• International Journal of Precision Engineering and Manufacturing
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• v.1 no.2
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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.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.7
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• pp.529-535
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• 2016

In this theoretical study, the strength parameters of the Drucker-Prager yield criterion and Mohr-Coulomb yield criterion were set to equal values, in order to analyze the correlation among the parameters. The Drucker-Prager strength parameters ${\alpha}$ and k were represented by the Mohr-Coulomb strength parameters c and ${\phi}$. Specifically it can be seen that k is function of c, ${\phi}$ and ${\alpha}$ is function of ${\phi}$ alone. Drucker-Prager strength parameter ${\alpha}$ increases as the internal friction angle of soil increases. ${\alpha}_{av}$ which is the average of ${\alpha}_c$ and ${\alpha}_i$ was proportional to internal friction angle in which ${\alpha}_c$ and ${\alpha}_i$ are ${\alpha}$ values corresponding to the circles of the Drucker-Prager yield cirteria circumscribes and inscribes the Mohr-Coulomb yield criterion respectively. The values of the ${\alpha}_{av}$ was 0.07 and 0.29 which correspond to the internal friction angle of $10^{\circ}$ and $45^{\circ}$ respectively. In addition, value of ${\alpha}_c/{\alpha}_i$ was proportional to internal friction angle of soil and the values of ${\alpha}_c/{\alpha}_i$ 1.12 and 1.62 which corresponds to internal friction angle of $10^{\circ}$ and $45^{\circ}$ respectively.The influence of the Mohr-Coulomb strength parameters on the Drucker-Prager strength parameter k was investigated and it was found that k was mainly influenced by the cohesion of the soil, except in the case of the minimum assumed value of c of 10kPa. The deviator stresses, $S_{c0}$ and $S_{t0}$, which correspond to the cases of the Mohr-Coulomb yield criterion under uniaxial compression and uniaxial tension, respectively, and $S_{0(ave)}$, which is the average value of $S_{c0}$ and $S_{t0}$, decrease as the internal friction angle increases. Furthermore, the hexagon, which represents the Mohr-Coulomb yield locus, becomes more irregular, and the deviations of $S_{c0}$ and $S_{t0}$ from $S_{0(ave)}$ also increase, as the internal friction angle increases.

• Journal of the Korean Institute of Telematics and Electronics A
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• v.33A no.7
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• pp.143-148
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• 1996

Detailed analyses have been presentd for a basic single-electron-logic-cell consisting of two single-electron-transistors (SETs) in series. The interconnection between two SETs has been treated as a coulomb island and the joint probability density function of all three coulomb islands (two from the SETs and one form the interconnection) has been exactly calculated. The average number of electrons in each coulomb island and the steady-state ouptut voltage have been calculated and analyzed.

• Bulletin of the Korean Chemical Society
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• v.30 no.2
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• pp.315-318
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• 2009

Some particular bound state energies of an electron, under Coulomb potential field, confined in a two-dimensional circle and a three-dimensional sphere are analytically derived. The derivation shows that the electron cannot be bound in a negative energy state when the circle (or sphere) is smaller than a certain critical size. The critical size dependency on the strength of Coulomb potential and the angular momentum of the electron is also analytically derived. This system mimics quantum dots. Therefore the derivation provides new information on a minimum critical size of quantum dots with hydrogenic impurity.

• Geotechnical Engineering
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• v.12 no.6
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• pp.101-114
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• 1996

Even though the Coulomb's earth pressure theory has been mainly used in practice, the general equation does not exist yet, which is applicable to retaining wall backfilled by cohesive soils. Here, for gravity walls backfilled by cohesive soils, some equations have been derived by newly using the Coulomb's theory, for the cases oi drained and untrained analyses. and for the cases of neglecting and considering the tension crack, respectively. Both the active earth thrust and the depth of tension crack under different conditions were tabulated.

• Annual Conference on Human and Language Technology
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• 1989.10a
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• pp.267-271
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• 1989

최근 Scofield는 coulomb energy network에 적용할 수 있는 learning algorithm(supervised learning algorithm)을 제안하였다. 이 learning algorithm은 multi-layer network에도 쉽게 적용이 가능하고 한 layer 에서 발생한 error가 다른 layer에 영향을 주지 않아서 system을 modular하게 구성할 수가 있으며 각 layer를 독립적으로 learning 시킬 수 있는 특징이 있다. 본 논문에서는 coulomb energy network를 이용하여 한글인식을 위한 neural network를 구현하여 인식실험을 한 결과와 구현한 network 에서 인식율을 높이기 위한 방안 (2 stage learning) 을 제시한다.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.54 no.10
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• pp.483-491
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• 2005

To solve the 3D eddy current problems by using FE(finite element) method with MVP(magnetic vector potential) and electric scalar potential, Coulomb gauge condition and current continuity condition have to be considered. Coulomb gauge condition enforced on existing FE formulations to insure the uniqueness of MVP looks unnatural and current continuity condition which can be driven from Ampere's law looks unnecessary. So in this paper the effect of two conditions on FE formulations are investigated in order to help to obtain accurate numerical simulation results.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.5
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• pp.356-366
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• 2000

In this paper, a nonlinear $H_2/H_\infty/LTR$ control for the flexible inverted pendulum of a parallel type with Coulomb friction is presented. The dynamic equation for this system is derived by the Hamilton's principle and assumed-mode method. This hard nonlinear system can be modeled by a the quasi-linear state space model using the REF method. It is shown that the $H_2/H_\infty$ control can be applied to the nonlinear controller design of the system having Coulomb frictions if the proper LTR conditions are satisfied. In order to present the usefulness of the suggested control method, the nonlinear $H_2/H_\infty/LTR$ controller is designed to control the Position of the end point of the flexible inverted pendulum that has Coulomb frictions present in actuator parts. The results are given via computer simulations.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.717-720
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• 2002

An Amplitude Proportional Friction Damper (APFD) system is considered in order to improve the stick-slip characteristics of Coulomb friction damper. The frictional force is proportional to the amplitude in APFD system and the system is non-linear as is Coulomb damper system. The free vibration analysis on an 1-DOF system has conducted to demonstrate the characteristics of the APFD system and the results show that the APFD system has similar damping characteristics to the viscous damper system. It is concluded that the APFD system may become a cost effective substitution for the viscous damper and it also has certain advantages over Coulomb damper system since the APFD system can be designed to work with no stick-slip.

• International Journal of Aeronautical and Space Sciences
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• v.7 no.1
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• pp.84-90
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• 2006

The formation flying of satellites has been identified as an enabling technology for many future space missions. The application of conventional thrusters for formation flying usually results in high cost, limited life-time, and a large weight penalty. Various methods including the use of coulomb forces have been considered as an alternative to the conventional thrusters. In the present investigation, we investigate the feasibility of achieving the desired formation using Coulomb forces. This method has several advantages including low cost, light weight and no contamination. A simple controller based on the relative position and velocity errors between the leader and follower satellites is developed. The proposed controller is applied to circular formations considering the effects of disturbances in initial formation conditions as well as system nonlinearity. Results of the numerical simulation state that the proposed controller is successful in establishing circular formations of leader and follower satellites, for a formation size below 100 m.