• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.858-863
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• 1990

A synthesis of feedback control-law with combined H$_{2}$/H$_{\infty}$ perfoemance criteria is proposed for discrete-time systems, under the assumption that the state is available for feedback. An auxiliary minimization problem is defined to enforce the H$_{\infty}$ disturbance attenuation constrain while minimizing the H$_{2}$ performance bound. The design equation is presented in terms of a modified Riccati equation which leads to the standard LQ solution when the H$_{\infty}$ constraint is completely relaxed. The results of the paper clarity the correspondences between H$_{2}$/H$_{\infty}$ results in discrete-time systems and their continuous-time counter-parts.rts.

• Journal of Advanced Marine Engineering and Technology
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• 제31권8호
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• pp.954-960
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• 2007

The purpose of this paper is to obtain design method of air-distribution system. Air-distribution system is composed of blower, duct, diffusers and measuring equipment. The air-flow rate from each diffuser is not equal. The air-flow rate is calculated with the combined equations which are Bernoulli's equation, continuity equation and minor loss equations. Inlet condition and outlet condition are adapted in each duct system. Then square difference between function of maximum air-flow rate and minimum air-flow rate is used as an object function. Area of diffuser and velocity are established as constraints. To minimize the object function, the optimization method is used. After optimization the design variables are selected under satisfaction of constraints. The air-distribution system is calculated again with the result of optimized design variable. It is shown that the air-distribution system has the equal air-flow rate from diffusers.

• 한국산업융합학회 논문집
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• 제18권4호
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• pp.231-240
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• 2015

In this paper, it was presented to design and analyze the kinematics of grasping a rigid object by means of multi-degrees-of-freedom hand fingers. It is shown firstly that a set of kinematic equation describing dynamics system of the arm and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. It has been presented secondly that the problems of controlling both the forces of pressing object and the rotation angle of the object under the geometric constraints are discussed. In this research, the control method for static stable grasping and enhancing dexterity in manipulating things is proposed. It is illustrated by computer simulation that the control system gives the performance improvement in the kinematic grasping of the hand fingers of robot.

• Computers and Concrete
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• 제1권2호
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• pp.131-150
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• 2004

We present in this work a coupled phenomenological chemo-mechanical model that represents the degradation of concrete-like materials. The chemical behaviour is described by the nowadays well known simplified calcium leaching approach. And the mechanical damage behaviour is described by a continuum damage model which involves the gradient of the damage quantity. The coupled nonlinear problem at hand is addressed within the context of the finite element method. For the equation governing the calcium dissolution-diffusion part of the problem, special care is taken to treat the highly nonlinear calcium conductivity and solid calcium functions. The algorithmic design is based on a Newton-type iterative scheme where use is made of a recently proposed relaxed linearization procedure. And for the equation governing the damage part of the problem, an augmented Lagrangian formulation is used to take into account the damage irreversibility constraint. Finally, numerical simulations are compared with experimental results on cement paste.

• 전기학회논문지
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• 제62권3호
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• pp.407-413
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• 2013

This paper proposes anti-swing control of overhead crane system using sum of squares method. The dynamic equations of overhead crane include nonlinear terms, which are transformed into polynomials by using Taylor series expansion. Therefore the dynamic equation of overhead crane can be changed to the system of polynomial equation. On the basis of polynomial dynamics of crane system, we propose the Sum of Squares (SOS) conditions considering the input constraints. In addition, control gains are obtained by numerical tool which is called by SOSTOOL. The effectiveness of the proposed method is demonstrated by numerical simulation.

• Nuclear Engineering and Technology
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• 제32권6호
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• pp.549-558
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• 2000

A transient model for hydrogen generation in molten metal-water interactions was developed with separate models for two stages of coarse mixing and stratification. The model selves the mechanistic equations (heat and mass transfer correlation, heat conduction equation and the concentration diffusion equation) of each stage with non-zero boundary conditions. Using this model, numerical simulations were performed for single droplet experiments in the Argonne National Laboratory tests and for FITS tests that simulated dynamic fragmentation and stratification. The calculation results of hydrogen generation showed better agreement to the experiment data than those of previous works. It was found from the analyses that the steam concentration to be reached at the reaction front might be the main constraint to the extent of the metal droplet oxidized. Also, the hydrogen generation rate in the coarse mixing stage was the higher than that in the stratification stage. The particle size was the most important factor in the coarse mixing stage to predict the amount of hydrogen generation.

