• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.15 no.2 s.95
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• pp.169-175
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• 2005

In this paper, a novel vibration control scheme for a single-link flexible manipulator system without using a vibration feedback sensor is proposed. In order to achieve the vibration information of the flexible link, a reaction moment estimator based on the dynamic characteristics of the flexible manipulator is proposed. While the manipulator is maneuvering the reaction moment is reciprocally acting on the flexible link and the hub inertia due to the vibration of the link. A sliding mode controller based on the equivalent rigid body dynamics corresponding to the proposed flexible manipulator is then augmented with the reaction moment estimator to realize a decentralized control system. The reaction moment estimator is implemented via the first order low pass filter. The performance of the proposed control scheme is verified by computer simulation and experiment.

• Proceedings of the KIPE Conference
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• 2008.06a
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• pp.348-350
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• 2008

A link voltage adjustment converter employing load power estimator for notebook computer adaptor is proposed. It is consisted of the boost converter as a power factor correction stage and the LLC resonant converter as a DC/DC conversion stage with a newly introduced link voltage adjustment method employing load power estimator, which helps to reduce the transformer size and peak of output voltage ripple, maintaining high efficiency over all the load condition. Experimental results with 85W converter are given to verify the validity of the proposed circuit.

• Proceedings of the IEEK Conference
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• 2000.11a
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• pp.287-290
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• 2000

This paper analyze link-sharing mechanisms in packet networks based on the hierarchical class based queueing. The CBQ outlines a set of flexible, efficiently implemented gateway mechanisms that can meet a range of service and link-sharing requirements. We have analyzed the Class level(B, C, D) using the EWMA (Exponential Weighted Moving Average) weight value and EWMA average limit value.

• Proceedings of the IEEK Conference
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• 2000.06e
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• pp.27-30
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• 2000

In this paper, we propose a new approach to determination of environment forces acting on a rigid body. To estimate the output of disturbance observer due to internal torque, the disturbance observer output estimator using functional link neural network (FLANN) is designed. It is also shown by simulation results that the precise estimation of contact force is achieved for a 2-link SCARA robot performing position/force control.

• Journal of the Korean Data and Information Science Society
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• v.4
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• pp.1-11
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• 1993

The Cox's regression model is frequently used for covariate effects in survival data analysis, But, much of the statistical work has focused on asymptotic behavior so the small sample evaluation has been neglected. In this paper, we compare the small or moderate sample performances of the survival function estimators for the Cox's regression model using bootstrap method. The smoothed PL type estimator and the Link estimator are slightly better than corresponding the PL type estimator and the Nelson type estimator in the sense of the achieved error rates.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.782-787
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• 2004

In the conventional sliding mode control technique, a priori knowledge of the bound of external disturbances or/and parameter uncertainties is required to assure control robustness. This, however, may not be easy to obtain in practical situation. This work presents a novel methodology, a sliding mode controller with perturbation estimator, which offers a robust control performance without a priori knowledge about the perturbations (disturbances and parameter uncertainties). The proposed technique is featured by an integrated average value of the imposed perturbation over a certain sampling period. This work also proposes two effective actuating methods of the perturbation estimator: on-off condition and filtering condition. In order to demonstrate the effectiveness of the proposed methodology, a two-link robotic system is adopted and its position control performance is evaluated. In addition, a comparative work between the conventional technique and the proposed one is undertaken.

• Proceedings of the KIEE Conference
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• 2004.11c
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• pp.420-422
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• 2004

The non-ideal characteristics of wireless communication are found in sensor network. And sensor network must also address new raised issues. The efficient ad-hoc routing algorithm is considered the nice solution for new raised sensor network problems. To design this efficient ad-hoc routing algorithm, we study and evaluate new components in routing algorithm. Namely, new components are Link estimator, Neighbor table and Parent selection. We have tested this related experiment using the TIP-30C. TIP-30C is sensor network node that is designed by KETI(Korea Electronic Technology Institute).

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.9
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• pp.1859-1865
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• 2002

In the conventional sliding mode control technique, a priori knowledge of the bound of external disturbances or/and parameter uncertainties is required to assure control robustness. This, however, may not be easy to obtain in practical situation. This work presents a novel methodology, a sliding mode controller with perturbation estimator, which offers a robust control performance without a priori knowledge about the perturbations (disturbances and parameter uncertainties). The proposed technique is featured by an integrated average value of the imposed perturbation over a certain sampling period. In order to demonstrate the effectiveness of the proposed methodology, a two-link robotic system is adopted and its position control performance is evaluated. In addition, a comparative work between the conventional technique and the proposed one is undertaken.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.11a
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• pp.219-224
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• 2001

An accurate tip position control of a single-link flexible manipulator subjected to torque disturbance is achieved by utilizing so called sliding mode controller with disturbance estimation (SMCDE). After formulating the governing equation of motion in the state 1pace representation, a stable sliding surface is designed via the LQR method. The SMCDE is then synthesized by integrating equivalent sliding mode controller with the disturbance estimator which is featured by an integrated average value of the imposed disturbance over a certain sampling period. The regulating tip motion of the flexible manipulator is evaluated by employing the proposed SMCDE.

• Journal of KSNVE
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• v.5 no.3
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• pp.385-394
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• 1995

Recently, since robot manipulator becomes faster and lighter, its link is no longer regarded as rigid body, and robot controller which only controls robot position cannot reduce vibration of the flexible link. Therefore vibration control is needed in robot manipulator control in addition to position control. In the case that tip mass changes when robot manipulator in working, it is clear that the efficiency of the vibration/position controller designed for the fixed system goes down. In this paper, the system with time varying parameters, adaptive control theory is adopted which estimates parameters changed by the variation of the tip mass and re-calculates the gain of the controller. Validify of the proposed adaptive controller and capability of the estimator are evaluated by computer simulations and experiments. Comparison results of the optimal controller for the fixed system and proposed adaptive controller and carried out.