• Journal of Institute of Control, Robotics and Systems
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• v.10 no.1
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• pp.10-14
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• 2004

We present a predictive control algorithm combined with the robust robot control that is constructed on the Lyapunov min-max approach. Since the control design of a real manipulator system may often be made on the basis of the imperfect knowledge about the model, it is an important trend to design a robust control law that guarantees the desired properties of the manipulator under uncertain elements. In the preceding robust control work, we need to tune several control parameters in the admissible set where the desired stability can be achieved. By introducing an optimal predictive control technique in robust control we can find out much more deterministic controller for both the stability and the performance of manipulators. A new class of robust control combined with an optimal predictive control is constructed. We apply it to a simple type of 2-link robot manipulator and show that a desired performance can be achieved through the computer simulation.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2753-2755
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• 2000

In this paper, the robust position tracking cotroller for a brushless DC motor driving a one-link robot manipulator is proposed. By using the backstepping approach, the adaptive and robust controller is appropriately designed to ensure global stability. The proposed robust backstepping controller can compensate for estimation errors in system parameters in the system with no structural changes in the controller and without destruction of the stability. The closed-loop stability of the system is shown using Lyapunov techniques. The tracking errors are shown to be globally uniformly bounded.

• Earthquakes and Structures
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• v.23 no.6
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• pp.535-547
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• 2022

Handball sport, as its name postulates, is a team sport which highly physical workout. During a handball play, several ball impacts are applied on the hands resulting vibration in the forearm, upper arm, shoulders and in general in whole body. Hand has important role in the handball's game. So, understanding about the dynamics and some issues that improve the stability of the hand is important in the sport engineering field. Ulna and radius are two parallel bones in lower arm of human hand which their ends are located in elbow and wrist joint. The type of the joint provides the capability of rotation of the lower arm. These two bones with their ends conditions in the joints constructs a 4-link frame. The ulna is slightly thinner than radius. So, understanding about hand kinematics in handball's game is an important thing in the engineering field. So, in the current work with the aid of a multi-physics simulation, dynamic stability analysis of the ulna and radius bones will be presented in detail.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.48 no.5
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• pp.343-354
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• 2020

Bi-stable mechanism is a system that has two different stable equilibrium positions within its range of motion. It has an ability to stay in two different positions without external power input and despite small disturbances. One of the most bi-stable applied mechanism is a morphing system, such as deployable structures, switch systems, and robot grippers. However, due to the complexity of mechanism and limitation of structure configuration, it is difficult to apply on a morphing system with rotating link mechanism. In this paper, an implementation method of rotational bi-stable mechanism using cylindrical permanent magnets is proposed. The magnetic field and the magnetic force were calculated from electromagnet model of the cylindrical permanent magnet. Based on the model, the force relation between two links containing the cylindrical permanent magnets was estimated. An array of cylindrical permanent magnets was selected for symmetric bi-stability, and an experiment on the link structure with the proposed bi-stable mechanism was performed to investigate the stability against a external torque.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.47 no.5
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• pp.9-17
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• 2010

In this paper we propose an improved hierarchical routing protocol for wireless hybrid mesh network. The proposed method efficiently manages network topology and reduces overhead traffic for setting routing path by considering link stability. The simulation results show that the proposed method outperforms the HOLSR (hierarchical optimized link state routing) method in aggregate goodput, packet delivery ratio, and end-to-end delay.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1997.04a
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• pp.428-433
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• 1997

This paper presents a new control strategy for the position and force control of flexible manipulators. The governing equation of motion of a two-link flexible manipulator which features piezoceramic actuators bonded on each flexible beam is derived via Hamilton's principle. The control torque of the motor to command desired position and force is determined by a sliding mode controller on the basis of the rigid-mode dynamics. In the controller formulation, the sliding mode controller with perturbation estimation(SMCPE) is adopted to determine appropriate control gains. The SMCPE is then incorporated with the fuzzy technique to mitigate inherent chattering problem while maintaining the stability of the system. A set of fuzzy parameters and control rules are obtained from a relation between estimated perturbation and actual perturbation. During the commanded motion, undesirable oscillation is actively suppressed by applying feedback control voltages to the piezoceramic actuators. These feedback voltages are also determined by the SMCPE. Consequently, accurate force and position control of a two-link flexible manipulator are achieved. Computer simulations are undertaken in order to demonstrate the effectiveness of the proposed control methodology.

• The Journal of Engineering Research
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• v.7 no.1
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• pp.53-60
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• 2005

Community Wireless Networks define the next generation wireless services. Multimedia usages for financial services over community Wireless LAN (WLAN) based mesh networks require link stability. Several new services are being proposed for multimedia over WLANs. Portable Internet Services are implemented by several wireless carriers to proliferate their customer base. However, these services are still expensive and require a central telecom/wireless carrier whose monopoly and preference defines the availability of new services. Our research project identifies the usage of these critical services in public places over the financial services backbone architecture to provide efficient easy-to-use and economical services to their customers and merchants without being dependent on the central wireless carrier. The user connects to the network using his regular WLAN NIC using the Mesh Router/Bridge interconnectivity and obtains the needed multimedia and financial services from the ATM-AP Gateway, In our proposed scenario, the ATN AP-MR use AODV protocol and MR-MC is based on 802.11g/a/b IEEE standard. We use multi path routing protocols for reducing the congestion over a particular route. We demonstrate the results of our simulations and test-bed outcome to evaluate link failure rate and oversubscription factors to eliminate network congestion and non-availability of the critical financial services.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.11
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• pp.206-212
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• 2000

This paper presents a hybrid actuator scheme to actively control the end-point position and vibration of a two-link flexible robot arm. Control scheme consists of four different actuators; two servo-motors at the hubs and two piezoceramics bonded to the surfaces of the flexible links. Two sliding hyperplanes are designed for two servo-motors which have time varying parameters to maintain control performance in any configuration. The surface gradients of the hyperplanes are determined by pole assignment technique to guarantee the stability on the hyperplanes themselves. During the motion, undesirable oscillations caused by the torques based on the rigid link dynamics are actively suppressed by applying feedback control voltages to the piezoceramic actuators. Consequently, desired tip motion is achieved. In order to demonstrate the effectiveness of the proposed methodology, experiments are performed for the regulating and tracking control problems.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.472-475
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• 1997

The principle objective of this paper is to explain and demonstrate the advantage of the output-feedback controller proposed by Ailon in [61 by using simulation and experimental results. Namely, the goal of this study is to design and implement a real-time controller for set-point regulation of a one-link rigid robot manipulator with unknown parameters using only position measurement. For implementation a direct drive one-link rigid robot manipulator is constructed and a TMS320C40 DSP systems board is used in implementing real-time control algorithm.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.2 no.2
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• pp.139-145
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• 2002

In this paper, we proposed an intelligent digital redesign method for a class of fuzzy-model-based controllers, effective fur stabilization of continuous-time nonlinear systems. The TS fuzzy model is used to expend the results of the digital redesign technique to nonlinear systems. The proposed method utilized the recently developed LMI technique to obtain a digitally redesigned fuzzy-model-based controller. The intelligent digital redesign problem is converted to equivalent problem, and the LMI method is used to find the digitally redesigned fuzzy-model-based controller. The stabilization conditions of TS fuzzy model are derived for stabilization in the sense of Laypunov stability. In order to demonstrates the effectiveness and feasibility of the proposed controller design methodology, we applied this method to the single link flexible-joint robot arm.