• International Journal of Korean Welding Society
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• 제2권1호
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• pp.11-14
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• 2002

A metallurgical model for bainite transformation kinetics in the coarse-grained heat affected zone(CGHAZ) on the basis of an Avrami-type equation was studied. Isothermal transformation tests were carried out to obtain the empirical equations for incubation time and Avrami kinetic constants for C-Mn-Mo-Ni steel. The effect of prior austenite grain size(PAGS) on the reaction rate of bainite was also investigated. Compared with experimental transformation behavior of bainite, the predicted behavior was in good agreement. It was also found that a smaller grain size retard the bainite reaction rate, contrary to the classical grain size effect and this is considered to be caused by constraint of grain size to bainite growth.

• Journal of Mechanical Science and Technology
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• 제16권8호
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• pp.1102-1108
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• 2002

In this study, a topological design sensitivity of the ai. bearing surface (ABS) is suggested by using an adjoint variable method. The discrete form of the generalized lubrication equation based on a control volume formulation is used as a compatible condition. A residual function of the slider is considered as an equality constraint function, which represents the slider in equilibrium. The slider thickness parameters at all grid cells are chosen as design variables since they are the topological parameters determining the ABS shape. Then, a complicated adjoint variable equation is formulated to directly handle the highly nonlinear and asymmetric coefficient matrix and vector in the discrete system equation of air-lubricated slider bearings. An alternating direction implicit (ADI) scheme is utilized for the numerical calculation. This is an efficient iterative solver to solve large-scale problem in special band storage. Then, a computer program is developed and applied to a slider model of a sophisticated shape. The simulation results of design sensitivity analysis (DSA) are directly compared with those of FDM at the randomly selected grid cells to show the effectiveness of the proposed approach. The overall distribution of DSA results are reported, clearly showing the region on the ABS where special attention should be given during the manufacturing process.

• Structural Engineering and Mechanics
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• 제18권6호
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• pp.709-729
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• 2004

This paper presents numerical and experimental investigations on damage detection of mono-coupled multistory buildings using natural frequency as only diagnostic parameter. Frequency equation of a mono-coupled multistory building is first derived using the transfer matrix method. Closed-form sensitivity equation is established to relate the relative change in the stiffness of each story to the relative changes in the natural frequencies of the building. Damage detection is then performed using the sensitivity equation with its special features and minimizing the norm of an objective function with an inequality constraint. Numerical and experimental investigations are finally conducted on a mono-coupled 3-story building model as an application of the proposed algorithm, in which the influence of modeling error on the degree of accuracy of damage detection is discussed. A mono-coupled 10-story building is further used to examine the capability of the proposed algorithm against measurement noise and incomplete measured natural frequencies. The results obtained demonstrate that changes in story stiffness can be satisfactorily detected, located, and quantified if all sensitive natural frequencies to damaged stories are available. The proposed damage detection algorithm is not sensitive to measurement noise and modeling error.

• International Journal of Precision Engineering and Manufacturing
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• 제1권2호
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• pp.24-34
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• 2000

In this paper we propose a controller design method, called Quasi-LQG/$H_{\infty}$/LTR for nonlinear servo systems with hard nonlinearities such as Coulomb friction, dead-zone. Introducing the RIDF method to model Coulomb friction and dead-zone, the statistically linearized system is built. Then, we consider $H_{\infty}$ performance constraint for the optimization of statistically linearized systems, by replacing a covariance Lyapunov equation into a modified Riccati equation of which solution leads to an upper bound of the LQG performance. As a result, the nonlinear correction term is included in coupled Riccati equation, which is generally very difficult to thave a numerical solution. To solve this problem, we use the modified loop shaping technique and show some analytic proofs on LTR condition. Finally, the Quasi-LQG/$H_{\infty}$/LTR controller for a nonlinear system is synthesized by inverse random input describing function techniques (ITIDF). It is shown that the proposed design method has a better performance robustness to the hard nonlinearity than LQG/$H_{\infty}$/LTR method via simulations and experiments for the timing-belt driving servo system that contains the Coulomb friction and dead-zone.