• International Journal of Control, Automation, and Systems
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• v.3 no.3
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• pp.411-418
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• 2005

This paper discusses an output-tracking control design method for Takagi-Sugeno fuzzy systems with parametric uncertainties. We first represent the concerned system as a set of uncertain linear systems. The tracking problem is then converted into a stabilization problem thereby leading to a more feasible control design procedure. A sufficient condition for robust practical output tracking is derived in terms of a set of linear matrix inequalities. A numerical example for a flexible-joint robot-arm model has been demonstrated, to convincingly show effectiveness of the proposed system modeling and control design.

• Proceedings of the Korean Society For Composite Materials Conference
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• 2001.05a
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• pp.163-167
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• 2001

A two-dimensional progressive failure analysis method is presented for the strength characterization of the composite joints under pin loading. The eight-nodes laminated she]1 element is utilized based on the updated Lagrangian formulation. The criteria by Yamada-Sun, Tsai-Wu, and the maximum stress are used for the failure estimation. The stiffness of failed layer is degraded by the complete unloading method. No factor depending on test is included in the finite element analysis except for the material strength and stiffness. Total 20 plate specimens with and without hole are tested to validate the finite element prediction. The Tsai-Wu failure criterion most conservatively estimates the strength of laminate, and the maximum stress criterion yields the highest strength because it does not consider the coupling of the failure modes. The strength by Yamada-Sun method neglecting the matrix failure effect are located between other two methods and shows best agreement with test result for laminate with hole.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.24 no.2 s.173
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• pp.431-437
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• 2000

In this paper, thermite and gas pressure weldings have been used to join rails in-track and analyzed as functions of hardness and wear characteristics. The wear rate of thermite welded rail is low compared with that of gas pressure welded rail, which is tested in a pin-on-disk wear tester. The hardness of thermite welded materials is relatively high and narrowly distributed between three zones; welded part, thermally affected zone, and base matrix. Wear of a welded rail may be a major factor in railroad maintenance costs and failures at the rail-rail huh joint.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.05a
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• pp.971-977
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• 2005

Power Flow Analysis (PFA) is developed for the effective predictions of frequency-averaged vibrational response in medium-to-high frequency ranges. In PFA, the power coefficients of semi-infinite structure and for-field energy density are used to predict the vibrational responses of structures. Generally, at high frequencies, PFA can predict narrow-band frequency-averaged vibrational responses of built-up structures. However, in low- to medium frequency ranges, the dynamic responses obtained by PFA represent broad-band frequency-averaged vibrational energy densities. For the prediction of vibrational response variance in Power Flow Finite Element Method (PFFEM), the variances of input power and joint element matrix describing structural coupling relationship are derived. Finally, for the validity of developed formulation, numerical examples for two co-planer plates are performed and the vibrational response variance of the structure are compared with the results of classical and PFFEM solutions.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.3
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• pp.249-256
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• 1999

The conventional robot manipulability is decomposed into linear manipulability and angular manipulability so that they may be analysed and visualized in easy way even in the case of 3 dimensional task space with 6 variables. After the Jacobian matrix is decomposed into linear part and angular part, constraint on joint velocities is transformed into linear task velocity and angular task velocity through the decomposed Jacobian matrices. Under the assumption of redundant robot manipulators, several optimization problems which utilize the redundancy are formulated to be solved by linear programming technique or sequential quadratic programming technique. After deriving the solutions of the optimization problems, we give graphical interpretations for the solutions.

• Journal of the Korean Statistical Society
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• v.23 no.1
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• pp.13-32
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• 1994

Let A(n) and B(n) be sequences of $m \times m$ random matrices with a joint asymptotic distribution as $n \to \infty$. The asymptotic distribution of the ordered roots of $$\mid$A(n) - f B(n)$\mid$ = 0$ depends on the multiplicity of the roots of a determinatal equation involving parameter roots. This paper treats the asymptotic distribution of the roots of the above determinantal equation in the case where some of parameter roots are zero. Furthermore, we apply our results to deriving the asymptotic distributions of the eigenvalues of the MANOVA matrix in the noncentral case when the underlying distribution is not multivariate normal and some parameter roots are zero.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.1114-1119
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• 1995

This paper presents the development of estimation model and control method based on the new computer vision. This proposed control method is accomplished using a sequential estimation scheme that permits placement of the rigid body in each of the two-dimensional image planes of monitoring cameras. Estimation model with six parameters is developed based on a model that generalizes known 4-axis scara robot kinematics to accommodate unknown relative camera position and orientation, etc. Based on the estimated parameters,depending on each camers the joint angle of robot is estimated by the iteration method. The method is tested experimentally in two ways, the estimation model test and a three-dimensional rigid body placement task. Three results show that control scheme used is precise and robust. This feature can open the door to a range of application of multi-axis robot such as assembly and welding.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.35 no.5
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• pp.177-184
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• 1986

An effective cartesian coordinate model is presented to control a robot motion along a prescribed timebased hand trajectory in cartesian coordinates and to provide an adaptive feedback design approach utilizing self-tuning control methods without requiring a detailed mathematical description of the system dynamics. Assuming that each of the hybrid variable set of velocities and forces at the cartesian coordinate level is mutually independent, the dynamic model for the cartesian coordinate control is reduced to first-order SISO models for each degree of freedom of robot hand, including a term to represent all unmodeled effects, by which the number of parameters to be identified is minimized. The self-tuners are designde to minimize a chosen performance criterion, and the computed control forces are resolved into applied joint torques by the Jacobian matrix. The robustness of the model and controller is demonstrated by comparing with the other catesian coordinate controllers.

• Proceedings of the KIEE Conference
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• 1999.11c
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• pp.503-505
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• 1999

Linear cheap control problem is a special form of linear quadratic regulator problem in which a small parameter ${\varepsilon}^2$ is multiplied with the control term. The joint problem in which cheap control is applied to a weakly coupled discrete system has not been reported in the literature. In this paper, the high-gain problem and decoupling problem on discrete weakly coupled system are considered together. We derive Hamiltonian matrix when the cheap control is applied to a weakly coupled discrete system and use it in developing numerical formulations in the process of applying parallel algorithm to the system.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.914-919
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• 1993

The kinematic resolutions of redundancy is addressed in this paper. The governing equation for quasistatic behavior of compliance governed redundant manipulators is formulated and the repeatable property of the manipulator is proposed. Then the compliance paradigm is used to resolve the redundancy in a repeatable way. The compliance paradigm is one under which the controller simulates the imaginary manipulator which is governed to move by real joint stiffness. The equation is expressed as the weighted pseudoinverse with the configuration dependent weighting matrix. Algorithmic singularities arisen from this scheme are also discussed.