• 대한산업공학회지
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• 제41권2호
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• pp.121-127
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• 2015

A reduction of motor performance due to brain disorders can be screened by evaluating force tracking capabilities (FTCs). Existing studies have examined FTCs mainly using simple sinusoidal waves, of which repeated profiles have a critical limitation due to a learning effect in force tracking. The present study examined the effects of personal factors (age and gender) and sinusoidal wave factors (central force and complexity) on FTCs of healthy adults using composite sinusoidal wave profiles (CSWPs). FTCs were measured using Finger $Touch^{TM}$ for 30 seconds and quantified in terms of time within the target range (TWR, accuracy measure) and relative RMSE (RRMSE, variability measure). A total of 90 healthy adults in 20s to 70s with the equal gender ratio participated in the experiment consisting of combinations of 2 central force levels (6 N and 10 N) and 2 complexity levels (approximate entropy, ApEn = 0.03 and 0.06) of CSWPs. Significantly decreased FTCs (lower TWR and higher RRMSE) were found in aged adults, females, the low central force, and the high complexity. The detailed FTC decrements include a 43% reduced TWR and a 85% increased RRMSE of older adults in 70s as compared to those in 20s, a 17% reduced TWR and a 17% increased RRMSE of female as compared to those of male, a 30% reduced TWR and a 108% increased RRMSE at central force = 6N when compared to those at central force = 10N, and a 19% reduced TWR and a 30% increased RRMSE at ApEn = 0.06 as compared to those at ApEn = 0.03. The characteristics of FTCs for CSWPs can be of use in establishing an assessment protocol of motor performance for screening brain disorders.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2004년도 추계학술대회 논문집
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• pp.358-362
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• 2004

Higher productivity requires high-speed motion of machine tool axes. The iron core linear DC motor (LDM) is widely accepted as a viable candidate for high-speed machine tool feed unit. LDM, however, has two inherent disturbance force components, namely cogging and thrust force ripple. These disturbance forces directly affect the tracking accuracy of the feeding system and must be eliminated or reduced. In order to reduce motor ripple, this research adapted the feedforward compensation method and neural network control. Experiments carried out with the linear motor test setup show that these control methods are effective in reducing motor ripple.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.1614-1619
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• 2003

In this study, position and force simultaneous trajectory tracking control system with pneumatic cylinder driving apparatus is proposed. The pneumatic cylinder driving apparatus that consists of two pneumatic cylinders constrained in series and two proportional flow control valves offers a considerable advantage as to non-interaction of the actuators because of the low stiffness of the pneumatic cylinders. The controller applied to the driving system is composed of a non-interaction controller to compensate for interaction of two cylinders and a disturbance observer to reduce the effect of model discrepancy of the driving system in the low frequency range that cannot be suppressed by the non-interaction controller. The experimental results with the proposed control system show that the interacting effects of two cylinders are eliminated remarkably and the proposed control system tracks the given position and force trajectories accurately.

• Structural Engineering and Mechanics
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• 제34권1호
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• pp.1-14
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• 2010

The innovative intelligent fuzzy weighted input estimation method which efficiently and robustly estimates the unknown time-varying input force in on-line is presented in this paper. The algorithm includes the Kalman Filter (KF) and the recursive least square estimator (RLSE), which is weighted by the fuzzy weighting factor proposed based on the fuzzy logic inference system. To directly synthesize the Kalman filter with the estimator, this work presents an efficient robust forgetting zone, which is capable of providing a reasonable compromise between the tracking capability and the flexibility against noises. The capability of this inverse method are demonstrated in the input force estimation cases of the plate structure system. The proposed algorithm is further compared by alternating between the constant and adaptive weighting factors. The results show that this method has the properties of faster convergence in the initial response, better target tracking capability, and more effective noise and measurement bias reduction.

