• Proceedings of the KIEE Conference
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• 1992.07a
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• pp.381-385
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• 1992

In this paper, dynamic modeling and adaptive control problems for a space robot system are discussed. The space robot consist of a robot manipulator mounted on a free-floating base where no attitude control is applied. Using an extended robot model, the entire space robot can be viewed as an under-actuated robot system. Based on nonlinear control theory, the extended space robot model can then be decomposed into two subsystems: one is input-output exactly linearizable, and the other is unlinearizable and represents an internal dynamics. With this decomposition, a normal form-augmentation approach and an augmented state-feedback control are proposed to facilitate the design of adaptive control for the space robot system against parameter uncertainty, unknown dynamics and unmodeled payload in space applications. We demonstrate that under certain conditions, the entire space robot can be represented as a full-actuated robot system to avoid the inclusion of internal dynamics. Based on the dynamic model, we propose an adaptive control scheme using Cartesian space representation and demonstrate its validity and design procedure by a simulation study.

• International Journal of Quality Innovation
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• v.6 no.2
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• pp.105-115
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• 2005

In recent years, high-speed recording CD-R has already become the mainstream of CD-R market. Therefore, to promote the efficiency of recording CD-R is of significant importance. This study uses Taguchi's parameter design to improve the yield rate for the process of CD-R substrate. We have found 13 three-level controllable factors from the fishbone diagram, repeated 10 times the experiment with the L27(313) orthogonal array, and measured seven quality characteristics. We employ four general methods to find the optimal parameter conditions individually. Then, we perform the confirmation experiment and compare the results. Finally, we obtain the optimal parameter conditions. According to the analysis of benefits, the optimal parameter conditions can reduce the quality loss of CD-R substrate to about 21%. In the future, the results can be extended to other research of DVD-R substrate.

• Journal of Advanced Marine Engineering and Technology
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• v.40 no.3
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• pp.217-222
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• 2016

This study investigates the design, analysis, and implementation of the square-root extended Kalman filter by using an algorithm derived by combining the Potter or Carlson algorithm with the modified Gram-Schmidt algorithm, for sensorless speed control of a permanent-magnet synchronous motor. The sensitivity of the Kalman filter to round-off errors is a well-known problem. A possible way to address this limitation is by combining the square-root concept and Kalman filter that can improve the numerical performance and solve instability-related problems such as divergence. This paper presents the design and analysis of the implementation of such a square-root extended Kalman filter. To demonstrate the performance of the proposed filter, experimental results under several operating conditions, such as high and low speeds, reversal rotation, detuned parameters and load test, have been analyzed. Further, code sizes and operation times have been compared. Experimental results establish the performance of the proposed square-root extended Kalman filter-based estimation technique for sensorless speed control of a permanent-magnet synchronous motor.

• Korean Institute of Interior Design Journal
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• v.20 no.2
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• pp.156-166
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• 2011

A studio type urban lifestyle housing was recently introduced as a new urban multi-housing typology. It was particularly created to meet the increasing housing demand of one-person households due to the population change and the shortage of housing supply. However, some concerns have been raised, because the government's policy has been focused on expanding housing supply by easing certain legal regulations in construction. Poorly planned and managed urban lifestyle housings might degrade living conditions for one-person households and ultimately harm urban environments. As such, this research is conducted to investigate the design characteristics of the studio type urban lifestyle housing from selected construction precedents in Seoul. Critical evaluations are made for the facilities and uses in site plans, unit plans, and shared public spaces. As a result, problem areas are found in the lack of design varieties, privacy protection in units, control of natural environment conditions, and the absence of community spaces. Improvement strategies can be suggested by comparing with some overseas' housing precedents: Design variations can be extended through flexible structure, facility, and furniture systems. Privacy and natural environment can be controled through the integration of interior space configurations and exterior envelope systems. The housing policy needs to be reconsidered to improve a variety in design, residents' social interaction, security, and management. Thereby, the studio type urban lifestyle housing should be holistically approached in terms of design and policy to enrich urban living experiences by residents and communities.

• Communications for Statistical Applications and Methods
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• v.9 no.3
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• pp.595-605
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• 2002

The central composite design is widely used for estimating second order response surfaces. This type of design is composed of $2^k$ factorial points, axial points and center points. In this paper, we suggest a version of central composite design where the positions of the axial points are indicated by two numbers, and study properties of this design. We obtain the variances and covariances of the estimators of the regression coefficients. Conditions are obtained for this design to be orthogonal and rotatable. This design is compared with other designs on the basis of efficiency.

