• 대한전기학회논문지:시스템및제어부문D
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• 제52권9호
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• pp.520-525
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• 2003

A robust controller for large space structures(LSS) is studied from passivity point of view. While velocity sensors are commonly used for proportional-derivative (PD) control law to stabilize large space structures, if the structure can be controlled without velocity measurements, it is desirable against the failure of velocity sensors and for the cost reduction of the sensing system. In a recent result a dynamic output feedback control law has been provided using only displacement measurements. This paper presents a passivity-based controller design method and provides an alternative stability analysis tool for the previous displacement feedback robust control law. The closed-loop system can be viewed as a feedback interconnection of a passivated large space structure (LSS) and a strictly positive real (SPR) system.

• Journal of Oral Medicine and Pain
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• 제23권1호
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• pp.21-36
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• 1998

The purpose of this study was analyse the mandibular movements in patients with internal derangement of the temporomandibular joint according to diagnostic subgroups. The author classified patients with internal derangement of the temporomandibular joint into 4 diagnostic subgroups by means of the magnet resonance imagings, and evaluated the clinical signs and the mandibular movements with Mandibular Kinesiograph(MKG) in each subgroups. The mandibular movements, measured in this study, were the types of movement in frontal and sagittal plane, velocities in opening and closing movement, and the opening and closing movement, and the opening and closing velocity pattern. The data were compared between the 5 groups including the normal group. The results were as follows : 1. Pain was more frequently observed in the anterior disc displacement without reduction group than in the anterior disc displacement with reduction group. Sound of joint was more frequently observed in the anterior disc displacement with reduction group, and limitation of mandibular opening movement was more frequently observed in the anterior disc displacement without reduction group. Duration of the anterior disc displacement without reduction group was significantly short compared to that of the anterior disc displacement with reduction group, and duration of the unilateral anterior disc displacement without reduction group was shortest in the experimental group. The frequency of Angle's classifications had not significant correlations between the experimental groups. 2. Active and passive range of the opening movement, maximum protrusive movement, maximum lateral movement toward left side were significantly decreased in the experimental groups compared to the control group, but there was no significant difference in the range of the maximum lateral movement toward right side between the control and experiment groups. In unilateral anterior disc displacement without reduction group, the range of maximum lateral movement toward unaffected side was no significant difference in the range of the maximum lateral movement between toward affected side and toward unaffected side. 3. Maximum opening velocity, maximum closing velocity, average opening velocity, average closing velocity and maximum velocity of terminal tooth contact were significantly decreased in the experimental groups compared to control group. There was no significant difference in maximum opening velocity and maximum velocity of Terminal tooth contact between the subgroups of the experimental group each other, but there was significant difference in maximum closing velocity, average opening velocity and average closing velocity between the subgroups each other. 4. In the frontal plane of the MKG, the frequency of complex deviation type(F-2)pattern was significantly increased in the anterior disc displacement with out reduction group compared to the anterior disc displacement with reduction group and the control group. In the sagittal plane, the frequency of coincident type(S-1)was decreased in the same group. 5. In the maximum opening velocity pattern, the frequency of no-peak type (OV-3)in the unilateral anterior disc displacement with reduction group was significantly increased compared to the control group. The frequency of 1-peak type (OV-1) and 2-peak type (OV-2) was decreased in the anterior disc displacement with out reduction group, but the frequency of no-peak type (OV-3)was increased in the same group. In the maximum closing velocity pattern, the frequency of no-peak type (CV-3) was significantly increased in the anterior disc displacement without reduction group. Compared to the anterior disc displacement with reduction group and the control group. The frequency of 1-peak type (CV-1) and 2-peak type (CV-2) in the anterior disc displacement with reduction group was decreased than that in the control group.

• Structural Engineering and Mechanics
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• 제19권2호
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• pp.153-172
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• 2005

A new load/displacement parameter method is proposed for the simultaneous control of applied loads and structural displacements at one or more points. The procedure is based on a generalized Riks' method, which utilizes load/displacement parameters as scaling factors to analyze post-buckling phenomena including snap-through or snap-back. The convergence characteristics are improved by employing new relaxation factors through an incremental displacement parameter, particularly in a region that exhibits severe numerical instability. The improved performance is illustrated by means of a numerical example.

• 소음진동
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• 제5권1호
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• pp.49-57
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• 1995

An electronic circuit device is developed such that the displacement between an electromagnet and a moving target can be estimated from the coil current measurement, and then applied to an active magnetic bearing system. In order to levitate the shaft without using displacement sensor the stable control gains are obtained from the linearized model which includes the gap estimation circuit. Experimental results show that the shaft, by the estimated gap feedback, can be levitated within $\pm$6 ${\mu}m$ positioning error.

