• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.8
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• pp.1209-1217
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• 1997

This paper proposes the modeling of the dynamics of two cooperating robot manipulators performing the assembly job such as peg-in-hole while coordinating the payload along the desired path. The mass and moment of inertia of the manipulators and the payload are assumed to be unknown. To control the uncertain system, a robust control algorithm based on the computed torque control is proposed. Usually, the robust controller requires high input torques such that it may face input saturation in actual application. In this reason, the robust control algorithm includes fuzzy logic such that the magnitude of the input torque of the manipulators is controlled not to go over the hardware saturation while keeping path tracking errors bounded. A numerical example using dual three degree-of-freedom manipulators is shown.

• The Korean Journal of Applied Statistics
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• v.8 no.2
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• pp.99-108
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• 1995

When modeling a complicated system with a computer model, it is of vital importance to choos input values efficiently. The Latin Hypercube sampling (LHS) proposed by MaKay et al.(1979) has been most widely used for choosing input values for a computer model. We propose the two-stage Latin Hypercube sampling(TLHS) which is an improved version of the LHS for procucing input values in estimating the excectation of a function of the output variable. The proposed method is applied to simulation study of the performance of a printer actuator and it is shown to outperform the other sampling methods including the LHS in accuracy.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.11
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• pp.1925-1930
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• 2016

Fuel cell power generation system, unlike conventional energy sources, converts chemical energy into electrical energy through electrochemical reaction of hydrogen and oxygen. This paper presents the control of interleaved multi-phase boost converter as the feasibility study on small-scale prototype electric railway vehicle application using fuel cell generation system. PSIM simulation program is to be used to implement the modeling of the electrical fuelcell as well as traction motor control with interleaved multi-phase boost converter. Comparing the input current ripple rate, two-phase interleaved boost converter is less than the boost converter. But the more multi-phase not less proportional to the ripple factor. we confirmed that the amplitude of the input current ripple rate of converter depend on duty ratio.

• Journal of the Korean Operations Research and Management Science Society
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• v.24 no.3
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• pp.83-91
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• 1999

In order to build and manage an ATM network effectively under several types of control methods, it is necessary to estimate the performance of the equipments in various viewpoints, especially of ATM multiplexer. As for the method to model the input stream into the ATM multiplexer, many researches have been done to characterize it by, such as, fluid flow, MMPP(Markov Modulated Poisson Process), or MMDP (Markov Modulated Deterministic Process). We introduce an MRP(Markov Renewal Process) to model the input stream which has proper structure to represent the burst traffic with high correlation. In this paper, we build a model for aggregated heterogeneous ON-OFF sources of ATM traffic by MRP. We make discrete time MR/D/1/B queueing system, whose input process is the superposed MRP and present a performance analysis by finding CLP(Cell Loss Probability). A simulation is done to validate our algorithm.

• International Journal of Contents
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• v.10 no.3
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• pp.41-46
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• 2014

A cause-effect graph considers only the desired external behavior of a system by identifying input-output parameter relationships in the specification. When testing a software system with cause-effect graphs, it is important to derive a moderate number of tests while avoiding loss in fault detection ability. Pairwise testing is known to be effective in determining errors while considering only a small portion of the input space. In this paper, we present a new testing technique that generates pairwise tests from a cause-effect graph. We use a Boolean Satisbiability (SAT) solver to generate pairwise tests from a cause-effect graph. The Alloy language is used for encoding the cause-effect graphs and its SAT solver is applied to generate the pairwise tests. Using a SAT solver allows us to effectively manage constraints over the input parameters and facilitates the generation of pairwise tests, even in the situations where other techniques fail to satisfy full pairwise coverage.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1060-1063
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• 1996

Remote Cask Grappling and Lid Unbolting Device (RCGLUD) is developed as a dedicated device capable of performing complete procedure of handling nuclear spent fuel transport cask. Since RCGLUD is suspended to an overhead crane, its body should undergo prolonged vibration upon actuation in rotational direction and it becomes difficult to achieve precise grappling of the cask. Therefore, this paper presents an adaptation of input shaping technique to effectively suppress the rotational vibration of RCGLUD and achieve precise positioning in rotational direction. This technique has a practical merit in that it requires only the information on the system natural frequency and the damping ratio. Its performance is verified by both simulation and experimental studies, and revealed that the method is also insensitive to modeling error.

• Journal of information and communication convergence engineering
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• v.10 no.2
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• pp.103-107
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• 2012

An end-launched adapter combining a coaxial loop within a rectangular waveguide has been analyzed and designed. The accurate electromagnetic modeling of input impedance for the adapter design has been developed using a modal analysis method. Also, design parameters to improve the end-launched adapter have been investigated. Numerical and experimental results of the proposed model have been compared with the results of previous works, and verified by an electromagnetic simulator of High Frequency Structure Simulator (HFSS). The input voltage standing wave ratios (VSWRs) are smaller than 2 over the wide frequency band from 7.5 GHz to 10.5 GHz.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.6
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• pp.90-98
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• 1997

A time-optimal control law for quick, strongly nonlinear systems has been developed and demonstrated. This procedure involves the utilzation of neural networks as state feedback controllers that learn the time-optimal control actions by means of an iterative minimization of both the final time and the final state error for the systems with constrained inputs and/or states. A neural identifier or a genetic algorithm identifier could be utilized for modeling the partially known systems and the unknown systems. The nature of neural networks as a parallel processor would circumvent the problem of "curwe of dimensionality". The control law has been demonstrated for both a torque input motor and a velocity input motor identified by a genetic algorithm called GENOCOPed GENOCOP.

• The Transactions of the Korean Institute of Power Electronics
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• v.7 no.5
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• pp.490-498
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• 2002

In this paper, a design method of LCL filter at the AC input side of a voltage source PWM converter is proposed. Effective method to prevent pollution of the utility caused by high frequency current ripple is to use a AC input LCL filter, The C elements in the filter provide a low impedance path for the high frequency component, preventing them from entering the utility. The resistors In series with the capacitors are used for damping the resonance in the filter The design examples are shown and the validity of the proposed design method is verified through the PSIM simulation.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2002.05a
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• pp.121-124
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• 2002

This paper resents a virtual forming system to simulate deep drawing process for stress-strain information by utilizing virtual system designed using Virtual Reality Modeling Language (VRML) and computer aided analysis (CAE) tool. The CAE tool to calculate stress, strain, and deformation is designed using Finite Element Method. Stress distributions and deformation profiles as well as the operation of forming machine can be simulated and visualized in the web. The developed system consists of three modules, input module, virtual forming machine module, and output module. The input nodule was designed using HTML and ASP. The input data for FEM calculation is directed to the forming machine module for calculation. The results from the forming machine module can be visualized through output module as well as the forming process simulation.