• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.348-348
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• 2000

In this paper, we present a fuzzy moving sliding mode control for two-degrree-of-freedom robotic manipulator. 17he sliding surface parameters are designed by fuzzy inference. The proposed sliding mode control makes the error always remain on the surface from beginning and therefore, the system is insensitive to system uncertaintics and external disturbances. Simulation results show the effectiveness of proposed scheme.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.22.4-22
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• 2001

In this paper, the discrete optimal control is made to have the robust property of sliding mode controller. A augmented system with a virtual state is constructed for this objective and noble sliding surface is constructed based on this system. The sliding surface is the same as the optimal control trajectory in the original system. The states follow the optimal trajectory even if there exist uncertainties. The reaching phase problem of sliding mode control is desappear in this method.

• 한국정밀공학회지
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• 제13권4호
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• pp.122-128
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• 1996

In high speed and high precision assembly systems such as a surface mounting device and robotend effector, the contact force control is required. As the operation repeats, the repetitive control is applied to reduce the periodic contact force errors. Since high order unmodelled dynamics are easily excited in contact force control, a Q filter was introduced and its robust stability was analyzed. Simulation and Experimental results show the effectiveness of the algorithm.

• 한국분말야금학회:학술대회논문집
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• 한국분말야금학회 2006년도 Extended Abstracts of 2006 POWDER METALLURGY World Congress Part2
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• pp.1018-1021
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• 2006

Powdered metal parts and components may be carburized successfully in a vacuum furnace by combining carburizing technology $VacCarb^{TM}$ with a hi-tech control system. This approach is different from traditional carburizing methods, because vacuum carburizing is a non-equilibrium process. It is not possible to set the carbon potential as in a traditional carburizing atmosphere and control its composition in order to obtain a desired carburized case. This paper presents test results that demonstrate that vacuum carburizing system $VacCarb^{TM}$ carburized P.M. materials faster than traditional steel with acceptable results. In the experiments conducted, PM samples with the lowest density and open porosity showed a dramatic increase in the surface carbon content up to 2.5%C and a 3 times deeper case. Currently the boost-diffusion technique is applied to control the surface carbon content and distribution in the case. In the first boost step, the flow of the carburizing gas has to be sufficient to saturate the austenite, while avoiding soot deposition and formation of massive carbides. To accomplish this goal, the proper gas flow rate has to be calculated. In the case of P.M. parts, more carbon can be absorbed by the part's surface because of the additional internal surface area created by pores present in the carburized case. This amount will depend on the density of the part, the densification grade of the surface layer and the stage of the surface. "as machined" or "as sintered". It is believed that enhanced gas diffusion after initial evacuation of the P.M. parts leads to faster carburization from within the pores, especially when pores are open . surface "as sintered" and interconnected . low density. A serious problem with vacuum carburizing is delivery of the carbon in a uniform manner to the work pieces. This led to the development of the different methods of carburizing gas circulation such as the pulse/pump method or the pulse/pause technique applied in SECO/WARWICK's $VacCarb^{TM}$ Technology. In both cases, each pressure change may deliver fresh carburizing atmosphere into the pores and leads to faster carburization from within the pores. Since today's control of vacuum carburizing is based largely on empirical results, presented experiments may lead to better understanding and improved control of the process.

• Journal of Ship and Ocean Technology
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• 제12권3호
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• pp.36-54
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• 2008

A jet stream applied tangential to a curved surface in fluid increases lift force by strengthening circulation around the surface and this phenomenon is known as the Coanda effect. Many experimental and numerical studies have been performed on the Coanda effect and the results found to be useful in various fields of aerodynamics. Recently, preliminary studies on Coanda control surface are in progress to look for practical application in marine hydrodynamics since various control surfaces are used to control behaviors of ships and offshore structures. In the present study, the performance of a Coanda control surface with different geometries of the jet injection nozzle was surveyed to assess applicability to ship rudders. A numerical simulation was carried out to study flow characteristics around a section of a horn type rudder subjected to a tangential jet stream. The RANS equations, discretized by a cell-centered finite volume method were used for this computation after verification by comparing to the experimental data available. Special attentions have been given to the sensitivity of the lift performance of a Coanda rudder to the location of the slit (outlet) and intake of the gap between the horn and rudder surface at the various angles of attack. It is found that the location of the water intake is important in enhancing the lift because the gap functions as a conduit of nozzle generating a jet sheet on the rudder surface.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 2003년도 추계학술대회논문집
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• pp.318-321
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• 2003