• 한국자동차공학회논문집
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• 제15권2호
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• pp.165-174
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• 2007

Variable displacement type piston pump uses various controllers for controlling more than one state quantity like pressure, flow, power, and so on. These controllers need the mathematical model closely expressing dynamic behavior of pump for analyzing the stability of control systems which usually use various kinds of state variables. This paper derives the nonlinear mathematical model for variable displacement type piston pump. This model consists of two 1st oder differential equations by the continuity equations and one 2nd oder differential equation by the motion equation. To simplify the model we obtain the linear state variable model by differentiating the three nonlinear equations. And we verify this linearized model by comparison of simulation with experimentation and analyze the stability for the flow/pressure control. Finally this paper suggests the design compensation to ensure the stability of the systems.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1417-1422
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• 2005

Among the sensors mainly used for displacement measurement, there are a linear CCD(Charge Coupled Device) and a PSD(Position Sensitive Detector) as a non-contact type. Their structures are different very much, which means that the signal processing of both sensors should be applied in the different ways. Most of the displacement measurement systems to get the 3-D shape profile of an object using a linear CCD are a computer-based system. It means that all of algorithms and mathematical operations are performed through a computer program to measure the displacement. However, in this paper, the developed system has microprocessor and other digital components that make the system measure the displacement of an object without a computer. The thing different from the previous system is that AVR microprocessor and FPGA(Field Programmable Gate Array) technology, and a comparator is used to play the role of an A/D(Analog to Digital) converter. Furthermore, an ATC(Automatic Threshold Control) algorithm is applied to find the highest pixel data that has the real displacement information. According to the size of the light circle incident on the surface of the CCD, the threshold value to remove the noise and useless data is changed by the operation of AVR microprocessor. The total system consists of FPGA, AVR microprocessor, and the comparator. The developed system has the improvement and shows the better performance than the system not using the ATC algorithm for displacement measurement.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 춘계학술대회논문집
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• pp.504-507
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• 2005

This paper presents a self-levelling system for a mass, which undergoes a severe acceleration, with integrated displacement feedback control. After a general description of such a system, theoretical analysis is investigated to design an active control device. That is, the self levelling system is used to reduce the 'static' deflections while isolating the 'dynamic' vibration. A computer simulation model of 45 kg with two air spring mounts is considered to predict the performance of the control system. The results showed the controller can reduce the mass's displacement to the level of 1/3-1/5. Thus the self-levelling system can be applied usefully to reduce the dispalcement of a mass which experiences a high g dynamics.

• Structural Engineering and Mechanics
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• 제59권6호
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• pp.973-992
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• 2016

A direct and relatively simple method for controlling nodal displacements and/or internal bar forces has been developed for prestressable structural assemblies including complex elements ("macro-elements", e.g., the pantographic element), involving Matrix Condensation, in which structural matrices being built up from matrices of elementary elements. The method is aimed at static shape control of geometrically sensitive structures. The paper discusses identification of the most effective bars for actuation, without incurring violation in bar forces, and also with objective of minimal number of actuators or minimum actuation. The advantages of the method is that the changes for both force and displacement regimes are within a single formulation. The method can also be used for adjustment of bar forces to either reduce instances of high forces or increase low forces (e.g., in a cable nearing slack).

• 한국정밀공학회지
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• 제19권9호
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• pp.179-185
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• 2002

Solid state deformation of PZT is effective for the micron scale displacement. Inch-worm gets large linear displacement by incrementally summing displacements of PZT actuators. Dynamic stiffness of inch-worm is generally low compared to its driving condition due to the small size and light weight of inch-worm. Mechanical vibration induced by low stiffness may degenerate the motion accuracy of the inch-worm. In this paper, dynamic characteristics of the inch-worm are modeled by using the frequency domain curve fitting based on the experimental frequency response function. SMC (sliding mode control) is examined for motion control of the inch-worm. Simulation and experimental results show that the inch-worm with SMC scheme is feasible for the precise displacement device.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.94.3-94
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• 2001

A sensor system was developed to measure displacement of civil structure at a long distance. A He-Ne Laser tube and photodiodes ware used for non-contact measurement. This system allows real time vibration displacement measurement of bridges. The measured displacement data is displayed on computer monitor graphically and also in digit. The accuracy of the displacement measurement shows 2mm in vertical vibration. It shows remote inspection of the vibration of long bridges and buildings.