 관성 행렬이 알려진 값인 경우 이 행렬의 상위한계 조건없이 제어기를 설계할 수 있다. 따라서 임의의 형태의 로봇에도 적용 가능한 제어알고리즘이 된다. 설계된 견실제어는 변환된 시스템이나 원시스템 모두 실용적 안정성을 보장한다. 이 변환은 단지 불확실변수의 최대 한계값의 정보만을 요구한다.

• Proceedings of the KIEE Conference
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• 2000.07b
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• pp.852-854
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• 2000

The paper is described about the statatic and dynamic characteristics analysis of Transverse Swithed Reluctance Motor(TSRM). To investigate the nonlinearity of magnetic circuit, parameters of the modeling are computed by the finite element method as functions of input current and angular displacement. The current, torque, back EMF and output power wave of TSRM are simulated from the motion equation by MATLAB/Simulink.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.7
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• pp.107-114
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• 2004

This paper presents a two-time scale approach for vibration reduction of a high speed Cartesian manipulator. High speed manipulators would be subject to mechanical vibration due to high inertia forces acting on linkages. To achieve high throughput capability, such motion induced vibration would have to be damped quickly, to reduce settling time of the manipulator end-effector. This paper develops a two-time scale model fer a structurally-flexible Cartesian manipulator. Based on the two-time scale model, a composite controller consisting of a computed torque method for the slow time-scale rigid body subsystem, and a linear quadratic state-feedback regulator for the fast time-scale flexible subsystem, is designed. Simulation results show that the proposed two time-scale controller yields good performance in attenuating structural vibration arising due to excitation from inertial forces.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.6
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• pp.807-819
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• 2019

In this paper, it is proposed a new approach to motion control and kinematics analysis of articulated manipulator attachment with five degree of freedom for excavator. Unlike the well-established theory for the control of linear systems, there is little general control theory relatively for a robust control of nonlinear systems. The control technique is essential for providing a stable and robust performance for application of articulated manipulator control. The proposed control algorithm is one of robust control methods based on error informations of the position and velocity error informations using stability analysis of dynamic model. Through simulation test, the proposed control scheme is illustrated to be a efficient control technique for real-time control.

• Journal of the Korean Society of Industry Convergence
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• v.25 no.2_1
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• pp.161-168
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• 2022

This study proposed a new approach to impliment a robusut control of comsumer-friendly flexible manipulator with five joint for untact working in filed work-site. The output redefinition approach was used to overcome the non minimum phase characteristic of the system. The new output is defined so that the zero dynamics related to this output are stable. The control strategy is based on an computed torque method which is applicable to a class of time-invariamt phase linear systems whose uncertainties appear in output loop stable. The controller is composed of a stabilizing joint controller and an output redefinition tracking controller. Experimental results are also presented to verify the effectiveness of the proposed control scheme.

• International Journal of Naval Architecture and Ocean Engineering
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• v.2 no.1
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• pp.1-13
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• 2010

A comparative study between a computation and an experiment has been conducted to predict the performance of a Pod type waterjet for cm amphibious wheeled vehicle. The Pod type waterjet has been chosen on the basis of the required specific speed of more than 2500. As the Pod type waterjet is an extreme type of axial flow type waterjet, theoretical as well as experimental works about Pod type waterjets are very rare. The main purpose of the present study is to validate and compare to the experimental results of the Pod type waterjet with the developed CFD in-house code based on the RANS equations. The developed code has been validated by comparing with the experimental results of the well-known turbine problem. The validation also extended to the flush type waterjet where the pressures along the duct surface and also velocities at nozzle area have been compared with experimental results. The Pod type waterjet has been designed and the performance of the designed waterjet system including duct, impeller and stator was analyzed by the previously mentioned m-house CFD Code. The pressure distributions and limiting streamlines on the blade surfaces were computed to confirm the performance of the designed waterjets. In addition, the torque and momentum were computed to find the entire efficiency and these were compared with the model test results. Measurements were taken of the flow rate at the nozzle exit, static pressure at the various sections along the duct and also the nozzle, revolution of the impeller, torque, thrust and towing forces at various advance speed's for the prediction of performance as well as for comparison with the computations. Based on these measurements, the performance was analyzed according to the ITTC96 standard analysis method. The full-scale effective and the delivered power of the wheeled vehicle were estimated for the prediction of the service speed. This paper emphasizes the confirmation of the ITTC96 analysis method and the developed analysis code for the design and analysis of the Pod type waterjet system.

