• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.53.4-53
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• 2001

This paper described about the system which can be inspect work roll surface for deciding a milling schedule and roll changing at hot strip mill in POSCO. Developed system consists of CCD camera, Xenon lamp with fiber bundle and mechanical control part. The water probe build up water pole between head of probe and roll surface to acquisite a good image from a work roll surface under the bad environment with steam, cooling water and high temperature. This system is possible to monitor a work roll surface of about 12${\times}$9mm. We have shown the validation of the developed system which can monitor the evolution of degradation on work roll surface.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.1
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• pp.1-6
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• 2012

In this paper, an adaptive fuzzy control system is proposed for the speed control of the ASV (Autonomous Surface Vehicle) with nonaffine nonlinear system dynamics. We consider the turning speed of the screw propeller to be the control input instead of thrust so that we do not have to know the exact function between turning speed and thrust. But in this case, the ASV becomes a nonaffine nonlinear system because thrust is a nonlinear function of the turning speed. To solve this problem, we propose a Takagi-Sugeno fuzzy-model-based control system and simulation studies are performed. Simulation results show the effectiveness of the proposed control scheme.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.297-300
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• 2002

In this study, the deformation of the free surface motion of a magnetic fluid for the change in electromagnetic force is discussed and carried out theoretically and experimentally on the basis of Rosensweig Ferrohydrodynamic Bernoulli Equation. While applied magnetic fields are induced by 4$\times$4 electromagnet located under the magnetic fluid, the surface of the magnetic fluid is formed the balance of surface force, gravity, pressure difference, magnetic normal pressure and magnetic body farce. In case, magnetic fluid in characteristics of fluid adjusted to the opposite direction of the gravity direction. thus, the device of a magnetic fluid proposed the surface actuator. The device of surface deformation as well comparison between numerical simulation and experiments as will be presented.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.12
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• pp.1759-1771
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• 2017

In this paper, an improved continuous integral variable structure systems(ICIVSS) with the prescribed control performance is designed for simple regulation controls of uncertain general linear systems. An integral sliding surface with an integral state having a special initial condition is adopted for removing the reaching phase and predetermining the ideal sliding trajectory from a given initial state to the origin in the state space. The ideal sliding dynamics of the integral sliding surface is analytically obtained and the solution of the ideal sliding dynamics can predetermine the ideal sliding trajectory(integral sliding surface) from the given initial state to the origin. Provided that the value of the integral sliding surface is bounded by certain value by means of the continuous input, the norm of the state error to the ideal sliding trajectory is analyzed and obtained in Theorem 1. A corresponding discontinuous control input with the exponential stability is proposed to generate the perfect sliding mode on the every point of the pre-selected sliding surface. For practical applications, the discontinuity of the VSS control input is approximated to be continuous based on the proposed modified fixed boundary layer method. The bounded stability by the continuous input is investigated in Theorem 3. With combining the results of Theorem 1 and Theorem 3, as the prescribed control performance, the pre specification on the error to the ideal sliding trajectory is possible by means of the boundary layer continuous input with the integral sliding surface. The suggested algorithm with the continuous input can provide the effective method to increase the control accuracy within the boundary layer by means of the increase of the $G_1$ gain. Through an illustrative design example and simulation study, the usefulness of the main results is verified.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.79-82
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• 1997

The current from the feed motor of a machine tool contains substantial information about the machining state. There have been many researches that investigated the current as a measure for the cutting forces. However it has not been reported that indirect measurement of the cutting forces from the current of the feed motor at rest is possible. The cutting force normal to the machined surface influences the machined surface of the workpiece, which makes it necessary to estimate this force to control the roughness of the machined surface. But the unpredictable behavior of the current prevents applying the current to prediction of the cutting state. In this paper, empirical approach was conducted to resolve the problem. Also parametric adaptive and fuzzy logic control strategies are applied to the force regulation problem. As a result, the current is shown to be related to the accumulation of the infinitesimal rotation of the motor, and besides the unpredictable behavior of the current is shown to be caused by the relationship. Subsequently the relationship between the current and the cutting force is identified, and it is presented that control of machined surface using the current of the feed motor at rest is possible.

• Journal of Ocean Engineering and Technology
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• v.16 no.3
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• pp.8-18
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• 2002

Formulation of the far-field method for the prediction of time-mean hydrodynamic force and moment acting on a 3-D surface-piercing body in waves is reviewed. It is found that the inequality between the weight of the floating body and its buoyancy force permits the replacement of the fluid particles inside the control surface by the fluid particles outside the control surface. Under such circumstances, momentum exchanges across the control surface make the time-mean value of the time rate of the momentum of the fluid inside the control surface non-vanishing. It is a second-order quantity which is hard to calculate by the far-field method. The drift forces and moments on half-immersed ellipsoids are calculated by both the far-field method and the near-field method. The discrepancy between two numerical results is presented and discussed.