• Transactions on Control, Automation and Systems Engineering
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• v.2 no.2
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• pp.140-148
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• 2000

This paper presents iterative schemes and continuation schemes for designing robust controllers which stabilize dynamic systems having bounded parametric uncertainties. Utilizing results of the cheap control problem, some existence conditions of the robust controller are obtained, which are different from the matching conditions. continuation schemes are used to overcome the divergence problem of iterative schemes. The roust controller design method is extended to nonlinear system ans easily implementable series solution is also obtained. Results are illustrated with simple examples.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1996.06c
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• pp.1063-1072
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• 1996

Fruit harvesting robots should have more diversity and flexibility in the working conditions and environments than industrial robots. This paper presents an efficient optimization algorithm for redundant manipulators to avoid obstacles using dynamic performance criteria, while the optimization schemes of the previous studies used the performance criteria using kinematic approach. Feasibility and effectiveness of this algorithm were tested through simulations on a 3-degrees-of-freedom manipulator made for this study. Only the position of the end-effector was controlled , which requires only three degrees of freedom. Remaining joints, except for the wrist roll joint, which does not contribute to the end-effector linear velocity, provide two degrees of redundancy. The algorithm was effective to avoid obstacles in the workspace even through the collision occurred in extended workspace, and it was found be to a useful design tool which gives more flexibility to design conditions nd to find the mechanical constraints for fruit harvesting robots.

• International Journal of Naval Architecture and Ocean Engineering
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• v.12 no.1
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• pp.168-177
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• 2020

Many coastal engineering designs utilize empirical formulas containing the Equivalent Deep-water Wave Height (EDWH), which is normally given a priori. However, no studies have explicitly discussed a method for determining the EDWH and the resulting design wave heights (DEWH) under irregular wave conditions. Unfortunately, it has been the case in many design practices that the EDWH is incorrectly estimated by dividing the Shallow-water Wave Height (SWH) at the structural position with its corresponding shoaling coefficient of regular wave. The present study reexamines the relationship between the Shallow-water Wave Height (SWH) at the structural position and its corresponding EDWH. Then, a new procedure is proposed to facilitate the correct estimation of EDWH. In this procedure, the EDWH and DEWH are determined differently according to the wave propagation model used to estimate the SWH. For this, Goda's original method for nonlinear irregular wave deformation is extended to produce values for linear shoaling. Finally, exemplary calculations are performed to assess the possible errors caused by a misuse of the wave height calculation procedure. The relative errors with respect to the correct values could exceed 20%, potentially leading to a significant under-design of coastal or harbor structures in some cases.

• Structural Engineering and Mechanics
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• v.42 no.2
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• pp.191-210
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• 2012

The Force Density Method (FDM) is a well known and extremely versatile tool in form finding of cable nets. In its linear formulation such method makes it possible to find all the possible equilibrium configurations of a net of cables having a certain given connectivity and given boundary conditions on the nodes. Each singular configuration corresponds to an assumed force density distribution. Its improvement as Non-Linear Force Density Method (NLFDM) introduces the possibility of imposing assigned relative distances among the nodes, the tensile level in the elements and/or their initial undeformed length. In this paper an Extended Force Density Method (EFDM) is proposed, which makes it possible to set conditions in terms of given fixed nodal reactions or, in other words, to fix the positions of a certain number of nodes and, at the same time, to impose the intensity of the reaction force. Through such extension, the (EFDM) enables us to deal with form findings problems of cable nets subjected to given constraints and, in particular, with mixed structures, made of cables and struts. The efficiency and the robustness of method are assessed through comparisons with other form finding techniques in dealing with characteristic applications to the prestress design of cable systems. As a further extension, the EFDM is applied to structures having some parts not yet geometrically defined, as can happen in designing new creative forms.

• Journal of Mechanical Science and Technology
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• v.15 no.5
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• pp.602-612
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• 2001

The equation of the particle collection efficiency proposed by Deutsch has been modified through the various experiments to correct the errors caused by the assumptions made for the equation. In order to get an modified Deutsch equation that can be applied to real conditions, a pilot scale electrostatic precipitator is used. The effects of operational variables on the particle collection efficiency are evaluated. Particle resistivity, gas temperature, moisture contents in gas, gas velocity and particle concentration are used as the operational variables. Two different types of coal fly-ash obtained from the fluidized bed combustor and the pulverized coal combustor are used as test particulate to evaluate the effect of the physiochemical and electrical characteristics of the particle on the particle collection efficiency. The experimental results are fitted with the modified Deutsch equation made by Matts-Ohnfeldt and the extended Deutsch equation made by E. C. Potter to evaluate the effect of the particle characteristics and the operation conditions on the particle collection efficiency of the electrostatic precipitator.