• 대한임베디드공학회논문지
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• 제16권6호
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• pp.307-312
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• 2021

This paper proposes an adaptive time-delayed control approach with the integral sliding-mode surface for the fast convergence rate of robot manipulators. Adaptive switching gain aims to guarantee the system stability in such a way as to suppress time-delayed estimation error in the proposed control approach. Moreover, it makes an effort to increase the convergence ability in reaching the phase. An integral sliding-mode surface is employed to achieve a fast convergence rate in the sliding phase. The stability of the proposed one is proved to be asymptotically stable in the Lyapunov stability. The efficiency of the proposed control approach is illustrated with a tutorial example in robot manipulator, which is compared to that of the existing control approach.

• 한국환경과학회지
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• 제17권12호
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• pp.1353-1361
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• 2008

Quality control of Argo(Array for Real-time Geostrophic Oceanography) data is crucial by reason that salinity measurements are liable to experience some drift and offset due to biofouling, contamination of sensor and wash-out of biocide. The automated Argo real-time quality control has a limit of sorting data quality, so that WJO program is adopted as standardized method of Argo delayed mode quality control (DMQc) in the world that is a precise quality control method. We conducted DMQC on pressure, temperature and salinity measured by Argo floats in the Pacific Ocean including expert evaluation. Particularly, salinity data were corrected using WJO program. 4 salinity profiles of Argo delayed mode were compared with nearby in situ CTD data and other Argo data in deep layer where oceanographic conditions are stable in time and space. The differences of both salinities were lower than target accuracy of Argo. As compared with the difference of salinities before DMQC, those after DMQC decreased by 60-80 percent. Quality of delayed mode salinity data seemed to be improved correcting salinity data suggested by WJO program.

• Nuclear Engineering and Technology
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• 제47권1호
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• pp.94-101
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• 2015

This paper presents findings on the second-order sliding-mode controller for a nuclear research reactor. Sliding-mode controllers for nuclear reactors have been used for some time, but higher-order sliding-mode controllers have the added advantage of reduced chattering. The nonlinear model of Pakistan Research Reactor-1 has been used for higherorder sliding-mode controller design and performance evaluation. The reactor core is simulated based on point kinetics equations and one delayed neutron groups. The model assumes feedback from lumped fuel and coolant temperatures. The effect of xenon concentration is also considered. The employed method is easy to implement in practical applications, and the second-order sliding-mode control exhibits the desired dynamic properties during the entire output-tracking process. Simulation results are presented to demonstrate the effectiveness of the proposed controller in terms of performance, robustness, and stability.

• 한국정밀공학회지
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• 제14권9호
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• pp.37-44
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• 1997

In this paper the bending collapse characteristics of square and rectangular steel tubes were studied with the pure bending test machine which apply pure bending moment without imposing shear and tensile forces. Under pure bending moment, delayed buckling modes occur and depend on test length and shape of section. For delayed mode, the endrgy of bending moment is absorbed by strain hardening energy. The pre- dictions of maximum moment and moment-rotation angle curve from those concepts are in good agreement with experimental observations.

• 제어로봇시스템학회논문지
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• 제5권2호
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• pp.139-144
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• 1999

The present paper is concerned with the robust decentralized stabilization problem of large-scale systems with time delays in the interconnections using sliding mode control. Based on Lyapunov stability theorem and H$_{\infty}$ theory, an existence condition of the sliding mode and a robust decentralized sliding mode controller are newly derived for large-scale systems under mismatched uncertainties. Finally, a numerical example is given to verify the validity of the results developed in this paper.

• 한국광학회지
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• 제10권3호
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• pp.233-236
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• 1999

광섬유 브래그 격자(fiber Bragg grating)와 서큘레이터(circulator)를 이용하여 좁은 선폭의 단일 종모드로 발진하는 단방향 어븀첨가 광섬유 레이저를 간결하게 구성하엿다. 이 레이저에서 발진되는 단일 종 모드의 선폭은 마하젠더 간섭계를 이용한 delayed self-heterodyne 검출 방법을 사용하여 측정하였고, 측정된 선폭은 5 kHz 였다. 단일 종모드로 발진되는 최대 광출력은 2.7 mW였으며, 발진 중심파장은 1548 nm였다.

• 대한임베디드공학회논문지
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• 제16권4호
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• pp.137-143
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• 2021

We propose an adaptive non-singular terminal sliding-mode control for the fast finite-time convergence (FANTSMC) in robot manipulator. The proposed FANTSMC approach is developed to be applied without singularity in robot manipulator, which has a new pole-placement control with the non-singular terminal sliding variable while generating the desirable control torque. Moreover, the switching gain is designed to suppress the time-delayed estimation error appropriately, which aims at providing the high robust tracking performance. Also, the proposed one employs one-sample delayed information to cancel out the system uncertainties and disturbances. For these reasons, it offers strong attraction within the finite time. It is shown that the tracking performance of the proposed FANTSMC approach is guaranteed to be uniformly ultimately bounded through the Lyapunov stability. The effectiveness of the proposed FANTSMC approach is illustrated in simulations, which is compared with that of the up-to-date control approach.

• Journal of Communications and Networks
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• 제12권5호
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• pp.480-491
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• 2010

Along with the wide acceptance of IEEE 802.11 wireless local area network (WLAN), new applications such as Internet protocol (IP) telephony over WLAN are fast emerging today. For battery-powered IP phone devices, the life time extension is a key concern for the market acceptance while today's 802.11 is not optimized for snch an operation. In this paper, we propose a novel idle mode operation, which comprises paging, idle handoff, and delayed handoff. Under the idle mode operation, a mobile host(MH) without any active session does not need to perform handoff within a predefined paging area (PA). Only when it enters a new PA, an idle handoff is performed. The proposed idle mode allows an MH without traffic to extend its life time. We develop a new analytical model in order to comparatively evaluate our proposed scheme. The numerical resnlts demonstrate that the proposed scheme outperforms the existing schemes with respect to power consumption.

• Transactions on Control, Automation and Systems Engineering
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• 제2권2호
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• pp.98-103
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• 2000

This paper is concerned with a delay-dependent sliding mode scheme for the robust stabilization of input-delay systems with bounded unknown uncertainties. A sliding surface based ona predictor is proposed to minimize the effect of the input delay. Then, a robust control law is derived to ensure the existence of a sliding mode on the surface. In input-delay systems, uncertainties given during te delayed time are not directly controlled by the switching control because of causality prolem of them. They can influence the stability of the system in the sliding mode. Hence, a delay-dependent stability analysis for reduced order dynamics is employed to estimate maximum delay bound such that the system is globally asymptotically stable in the sliding mode. A numerical example is given to illustrate the design procedure.

• 제어로봇시스템학회논문지
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• 제17권6호
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• pp.552-557
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• 2011

This paper presents experimental results on the energy-bounding approach to a rate-mode bilateral teleoperation control that can guarantee the robust system stability in variable time-delayed telecommunication environments. Previously, rate-mode energy bounding approach [15] was proposed and verified with experimental results using the simulated remote slave model. In this paper, a real experimental setup using an industrial robot (Denso) as a remote slave robot composed and conducted similar experiments with previous paper. In order to guarantee stability of the Denso when contacting with high impedance wall, velocity based impedance control modified by position based is used. Experimental results show that the rate-mode energy bounding approach can guarantee stable bilateral teleoperation system in the free and contact motion with variable time delay.