• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년 학술대회 논문집 정보 및 제어부문
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• pp.285-287
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• 2006

The paper treats the nonlinear robust control of Chua's circuit having Chuar's diode as an element based on the internal model principle. The Chua's diode has unknown nonlinear parameters and the circuits parameters are alos assumend unknown. Nonlinear regulator equations are established to obtain 3-fold equilibrium equations on which the output error is zero. Also an internal model of the 3-fold exosystem is constructed for obtaining the control law. Pole Placement method is used for obtaining the feeback control law. Simulation results are presented for tracking the sinusoidal and constant reference input signal. Asymptotic trajectory control and the suppression of chaotic motion in spite of uncertainties in the system are accomplished.

• 한국해양공학회지
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• 제35권3호
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• pp.216-228
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• 2021

In the present study, the performance of a floating oscillating water column (OWC) device has been studied in regular waves. The OWC model has the shape of a hollow cylinder. The linear potential theory is assumed, and a matched eigenfunction expansion method(MEEM) is applied for solving the diffraction and radiation problems. The radiation problem involves the radiation of waves by the heaving motion of a floating OWC device and the oscillating pressure in the air chamber. The characteristics of the exciting forces, hydrodynamic forces, flow rate, air pressure in the chamber, and heave motion response are investigated with various system parameters, such as the inner radius, draft of an OWC, and turbine constant. The efficiency of a floating OWC device is estimated in connection with the extracted wave power and capture width. Specifically, the piston-mode resonance in an internal fluid region plays an important role in the performance of a floating OWC device, along with the heave motion resonance. The developed prediction tool will help determine the various design parameters affecting the performance of a floating OWC device in waves.

• 상하수도학회지
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• 제20권4호
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• pp.509-518
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• 2006

Although final water of domestic water treatment plants almost contains highly corrosive characteristics, the countermeasures for eliminating internal corrosion of pipeline system have not been conducted yet by controlling water quality in plants. The technologies of internal corrosion control are to control water quality parameters(pH, Alkalinity, and Calcium Hardness etc.) and to use corrosion inhibitor. Under the conditions of domestic water treatment, first of all, the technologies of adjusting water quality parameters has to be considered. Otherwise, The technology of using corrosion inhibitor is favorably thought to be applied with the technology of adjusting water quality parameters in accordance with the result of availability for water treatment process. Since the technology of adjusting water quality parameter influences on other water treatment processes, the guideline of water quality management to be apt for water quality characteristic is required to be estabilished. While the selection of proper chemicals and technologies is dependent upon the raw water characteristics and water treatment process, typically, the technology of $Ca(OH)_2$ & $CO_2$ additions is considered more effective than other technologies in order to adjust pH and Alkalinity, increase $Ca^{2+}$ and form $CaCO_3$ film

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 2008년도 춘계학술대회 논문집
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• pp.67-70
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• 2008

This paper deals with the effect of radial parameters in cogging process such as reduction in height (Rh) and rotational angle ($\theta$) of a billet on a void closure for large forged products. Usually closing and consolidation of internal void defects in a ingot is a vital matter when utilized as large forged products, using a press with limited capacity and the sizes of the ingots becoming larger. Consequently, it is important to develop cogging process for improvement of internal soundness without a void defect and cost reduction by solid forging alone with limited press capacity. For experiments of cogging process, hydraulic press with a capacity of 800 ton was used together with a small manipulator which was made for rotation and overlapping of a billet. Size of a void was categorized into two types; $\emptyset$ 6.0 mm and $\emptyset$ 9.0 mm to investigate the change of closing and consolidation of void defects existed in the large ingot during the cogging process. Also open void and closed void in the ingot were tackled to show the differentiation of closing process of internal voids with respect to void sizes. In this paper systematic configuration for closing process of void defects were expressed based on this experiment results in the cogging process.

• PNF and Movement
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• 제17권1호
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• pp.111-118
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• 2019

Purpose: This study aimed to investigate the correlation between trunk stabilization muscle activation and the parameters of gait analysis in healthy individuals. Methods: Thirty healthy adults (15 male, 15 female) with no history of lower back pain (LBP) or current musculoskeletal and neurological injuries were studied. Trunk stabilization muscle activation (e.g., external oblique, internal oblique, transverse abdominis, erector spinae) were assessed using surface electromyography. To analyze gait, we measured temporal parameters (e.g., gait velocity, single support phase, double support phase, swing phase, and stance phase) and a spatial parameter (e.g., H-H base of support). Results: A statistically significant correlation was found between the internal oblique, transverse abdominis, and erector spinae muscle activity and gait velocity, single support phase, double support phase, swing phase, and stance phase. No statistically significant correlation was found between the external oblique muscle activity and the gait velocity, single support phase, double support phase, swing phase, and stance phase. No statistically significant correlation was found between the external oblique, internal oblique, transverse abdominis, and erector spinae muscle activity and the spatial parameter. Conclusion: This study demonstrated that a relationship exists between trunk stabilization muscle activation and temporal parameter (i.e., gait velocity, single support phase, double support phase, swing phase, and stance phase) during gait analysis. Therefore, the trunk's stabilizer muscles play an important role in the gait of healthy individuals.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.539-542
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• 1996

