• Journal of the Korean Society of Industry Convergence
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• v.18 no.3
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• pp.181-190
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• 2015

This paper presents a new approach to control the position of robot arm in workspace a robot manipulator under unknown system parameters and bounded disturbance inputs. To control the motion of the manipulator, an inverse dynamics control scheme was applied. Since parameters of the robot arm such as mass and inertia are not perfectly known, the difference between the actual and estimated parameters was considered as a external disturbance force. To identify the known parameters, an improved robust control algorithm is directly derived from the Lyapunov's Second Method. A robust control algorithm is devised to counteract the bounded disturbance inputs such as contact forces and disturbing forces coming from the difference between the actual and the estimated system parameters. Numerical examples are shown using SCARA arm with four joints.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.266-272
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• 1994

An essential ingredient in precision machining is a positioning system that responds quickly and precisely to very small input signal. In this paper, two different positioning systems were presented fot the precision positioning control. The one is a friction drive system, the other is a ballscrew system. The friction drive system was composed of an air sliding guide and a friction drive. The ballscrew system was made of a ballscrew and a linear guide. Nonlinear behaviors of the given systems tend to make the system inaccurate. The paper looked at the phenomena that has caused the positioning error. These apparently nonlinear phenomena can be attributed mainly to the presence of the nonlinear friction and slip effect plus the dynamic change from the microdynamic to the macrodynamic and form the macrodynamic to the microdynamic. For the control of the positioning system, the control algorithm based on a neural network is suggested. The FEL(Feedback Error Learning) controller can learn the inverse dynamics of a nonlinear system by using the neural network controller, and stabilize the system by a linear controller. In the experiment, PTP control is implemented withen the maximum error of 0.05 .mu.m ~0.1 .mu. m when i .mu.m step reference input is applied and that of maximum 1 .mu. m when 100 .mu.m step reference input is given. Sinusoidal inputs with the amplitude of 1 .mu.m and 100 .mu. m are used for the tracking control of the positioning system. Experimental results of the proposed algorithm are shown to be superior to those of conventional PD controls.

• Transactions of the Korean Society of Automotive Engineers
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• v.16 no.6
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• pp.10-18
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• 2008

Metal stamping is widely used in the mass-production process of the automobile industry. During the stamping process, air may be trapped between the draw die and the panel. The high pressure of trapped air induces imperfections on the panel surface and creates a situation where an extremely high tonnage of punch is required. To prevent these problems, many air ventilation holes are drilled through the draw die and the punch. The present work has developed a simplified mathematical formulation for computing the pressure of the air pocket based on the ideal gas law and isentropic relation. The pressure of the air pocket was compared to the results by the commercial CFD code, Fluent, and experiments. The present work also used the Bisection method to calculate the optimum cross-sectional area of the air ventilation holes, which did not make the pressure of the air pocket exceed the prescribed maximum value.

• Structural Engineering and Mechanics
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• v.33 no.6
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• pp.765-779
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• 2009

Quantitative condition assessment of structures has been traditionally using proof load test leading to an indication of the load-carrying capacity. Alternative approaches using ultrasonic, dynamics etc. are based on the unloaded state of the structure and anomalies may not be fully mobilized in the load resisting path and thus their effects are not fully included in the measured responses. This paper studies the effect of the load carried by a reinforced concrete beam on the assessment result of the crack damage. This assessment can only be performed with an approach based on static measurement. The crack damage is modelled as a crack zone over an area of high tensile stress of the member, and it is represented by a damage function for the simulation study. An existing nonlinear optimization algorithm is adopted. The identified damage extent from a selected high level load and a low load level are compared, and it is concluded that accurate assessment can only be obtained at a load level close to the one that creates the damage.

• Publications of The Korean Astronomical Society
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• v.30 no.2
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• pp.93-97
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• 2015

How high-mass stars form is currently unclear. Calculations suggest that the radiation pressure of a forming star can halt spherical infall, preventing further growth when it reaches $10M_{\odot}$. Two major theoretical models on the further growth of stellar mass have been proposed. One model suggests the merging of less massive stellar objects, and the other is through accretion, but with the help of a disk. Inflow motions are key evidence for how forming stars gain further mass to build up massive stars. Recent developments in technology have boosted the search for inflow motion. A number of high-mass collapse candidates were obtained with single dish observations, and mostly showed blue profiles. Infalling signatures seem to be more common in regions which have developed radiation pressure than in younger cores, which is the opposite of the theoretical prediction and is also very different from observations of low mass star formation. Interferometer studies so far confirm this tendency with more obvious blue profiles or inverse P Cygni profiles. Results seem to favor the accretion model. However, the evolution of the infall motion in massive star forming cores needs to be further explored. Direct evidence for monolithic or competitive collapse processes is still lacking. ALMA will enable us to probe more detail of the gravitional processes.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.6
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• pp.615-620
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• 2015

