• 한국정보처리학회논문지
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• 제2권5호
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• pp.667-676
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• 1995

ATM 트래픽의 다중화시 셀 지연 변경(cell delay variance)에 의한 트래픽의 특성 변화로 인하여 셀밉집 현상과 셀 분산 현상이 발생된다. 이러한 현상들은 셀 스트림 의 버스티니스를 증가시키고 네트워크의 폭주 상태를 유발하게 된다. 따라서 입력 스 트림을 일정한 간격으로 네트워크나 트래픽 제어 기능으로 전송하는 트래픽 쉐이핑 기능이 필요하다. 기존 방법들의 대부분이 입력 트래픽을 동일한 특성을 갖는 트래픽 으로 간주하여 연구를 수행하였지만, 본 연구에서는 입력 트래픽을 손실과 지연의 관 점으로 트래픽 특성을 고려한 트래픽 쉐이핑 기법을 제안한다. 입력 트래픽의 특성을 고려한 쉐이핑 모델과 알고리즘을 제시하고 셀 지연 변경의 크기에 따른 트래픽 영향 을 연구한다. 제안된 기법을 가상 스케쥴링 기법(virtual scheduling algorithm)과 비교하여 쉐이핑 기법의 효율성을 평가한다. 실험 결과 제안된 기법이 지연에 민감한 트래픽인 경우 약 12%의 평균 지연의 감소와 손실에 민감한 트래픽인 경우 11%의 버 스티니스의 감소를 보였다.

• 대한기계학회논문집A
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• 제21권10호
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• pp.1683-1693
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• 1997

In this paper, a new nonlinear dynamic model is derived for a 2-dimensional overhead crane based on a new definition of 2-degree-of-freedom swing angle, and a new anti-swing control law is proposed for the crane. The dynamic model and control law take simultaneous travel and traverse motions of the crane into consideration. The model is first linearized for small motions of the crane load about the vertical stable equilibrium. Then the model becomes decoupled and symmetric with respect to the travel and traverse axes of the crane. From this result, a decoupled anti-swing control law is proposed based on the linearized model via the loop shaping and root locus methods. This decoupled method guarantees not only fast damping of load-swing but also zero steady state position error with optimal transient response for the 2-dimensional motion of the crane. Finally, the proposed control method is evaluated by controlling the simultaneous travel and traverse motions of a 2-dimensional prototype overhead crane. The effectiveness of the proposed control method is then proven by the experimental results.

• 한국생산제조학회지
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• 제4권3호
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• pp.39-47
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• 1995

This paper suggests generalize mathematica mode for the benefit of volumetric error analysis of a multi-axis machine tool machining a sculptured surfaces. The volumetric error, in this paper, is defined as a three dimensional error at the cutting point, which is caused by the geometric errors and the kinematic errors of each axis and alignment errors of the cutting tool. The actual cutting position is analyzed based on the form shaping model including a geometric error of the moving carriage, where a form shaping model is derived from the homogeneous transformation matrix. Then the volumetric error is obtained by calculating the position difference between the actual cutting position and the ideal one calculated from a Nonuniform Rational B-Spline named as NURES. The simulation study shows the effectiveness for predicting the behavior of machining error and for the method of error compensation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.152-155
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• 1994

The presence of joint elasticity or the arm flexibility causes low damped oscillatory position error along a desired trajectory. We utilize a stochastic model for describing the fast dynamics and the approximation error. A second order shaping filter is synthesized such that its spectrum matches that of the fast dynamics. Augmenting the state vector of slow part with that of shaping filter, we obtain a nonlinear dynamics to which a Gaussian white noise is injected. This modeling approach leads us to the design of an extended Kalman filter(KEF) and a linear quadratic Gaussian(LQG) control scheme. We present the simulation results of this control method. The simulation results show us that our Kalman filtering approach is one of prospective methods in controlling the flexible arms.