The forces exerted on an object by the end-effectors of multi-manipulators are decomposed into the motion-inducing force and the internal force. Motion-inducing force effects the motion of an object and internal force can't effect it. The motion of an object can't track exactly the desired motion because of internal force component, therefore internal force component must be considered. In this paper using the resolved acceleration control method and the fact that internal force lies in the null space of jacobian matrix, we construct independently the position, motion-inducing force and internal force controller. Secondly we construct the robust controller to preserve the robustness with respect to the uncertainty of manipulator parameters.

• 한국농공학회지
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• 제31권3호
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• pp.57-69
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• 1989

The study was carried out for the strength parameter of coarse grained Soil and slope stability analysis of earth dam. The test samples were taken fifteen kinds of soil from cohesive soil to coarse gravel. The degree of compaction of test samples for shear test and permeability test was chosen 95 percentage of maximum dry density. The results of this study are as follows ; 1.The maximum dry density(Yd) of coarse grained soil increase in proportion to coarse particles(P) with the relation of Y d= 1.609+0.0043P. 2.The coefficients of permeability(k) decrease by the increase of fine particles(n) with the relation of k=0.0426e-0 185n. 3.The cohesions of soil decrease by the increase of coarse particles, but internal friction angles are more increased in same condition. 4.The internal friction angles(${\Phi}$) decrease in inverse proportion to void ratio(e) with the relation of ${\Phi}$ = 73.068 - 69.268e. 5.The strength parameters( Ct ${\Phi}$t) by triaxial compression test are clearly smaller than that (Cd, ${\Phi}$d) by direct shear test in fine grained soil, but the differences between both parameters are a little in coarse grained soil.The relations of both parameters are as follows; Ct = O.544Cd + 0.04 ${\Phi}$t= 1.282${\Phi}$d-2306 6.In cohesive soil, the strength parameters( Cl ${\Phi}$l) by large size shear test apparatus are similar to the strength parameters(Cs , ${\Phi}$s) by small size shear test appratus, but Cs and ${\Phi}$s values are larger than Cl and ${\Phi}$l values from 10 percentage to 20 percentage in coarse grained soil. 7.The fine grained soil is inappropriate to high dam more than 20 meters and it must be taken coarse grained soil with high internal friction angle for high dam.

• Structural Engineering and Mechanics
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• 제55권3호
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• pp.535-554
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• 2015

Dolphin echolocation (DE) optimization algorithm is a recently developed meta-heuristic in which echolocation behavior of Dolphins is utilized for seeking a design space. The computational performance of meta-heuristic algorithms is highly dependent to its internal parameters. But the computational time of adjusting these parameters is usually extensive. The DE is an efficient optimization algorithm as it includes few internal parameters compared with other meta-heuristics. In the present paper a modified Dolphin echolocation (MDE) algorithm is proposed for optimization of steel frame structures. In the MDE the step locations are determined using one-dimensional chaotic maps and this improves the convergence behavior of the algorithm. The effectiveness of the proposed MDE algorithm is illustrated in three benchmark steel frame optimization test examples. Results demonstrate the efficiency of the proposed MDE algorithm in finding better solutions compared to standard DE and other existing algorithms.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.446-446
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• 2000

This paper presents the design of a passive biped walking robot based on limit cycle analysis. By using numerical analysis and experiment, we identify better design criterion for biped walking robot. In designing robot parameters we apply global search method to find limit cycles for given robot parameters and ground angle. Internal parameter variation changes limit cycle behavior, total energy, strides, etc and the characteristics of walking is analyzed by simulation and experiments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.518-521
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• 1995

In this paper, a learning control problem is formulated for cooperating multiple-robot manipulators with uncertain system parameters. The commonly held object is also assumed to be unknown and the multiple-robots themselfs experience uncertain operating conditions such as link parameters, viscous friction parameters, suctions, actuator bias, and etc. Under these conditions, the learning controllers designed for learning of uncertain parameters and robot control inputs for multiple-robot systems are shown to drive the multiple-robot manipulators to follow the desired Cartesian trajectory with the desired internal forces to the unknown object.