This paper deals with a fault detection system design for a boiler-turbine control system of thermal power plant. We described the nonlinear properties of the boiler-turbine dynamics as a T-S fuzzy system with time varying measurable parameters. We design a residual generator using an observer based fault detection filter. In order to identify the faulted output sensor, an approximate inverse system is connected to the outport of the fault detection filter. We demonstrate the efficiency of the suggested design method via computer simulations.

• Korean Journal of Applied Biomechanics
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• v.24 no.4
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• pp.339-347
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• 2014

The purpose of this study was to investigate joint torques of lower body segments on professional golfers. Three dimensional swing analysis was conducted on the seven subjects. Each subject was asked to swing with 45 inches of Callaway driver, where two force plates (9286AA, Kistler, Switzerland) were built, with his normal speed and tempo. The resultant joint moments of the lower extremities were computed using the kinematic variables of the segments, anthropometric measures and the ground reaction force data by inverse dynamics method. Based on the results of this study, the following conclusions were drawn; It was found that the left ankle joint torque at 3rd phase was increased toward extension on the X-axis and abduction on the Y-axis. The left knee joint torque was alternated from flexion to extension direction in order to lower down the body weight at the beginning of the downswing. The lumbar joint torque was alternated from flexion to extension in order to speed up the upper body rotation which could increase the club head speed ultimately.

• Korean Journal of Applied Biomechanics
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• v.17 no.3
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• pp.23-29
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• 2007

The purpose of this study were to investigate the differences between female and male basketball players in knee neuromuscular biomechanical factors during basketball rebound jump. Twelve high school female ($17.9{\pm}0.8years$) and twelve male ($19.0{\pm}1.6years$) basketball players rebound jumped for maximal vertical height to sufficiently stress the anterior cruciate ligament. Kinematic and ground reaction data were collected and combined with inverse dynamics to estimate the knee extensor and abductor torque. The EMG data from the biceps femoris and rectus femoris was used to estimate the ratio of quadriceps muscle activity. Female athletes showed more reduced knee flexion at foot contact, more increased knee abduction, extensor and abductor knee joint torque at foot contact, and quadriceps ratio at stance phase than those of male athletes. In conclusion, Female athletes showed differences in knee neuromuscular biomechanical factors than male athletes during basketball rebound jump.

• The Journal of Asian Finance, Economics and Business
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• v.8 no.7
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• pp.91-101
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• 2021

The paper examines the impact of the COVID-19 pandemic on the stock market prices. The vector autoregression model (VAR) has been used in this analysis to survey 341 stocks on the Ho Chi Minh City Stock Exchange (HOSE) for the period from January 23, 2020 to December 31, 2020. The empirical results obtained from the analysis of 11 economic sectors suggest that there is a statistically significant impact relationship between COVID-19 and the healthcare and utility industries. Additional findings show a statistically significant negative impact of COVID-19 on the utility share price at lag 1. Analysis of impulse response function (IRF) and forecast error variance decomposition (FEVD) show an inverse reaction of utility stock prices to the impact of COVID-19 and a gradual disappearing shock after two steps. Major findings show that there is a clear negative effect of the COVID-19 pandemic on share prices, and the daily increase in the number of confirmed cases, indicate that, in future disease outbreaks, early containment measures and positive responses are necessary conditions for governments and nations to protect stock markets from excessive depreciation. Utility stocks are among the most severely impacted shares on financial exchanges during a pandemic due to the high risk of immediate or irreversible closure of manufacturing lines and poor demand for basic amenities.

• Composites Research
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• v.22 no.3
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• pp.9-17
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• 2009

Nanoindentation behaviours on the films of softer Ag film/harder Cu substrate structure were studied by the molecular dynamics method. As a result, it was shown that the stiffness and hardness of films were strongly dependent on the thickness of films. The stiffness and hardness increased with the thickness of film within a critical range as an inverse Hall-Petch relation. The stiffness and hardness of Cu substrate with Ag film less than 5 nm were observed to be lower than those of bulk silver. In particular, the flower-like dislocation loop was created on the interface by the interaction between dislocation pile-up and misfit dislocation during the indentation of Ag film/Cu substrate with film thickness less than 4 nm, which seemed to be associated with the drop of load in the indentation load versus displacement curve.