• Journal of Mechanical Science and Technology
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• 제19권spc1호
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• pp.357-363
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• 2005

The non-minimum phase characteristic of a flexible manipulator makes tracking control of its tip difficult. The level of the tip tracking performance of a flexible manipulator is significantly affected by the characteristics of the tip reference trajectory as well as the characteristics of the flexible manipulator system. This paper addresses the question of how to best specify a reference trajectory for the tip of a flexible manipulator to follow in order to achieve the objectives of reducing : tip tracking error, residual tip vibration, and the required actuation effort at the manipulator joint. A novel method of tip-based learning controller for the flexible manipulator system is proposed in the paper, where a model of the flexible manipulator system with a command shaping filter is used to generate a smooth and realizable tip reference trajectory for a tip-based learning controller.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제3권2호
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• pp.166-172
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• 2003

The dynamics of the DDWMR depends on the velocity difference of the two driving wheels. And which is known as a type of non-holonomic equation. By this reason, the treatment of DDWMR had become difficult and conservative. In this paper, the differential-driving wheeled mobile robot is considered. The Takaki-Surgeno fuzzy model and a control method for DDWMR is presented. The suggested controller has three control elements. The first element is fuzzy state feedback designed for eliminating the dependence of time-varying parameter. The second element is weighting controller which is designed for good frequency response. The third controller is PI-controller which is designed for good command following and robustness with un-modeled dynamics. In order for achieving the performance objective, the design of controller is based on the loop-shaping algorithm.

• 한국정밀공학회지
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• 제16권2호통권95호
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• pp.201-210
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• 1999

One of the major limitations of productivity and quality in metal cutting is the machining accuracy of machine tools. The machining accuracy is affected by geometric and thermal errors of the machine tools. Therefore, a key requirement for improving te machining accuracy and product quality is to reduce the geometric and thermal errors of machine tools. This study models geometric error for error analysis and develops on-machine measurement system by which the volumetric erors are measured. The geometric error is modeled using form shaping function(FSF) which is defined as the mathematical relationship between form shaping motion of machine tool and machined surface. The constant terms included in the error model are found from the measurement results of on-machine measurement system. The developed on-machine measurement system consists of the spherical ball artifact (SBA), the touch probe unit with a star type stylus, the thermal data logger and the personal computer. Experiments, performed with the developed measurement system, show that the system provides a high measuring accuracy, with repeatability of ${\pm}2{\mu}m$ in X, Y and Z directions.

• 제어로봇시스템학회논문지
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• 제20권4호
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• pp.402-407
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• 2014

In this paper, residual sway control of objects that are moved underwater is investigated. The fuel transfer system in a nuclear power plant transfers the nuclear fuel rods underwater. The research on the dynamics of the loads transferred in different mediums (water and air) and their control methods have not been fully developed yet. The attenuation characteristics of the fuel transfer system have been studied to minimize its residual vibration by considering the effects of hydrodynamic forces acting on the fuel rod. First, a mathematical model is derived for the underwater fuel transfer system, and then experiments have been conducted to study the dynamic behavior of the rod while it travels underwater. Lastly, the residual vibration at the end point is minimized using the input shaping technique.

• 한국해양공학회지
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• 제20권2호
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• pp.16-21
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• 2006

This paper discusses the behavior of post-tensioned and shaped hypar space truss, with consideration of the influence of removing some web members. Hypar space truss is post-tensioned at the bottom chords of one diagonal on the ground; the essential behavior characteristic of shape formation is discussed by using a small-scale test model. Results of experiments and nonlinear finite-element analysis indicate that a planar, rectangular- arranged structure can be deformed to a predicted hyper shape, by the proposed shape formation method. Also the feasibility of the proposed method for furnishing of a hypar shaped face truss has been presented, under the condition of both non-removed and partially removed web members. It follows that a nonlinear finite element analysis method can be used in predicting the behavior of the space shape and the post-tensioning force in sharing of hypar space truss. Further, in comparison to the other cases, the results of test and analysis show that the active diagonal shaping in the non-removed web members and passive diagonal shaping of partially removed web members are in relatively good agreement.

• 대한안전경영과학회:학술대회논문집
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• 대한안전경영과학회 2008년도 추계학술대회
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• pp.303-316
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• 2008

For the past 25 years, Korean semiconductor has experienced enormous growth to be the highest production country in the world. Semiconductor industry is very time sensitive and driven by technology and process, and requires 24-hour full operation. The environment includes many different types of equipment, utilities, different gases and toxic chemicals as well as high voltage electricity. We have performed a survey with 3-shift engineers and workers in one line. The content of the questionnaire was about the correlation between fatigue and performance shaping factor (work type and work ability), and as a result we were able to deduce the correlation, p-value and the pattern of scatter plot. The shape of the model was made of 4 blocks for fatigue, 5 blocks for work type and 5 blocks for work ability, i. e. 14 blocks in total. As a conclusion to this findings, there was a correlation between fatigue and work type and work ability specifically in semiconductor industry, and we need some effort to reduce this.