• The korean journal of orthodontics
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• v.49 no.3
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• pp.161-169
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• 2019

Objective: To evaluate the effectiveness of the Frog appliance in three dimensions by using cone-beam computed tomography (CBCT) images. Methods: Forty patients (21 boys and 19 girls), averaged 11.7 years old, with an Angle Class II division 1 malocclusion were included in our study. They had either late mixed dentition or early permanent dentition, and the maxillary second molars had not yet erupted. All patients underwent CBCT before and after the treatment for measuring changes in the maxillary first molars, second premolars, central incisors, and profile. Paired-samples t-test was used to compare the mean difference in each variable before treatment and after the first phase of treatment. Results: The maxillary first molars were effectively distalized by 4.25 mm (p < 0.001) and 3.53 mm (p < 0.05) in the dental crown and root apex, respectively. The tipping increased by $2.25^{\circ}$, but the difference was not significant. Moreover the teeth moved buccally by 0.84 mm (p < 0.05) and 2.87 mm (p < 0.01) in the mesiobuccal and distobuccal cusps, respectively, whereas no significant changes occurred in the root apex. Regarding the anchorage parts, the angle of the maxillary central incisor's long axis to the sella-nasion plane increased by $2.76^{\circ}$ (p < 0.05) and the distance from the upper lip to the esthetic plane decreased by 0.52 mm (p = 0.01). Conclusions: The Frog appliance effectively distalized the maxillary molars with an acceptable degree of tipping, distobuccal rotation, and buccal crown torque, with only slight anchorage loss. Furthermore, CBCT image demonstrated that it is a simple and reliable method for three-dimensional analysis.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.47 no.1
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• pp.59-65
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• 2019

In this study, optimal design of direct-drive VCMs (Voice Coil Motor) for a missile fin actuator is carried out. The torque performance and the characteristics of the VCM are predicted by commercial electromagnetic analysis software, ANSYS Maxwell. The optimal design is obtained at the minimum and maximum actuating angles where the aerodynamic load acting on the fin is the largest in the operating range. The critical variables of the actuator is designed and the RSM (Response Surface Method) is used for the optimization. The response surface model consists of second-order functions and its experimental points are selected by a central composite design. This design is widely used for fitting a second-order response surface. The adjustment regression coefficients is computed for adequacy checking of the response surface model. Finally, the torque values obtained by the RSM and the ANSYS Maxwell are shown in good agreement.

• Journal of the Korean Magnetics Society
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• v.6 no.1
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• pp.48-53
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• 1996

The role of the torquer in dynamically tuned gyroscope (DTG) is to erect the slanted rotor straight. This IBper presents the design method of the torquer. The torquer must satisfy the desired maximum angular velocity condition. The performance of magnet-residual flux density, maximum energy product, and so on-is limited by the material characteristics. So we should design the torquer with the limited condition that magnet performance is given. If the mechanical size of DTG is deter-mined, the dimension of the torquer is calculated and the space of the torquer becomes constant. Therefore, if we determine the diameter of the torquer coil, the number of coil turns is calculated automatically. Using these dimensions, we can calculate the torque and the scale factor. The maximum angular velocity is computed if we know the maximum current density. The analysis of the torquer was carried out by the 3-dimensional finite element method. The proposed algorithm of the torquer design was valid in comparison with the experimental data obtained from fabricated DTG.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1960-1961
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• 2006

In this paper, The trajectory control of robot manipulator is proposed. It divides by trajectory planning and tracking control. A trajectory planning and tracking control of robot manipulator is used to the neural network and evolutionary algorithm. The trajectory planning provides not only the optimal trajectory for a given cost function through evolutionary algorithm but also the configurations of the robot manipulator along the trajectory by considering the robot dynamics. The computed torque method (C.T.M) using the model of the robot manipulators is an effective means for trajectory tracking control. However, the tracking performance of this method is severely affected by the uncertainties of robot manipulators. The Radial Basis Function Networks(RBFN) is used not to learn the inverse dynamic model but to compensate the uncertainties of robot manipulator. The computer simulations show the effectiveness of the proposed method.