• Journal of Electrical Engineering and information Science
• /
• v.3 no.1
• /
• pp.36-44
• /
• 1998

In this paper, a robust adaptive sliding mode control algorithm for accurate trajectory tracking of robot manipulators is proposed, with unknown parameters being estimated on-line. The controller is designed based on a Lyapunov method, which consists of adaptive feed-forward compensation part and a discontinuous control part. It is shown that, in the presence of the uncertainty and the disturbances arising from the actuator or some other causes, the tracking errors is bound to converge to zero asymptotically. An illustrative example is given to demonstrate the results of the propose method.

• International Journal of Control, Automation, and Systems
• /
• v.5 no.1
• /
• pp.70-78
• /
• 2007

We prove that TCP Vegas globally converges to its equilibrium point in finite time assuming no feedback information delay. We analyze a continuous-time TCP Vegas model with discontinuity and high nonlinearity. Using the upper right-hand derivative and applying the comparison lemma, we cope with the discontinuous signum function in the TCP Vegas model; using a change of state variables, we deal with the high nonlinearity. Although we ignore feedback information delay in analyzing the model of TCP Vegas, the simulation results illustrate that TCP Vegas in the presence of feedback information delay shows very similar dynamic trends to TCP Vegas without feedback information delay. Consequently, dynamic properties of TCP Vegas without feedback information delay can be used to estimate those of TCP Vegas in the presence of feedback information delay.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.25 no.11
• /
• pp.1844-1853
• /
• 2001

In the present investigation, it was attempted to design the rolling pass schedule fur a clean steel of 0.1C-1.5Mn-0.25Si with the objective of the austenite grain refinement. As the method of approach, a coupled mathematical modeling technique was proposed which consists of a recrystallization model and a flow stress modes. The validity of the coupled model was examined through comparison with results of continuous and discontinuous compression tests at various temperatures, strains and strain rates. The coupled model was incorporated with the finite element method to set up a systematic design methodology far the rolling path schedule for austenite grain refinement. Two path schedules were obtained and discussed in the paper with regard to rolling path time, average grain size, grain size deviation in thickness, etc.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2003.10a
• /
• pp.295-300
• /
• 2003

In discontinuous composite mechanics, shear lag theory is one of the most popular model because of its simplicity and accuracy. However, it does not provide sufficiently accurate strengthening predictions in elastic regime when the fiber aspect ratio is small. This is due to its neglect of stress transfer across the fiber ends and the stress concentrations that exist in the matrix regions near the fiber ends. To overcome this shortcoming, a more simplified shear lag model introducing the stress concentration factor which is a major function of modulus ratio is proposed. It is found that the proposed model gives a good agreement with finite element results and has the capability to correctly predict the values of intefacial shear stresses and local stress variations in the small fiber aspect ratio regime.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2001.05a
• /
• pp.289-294
• /
• 2001

Three kinds of viscoelastic damper model, which has a non-linear spring as an element is studied analytically and numerically. The behavior of the damper model shows non-linear hysteresis curves which is qualitatively similar to those of real viscoelastic materials. The motion is governed by a non-linear constitutive equation and an additional equation of motion. Harmonic balance method is applied to get analytic solutions of the system. The frequency-response curves show that multiple solutions co-exist and that the jump phenomena can occur. In addition, it is shown that separate solution branch exists and that it can merge with the primary response curve. Saddle-node bifurcation sets explain the occurrences of such non-linear phenomena.

• Proceedings of the Earthquake Engineering Society of Korea Conference
• /
• 2001.09a
• /
• pp.131-138
• /
• 2001

The purpose of this study is to investigate size effect on inelastic behavior of reinf bridge piers subjected to cyclic load. A computer program, named RCAHEST(Reinforced Co Analysis in Higher Evaluation System Technologr), for the analysis of reinforced concret was used. Material nonlinearity is taken into account by comprising tensile, compressiv models of cracked concrete and a model of reinforcing steel The smeared crack app incorporated. In boundary plane at which each member with different thickness is conne discontinuous deformation due to the abrupt change in their stiffness can be taken into introducing interface element. The effect of number of load reversals with the same d amplitude has been also taken into account to model the reinforcing steel. To determine th on bridge pier inelastic behavior, a 1/4-scale replicate model was also loaded for compar full-scale bridge pier behavior.

• Nuclear Engineering and Technology
• /
• v.23 no.3
• /
• pp.321-327
• /
• 1991

A defect model e)[plaining the oxygen potential of Gadolinia doped urania based on the defect structure of pure urania has been developed. Gd-dopants are assumed to stay in the cation sites pushing away nearby oxygen interstitials reducing the number of interstitial sites. Gd-dopants also form dopant-vacancy clusters in the abundance of oxygen vacancies. This model explains the discontinuous change of the oxygen potential at O/M= as well as the increase of the potential with the dopant concentration.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.12 no.1
• /
• pp.57-64
• /
• 2002

Three kinds of viscoelastic damper model, which has a non-linear spring as an element is studied analytically and numerically The behavior of the damper model shows non-linear hysteresis curves which is qualitatively similar to those of real viscoelastic materials. The motion is governed by a non-linear constitutive equation and an additional equation of motion. Harmonic balance method is applied to get analytical solutions of the system. The frequency-response curves sallow that multiple solutions co-exist and that the jump phenomena can occur. In addition, it is shown that separate solution branch exists and that it can merge with the primary response curve. Saddle-node bifurcation sets explain the occurrences of such non-linear Phenomena.

• Journal of Korean Society of Coastal and Ocean Engineers
• /
• v.5 no.3
• /
• pp.173-181
• /
• 1993

An improved two-dimensional Eulerian-Lagrangian convection-dispersion model was established after comparing several models. To simulate long term release of discontinuous suspended solid source from coastal dike construction, source was represented by Fourier transformation. It was concluded that this model can effectively simulate long term coastal dispersion problems.

• Journal of Korea Water Resources Association
• /
• v.37 no.4
• /
• pp.257-271
• /
• 2004

To evaluate behavior in representing solute transport in natural streams, the storage zone model of the axially periodic transient storage zones is developed. The periodic transient storage zone model and continuous storage zone model are verified using the parameters and the tracer concentration vs. time curves observed in laboratory channels. The periodic storage zone model best fit the measured concentration vs. time curves, while the continuous storage model fails to describe some fluctuations and the plateau region of the tail occurring in a discontinuous transient storage system. Dispersion data from Shingobee River, Minnesota, U. S. A. show that the concentration curves simulated by the proposed model fit the observed concentration curves well.