In order to generate the extrusion die surface of non-symmetric H- and U-shaped sections, an automatic surface construction method based on B-spline surface and scalar field theory is proposed in this study. The isothermal lines and stream lines designed in the scalar field are introduced to find the control points which are used in constructing B-spline surfaces. Intersected points between the isothermal lines and stream lines are used to construct B-spline surfaces. The inlet and outlet profiles are precisely described with B-spline curves by using the centripetal method for uniform parameterization. The extrusion die surface is generated by using the cubic curve interpolation in the u- and v-directions. A quantitative measure for the control of surface is suggested by introducing the tangential vectors at the inlet and outlet sections.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 2003년도 추계학술대회논문집
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• pp.197-200
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• 2003

An automatic surface construction method based on B-spline surface and scalar field theory is proposed to generate the extrusion die surface of complicated sections in this paper. The isothermal lines and stream lines designed in the scalar field are introduced to find the control points which are used in constructing B-spline surfaces. Intersected points between the isothermal lines and stream lines are used to construct B-spline surfaces. The inlet and outlet profiles are precisely described with B-spline curves by using the centripetal method for uniform parameterization. The extrusion die surface is generated by using the cubic curve interpolation in the u- and v-directions. A quantitative measure for the control of surface is suggested by introducing the tangential vectors at the inlet and outlet sections.

• 한국환경과학회지
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• 제11권12호
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• pp.1315-1320
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• 2002

Since the enzymatic degradation of microbial poly[(R)-3-hydroxybutyrate-co-3-hydroxyvalerate] (P(3HB-co-3HV)) initially occurs by a surface erosion process, a degradation behavior could be controlled by the change of surface property. In order to control the rate of enzymatic degradation, plasma gas discharge and blending techniques were used to modify the surface of microbial P(3HB-co-3HV). The surface hydrophobic property of P(3HB-co-3HV) film was introduced by CF$_3$H plasma exposure. Also, the addition of small amount of polystyrene as a non-degradable polymer with lower surface energy to P(3HB-co-3HV) has been studied. The enzymatic degradation was carried out at 37 $^{\circ}C$ in 0.1 M potassium phosphate buffer (pH 7.4) in the presence of an extracellular PHB depolymerase purified from Alcaligenes facalis T1. Both results showed the significant retardation of enzymatic erosion due to the hydrophobicity and the enzyme inactivity of the fluorinated- and PS-enriched surface layers.

• 한국정보디스플레이학회:학술대회논문집
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• 한국정보디스플레이학회 2009년도 9th International Meeting on Information Display
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• pp.1457-1458
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• 2009

The fundamental parameters controlling ink-jet printing liquids are the viscosity and surface energy. The wetting contact angle determines the spread of a liquid drop on the surface and depends on the relative surface energy. The characteristics of silver ink-jet printing were studied with control of surface energy and head temperature. Polyethylene terephthalate(PET) film and Si-wafer(ptype) were used as substrates and atmospheric plasma was treated to control the surface energy. With silver ink, the hydrophilic surface treatment could reduce the radius of droplets due to the hydrophobic nature of silver ink.

• 제어로봇시스템학회논문지
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• 제10권2호
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• pp.112-124
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• 2004

A neural network based adaptive reconfigurable flight controller is presented for a class of discrete-time nonlinear flight systems in the presence of variations of aerodynamic coefficients and control effectiveness decrease caused by control surface damage. The proposed adaptive nonlinear controller is developed making use of the backstepping technique for the angle of attack, sideslip angle, and bank angle command following without two time separation assumption. Feedforward multilayer neural networks are implemented to guarantee reconfigurability for control surface damage as well as robustness to the aerodynamic uncertainties. The main feature of the proposed controller is that the adaptive controller is developed under the assumption that all of the nonlinear functions of the discrete-time flight system are not known accurately, whereas most previous works on flight system applications even in continuous time assume that only the nonlinear functions of fast dynamics are unknown. Neural networks learn through the recursive weight update rules that are derived from the discrete-time version of Lyapunov control theory. The boundness of the error states and neural networks weight estimation errors is also investigated by the discrete-time Lyapunov derivatives analysis. To show the effectiveness of the proposed control law, the approach is i]lustrated by applying to the nonlinear dynamic model of the high performance aircraft.