• 드라이브 ㆍ 컨트롤
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• 제14권4호
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• pp.9-16
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• 2017

In this study, the force tracking performance of the single-rod and double-rod type EHAs (Electro-Hydrostatic Actuators) was compared by computer simulation and experiments. The force-controlled EHAs exhibit non-linear behavior that are significantly dependent on operation conditions. The investigation focused on localizing the parameters that provide significant rise to the non-linearity. For this, the single-rod and double-rod type EHAs were mathematically expressed to derive their linear models. In parallel, they were modeled by a commercial simulation program including non-linear properties based on experimental results. It was shown that the dependency of the bulk modulus of oil with entrapped air on working pressure dominated the non-linearity in force control performance in case of the double-rod type EHA. The force control of the single-rod type EHA was influenced by much more elements. Besides the asymmetrical piston geometry and the non-linear bulk modulus of oil, its pilot-operated check valves made it dependent not only on the magnitude of reference input but also on its direction.

• 전자공학회논문지A
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• 제33A권7호
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• pp.15-22
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• 1996

In the soliton transmission system for a long-length and high bit rate data transmission systme using the nonlinear/dispersive optical fibers, the improtant problem is the loss characteristics and is the limited transmission rate by interaction forces. In this paper, It is explained the reasons of moved time position for the soliton peak value due to interaction force sof adjacent solitons. And for the analysis of interaction force affection level in the losslessmedia, we define the percent parameter of error rate due to the interaction forces and propose the optimum time distance of adjacent solitons by peak value tracking methods. With the results, initial percent of error is approximately 50% when itme difference between adjacent solitons is 5 times of funddametnal soliton pulse width. And it is confirmed that maximum transmission length of th esolitons is approximately 38 times of fundamental soliton period, which the maximum allowable percoent of error is 50%.

• 한국정밀공학회지
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• 제16권4호통권97호
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• pp.116-121
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• 1999

At the exit stage of drilling, the burr generates and deburring process is required to remove it. Since the additional process reduces productivity, a burr minimization technique is necessary in the servo system of drilling machines. In this research, cutting force is modelled with tool geometry and the optimal velocity profile with which the desired cutting force maintains is generated to minimize burr. Experiments show that the proposed velocity profile tracking effectively minimizes burr compared to the constant velocity feed.

• 정보저장시스템학회논문집
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• 제2권2호
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• pp.117-122
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• 2006

A novel method to find interaction dynamics between focusing direction and tracking direction in an optical pick-up is proposed. and the decoupling control to reduce the interaction effect is discussed. First, the basic principle to detect dynamic interaction analysis using back electromotive force is introduced. Second, the interaction analysis between focusing and tracking direction of is analyzed for a commercial slim type optical pick-up. Finally. decoupling control process and its simulation results are shown.

• 제어로봇시스템학회논문지
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• 제5권3호
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• pp.275-280
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• 1999

This paper presents a disturbance accommodating sliding mode control for a quarter-car active suspension using an electro-hydraulic actuator. The electro-hydraulic actuator model is nonlinear and uncertain. The hardware constrains on the actuator prevent high gain in a sliding mode control, which deteriorates the force tracking performance. DAC(Disturbance Accommodating Control) is combined with the sliding mode control to improve the tracking performance. DAC observer estimates the pressure due to the actuator uncertainty. The additional control is designed to compensate the estimated pressure. Simulation results show the improved tracking performance with the Proposed control methods.

• ETRI Journal
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• 제37권3호
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• pp.617-625
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• 2015

In this paper, a steering control system for the path tracking of autonomous vehicles is described. The steering control system consists of a path tracker and primitive driver. The path tracker generates the desired steering angle by using the look-ahead distance, vehicle heading, and a lateral offset. A method for applying an autonomous vehicle to path tracking is an advanced pure pursuit method that can reduce cutting corners, which is a weakness of the pure pursuit method. The steering controller controls the steering actuator to follow the desired steering angle. A servo motor is installed to control the steering handle, and it can transmit the steering force using a belt and pulley. We designed a steering controller that is applied to a proportional integral differential controller. However, because of a dead band, the path tracking performance and stability of autonomous vehicles are reduced. To overcome the dead band, a dead band compensator was developed. As a result of the compensator, the path tracking performance and stability are improved.