• Journal of Ocean Engineering and Technology
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• v.29 no.3
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• pp.249-254
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• 2015

Buoys are widely used in marine areas because they can mark positions and simultaneously acquire and exchange underwater, surface, and airborne information. Recently, the need for controlling and optimizing a buoy's position and attitude has been raised to achieve successful communication in a heterogeneous collaborative network composed of an underwater robot, a surface robot, and an airborne robot. A buoy in the form of a marine robot would be ideal to address this issue, as it can serve as a moving node of the communication network. Therefore, a buoy-based autonomous surface robot-kit with the abilities of sonar-based avoidance, dynamic position control, and static attitude control was developed and is discussed in this paper. The test and evaluation results of this kit show the possibility of real-world applications and the need for additional studies.

• Journal of Periodontal and Implant Science
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• v.35 no.4
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• pp.921-937
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• 2005

Mechanical and chemical methods are the two ways to treat the implant surfaces. By using mechanical method, it is difficult to eliminate bacteria and by-products from the rough implant surface and it can also cause the structural change to the implant surface. Therefore, chemical method is widely used in order to preserve and detoxicate the implant surface more effectively. The purpose of this study is to evaluate the effect of tetracylcline- HCl on the change of implant surface microstructure according to application time. Implants with pure titanium machined surface, SLA surface and $TiO_2blasted$ surface were used in this study. Implant surface was rubbed with sponge soaked in 50mg/ml tetracycline - HCl solution for $\frac{1}{2}$ min., 1min., $1\frac{1}{2}$ min., 2 min., and $2\frac{1}{2}min.$ respectively in the test group and with no treatment in the control group. The sponge was soaked in every 30 seconds. Then, the specimens were processed for scanning electron microscopic observation. Based upon the analysis of photographs by three dentists who are not related with this study, the results were obtained as follows; 1. In the pure titanium machined surfaces, the control specimen showed a more or less rough machined surface composed of alternating positive and negative lines corresponding to grooves and ridges. After treatment, machining line was more pronounced for the control specimens. but in general, test specimens were similar to control. 2. In the SLA surfaces, the control specimen showed that the macro roughness was achieved by large-grit sandblasting. Subsequently, the acid-etching process created the micro roughness, which thus was superimposed on the macro roughness. Irrespective of the application time of 50mg/ml tetracycline - HCl solution, in general, test specimens were similar to control. 3. In the $TiO_2blasted$ surfaces, the control specimen showed the rough surface With small pits. The irregularity of the $TiO_2blasted$ surfaces with 50mg/ml tetracycline - HCl solution was lessened and the flattened areas got wider after 1 minute.

• Journal of Periodontal and Implant Science
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• v.36 no.3
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• pp.705-716
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• 2006

The present study was performed to evaluate the effect of tetracycline-HCl on the change of implant surface microstructure according to application time. Implant with pure titanium machined surface, GBA surface and RBM surface were utilized. Implant surface was rubbed with 50mg/ml tetracycline-HCl solution for ${\frac{1}{2}}$min. 1min. $1{\frac{1}{2}}$min. 2min. and $2{\frac{1}{2}}$min. respectively in the test group. Then, specimens were processed for scanning electron microscopic observation. The results of this study were as follow. 1. Both test and control group showed a few shallow grooves and ridges in pure titanium machined surface implants. There were not significant differences between two group. 2. In GBA surfaces, control group exhibit many porous depression, and each depression were divided by strict border. Experimental group applied with tetracycline-HCl for 2min. were similar with control group. But when applied for $2{\frac{1}{2}}$min. surface alteration and border breakdown started, resulting enlargement of the porous depression. 3. In REM surface, control group exhibit rough, uneven surface with crater-like depression can be found. The surface alteration started when tetracycline-HCl was applied for 30sec. resulting breakdown of the crater-like depression. Depression became larger as applying time increased.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.8
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• pp.1534-1544
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• 2002

The TDCSA(Time Delay Control with Switching Action) method, which consists of Time Delay Control(TDC) and a switching action of sliding mode control(SMC), has been proposed as a promising technique in the robust control area, where the plant has unknown dynamics with parameter variations and substantial disturbances are preset. When TDCSA is applied to the plant with saturation nonlinearity, however, the so-called windup phenomena are observed to arise, causing excessive overshoot and instability. The integral element of TDCSA and the saturation element of a plant cause the windup phenomena. There are two integral effects in TDCSA. One is the integral effect occurred by time delay estimation of TDC. Other is the integral term of an integral sliding surface. In order to solve this problem, we have proposed an anti-windup scheme method for TDCSA. The stability of the overall system has been proved for a class of nonlinear system. Experiment results show that the proposed method overcomes the windup problem of the TDCSA.