• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.22-22
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• 2000

This study investigates the use of mixed $H_2/H_{\infty}$ and $\mu$-synthesis to construct a robust controller for the benchmark problem. The model treated in the problem is a coupled three-inertia system which reflects the dynamics of mechanical vibrations. We, first adopt the mixed $H_2/H_{\infty}$ the to design a feedback controller K(s). Next, $\mu$-synthesis method is applied to the overall system to make use of structured parametric uncertainty.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2007년도 하계학술대회 논문집
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• pp.43-45
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• 2007

This Paper proposes a simple identification method of the moment of inertia for high performance spindle motor of machine tool. It uses the dynamic equation of a simple mechanical system, the torque reference of a speed controller, and the actual rotating speed of machine. The identified inertia can be for auto-tuning of the gains in the speed controller. The effectiveness of the proposed method is proved by the computer simulation.

• 대한기계학회논문집B
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• 제33권6호
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• pp.418-426
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• 2009

The effect of an inertia moment of a pump flywheel on the thermal-hydraulic behaviors of the KALIMER-600(Korea Advanced LIquid MEtal Reactor) reactor pool during an early-phase of a loss of normal heat sink accident was investigated. The thermal-hydraulic analyses for a steady and a transient state were made by using the COMMIX-1AR/P code. In the present analysis a quarter of the reactor geometry was modeled in a cylindrical coordinate system, which includes a quarter of a reactor core and a UIS, a half of a DHX and a pump and a full IHX. In order to evaluate the effects of an inertia moment of the pump flywheel, a coastdown flow whose flow halving time amounts to 3.69 seconds was supplied to a natural circulation flow in the reactor vessel. Thermal-hydraulic behaviors in the reactor vessel were compared to those without the flywheel equipment. The numerical results showed a good agreement with the design values in a steady state. It was found that the inertia moment contributes to an increase in the circulation flow rate during the first 40 seconds, however to a decrease of it there after. It was also found that the flow stagnant region induced by a core exit overcooling decelerated the flow rate. The appearance of the first-peak temperature was delayed by the flow coastdown during the initial stages after a reactor trip.

• 한국소음진동공학회논문집
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• 제26권2호
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• pp.217-224
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• 2016

In this study, a transfer matrix method (TMM) for a twisted uniform beam considering the effect of rotary inertia is developed, and the differential equation and the displacements and forces are derived from Hamilton's principle. The particular transfer matrix is derived by applying the distributed mass and transcendental function while using a local coordinate system. In addition, the results obtained from this method are independent for a number of subdivided elements, and this method can determine the exact solutions for the free vibration characteristics of a twisted uniform Rayleigh beam. To validate the accuracy of the proposed TMM, the computed results are compared with those reported in the existing literature, and the comparison results indicate notably good agreement. In addition, the method is used to investigate the effects of rotary inertia for a twisted beam.

• 한국소음진동공학회논문집
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• 제27권1호
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• pp.80-86
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• 2017

This paper describes switching method of the cross-sectional area of the fluid passage way to improve the performance of a hydraulic engine mount with an inertia track and a decoupler. The mount has nonlinear dynamic characteristics depending on the vibrational frequency and amplitude. For the convenience of analysis, two linear motion equations were derived on the basis of the mechanical model according to the low-and high-frequencies. The properties of the transmissibility and dynamic stiffness derived from the equations were investigated according to switching the cross-sectional area of the inertia track and decoupler. Switching method of the cross-sectional area can be derived from the transmissibility plot. In comparison between transmissibility of passive and switchable mounts with an inertia track and a decoupler, the performance of the switchable mount is improved greatly than the passive mount. The resonant peak is remarkably reduced in the high frequency region.

• 한국정밀공학회지
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• 제31권10호
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• pp.897-904
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• 2014

In this paper, two-DOF parallel manipulator has the sliders which execute a linear reciprocating motion depending on parallel guides and the end-effector which can be adjusted arbitrarily. To investigate the dynamic characteristics of the manipulator, the dynamic performance index is used. The index is able to be obtained by the relation between the Jacobian matrix and the inertia matrix. The kinematic and the dynamic analysis find these matrices. Also, the dynamic model of the manipulator is derived from the Lagrange formula. This model represents complicated nonlinear equations of motion. With the simulation results of the dynamic characteristic of the manipulator, we find that the dynamic performance index is based on the selection of the ranges for the continuous movement of the manipulator and the dynamic model derived can be used to the control algorithm development of the manipulator.

• 로봇학회논문지
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• 제7권4호
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• pp.267-275
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• 2012

When using commercialized robot assisted laparoscopic, surgeon has met some problems to depend only on image of the surgical field. To solve it, there were various researches. The previous study showed that it is possible to estimate the operation force on the commercialized instrument inside patient without sensors. To apply the estimated force to a haptic master console for the laparoscopy surgical robot system, the light haptic master console should be designed. This paper suggests the design of lighter master console handle to reduce a weight of the console whose structure can match with the joint and DOF of an instrument. A cable-conduit mechanism is designed to make light structure to perform a delicate manipulation. The cable-conduit mechanism removes the weight and inertia of link caused by haptic actuator and encoder which is separated from handle link of a manipulator.

• 대한기계학회논문집B
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• 제20권6호
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• pp.2057-2066
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• 1996

^In this paper, diagnostic technique for detecting the engine faults, especially misfire, are introduced and compared with each other under the same conditions. With all of them the instantaneous angular velocitys, measured at the flywheel, were analyzed. The techniques include the frequency analysis, auto-correlation function, velocity index, acceleration index, maximum acceleration index, and integrated torque index. Since the main driving components for the angular velocity fluctuation are both the pressure and the inertia torque, the component of the inertia torque in it must be excluded to extract the information of the combustion from the angular velocity. To do this, it is required to consider only the first half of the combustion period in the angular velocity fluctuations, which has never been proposed in the existing methods. On the basis of this fact, the results show that the most effective diagnostic technique is maximum acceleration index.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.385-388
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• 1996

A time delay controller with state feedback is proposed for azimuth motion control of the frictionless positioning device which is subject to the variations of inertia in the presence of measurement noise. The time delay controller, which is combined with a low-pass filter to attenuate the effect of measurement noise, ensures the asymptotic stability of the closed loop system. It is found that the low-pass filter tends to increase the robustness in the design of time delay controller as well as the gain and phase margins of the closed loop system. Numerical and experimental results support that the proposed controller guarantees a good tracking performance irrespective of the variation of inertia and the presence of measurement noise.

• 한국정밀공학회지
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• 제5권3호
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• pp.20-30
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• 1988

Using the design parameters of multi-joint manipulator, worspace of the manipulator were evaluated analytically, and the relation between such design parameters and nonlinearity of the manipulator were presented dynamically. The ratio of the volumes of a manipulator's workspace to the cube of its total link length presents a kinematic performance index [NVI] for the manipullator. It is possible to geometrically represent the manipulator dynamics with the generalized inertia ellipsoid (GIE). The relation between the GIE configuration and the characteristics of manipulator dynamics was analysed in terms of inertia and nonlinear forces (Coliolis and centrifugal forces). The nonlinearity caused by the change of the GIE configuration were affected by the difference between the major and minor axes length of the GIE. The results of this investigationare applied to the optimal design of the manipulator.