• Journal of Power Electronics
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• 제16권4호
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• pp.1387-1395
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• 2016

A method for the identification of mechanical parameters based on integral calculation is presented. Both the moment of inertia and the friction constant are identified by the method developed here, which is based on well-known mechanical differential equations. The mechanical system under test is excited according to a pre-determined low-frequency sinusoidal motion, minimizing the distortion, and increasing the accuracy of the results. The parameters are identified using integral calculation, increasing the robustness of the results against measurement noise. Experimental data are supported by simulation, confirming the effectiveness of the proposed technique. The performance improvements shown here are of use in the design of speed and position controllers and observers. Owing to its simplicity, this method can be readily applied to commercial inverter products.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.821-825
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• 1991

This paper presents an architecture and control logic of a Flexible Manufacturing Cell (FMC) which is one of the important elements under Computer Integrated Manufacturing (CIM) environment. To implement FMC, it is very important to develop a software which can control and monitor the overall system in an integrated environment. Our primary concern in this research is not to develop individual systems, but to integrate them in the hierarchical control level. Progress on the research of integrating CAD/CAM, Process Planning, Off-line Robot Programming and Simulation module into FMC control system is reported. FMC hardware system used here has an Automated Storage & Retrieval System (AS/RS), a conveyor system, a transfer robot, a CNC milling machine, a bar-code system, and an IBM PC/AT as Cell Control System (CCS). In order to demonstrate the operational result, the name plates, text-carved aluminium plates, are manufactured by this system.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2001년도 춘계학술대회 논문집(한국공작기계학회)
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• pp.229-233
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• 2001

In this paper, we propose a remote controller for robot manipulator using local area network(LAN) and internet. To do this, we develope a server-client system as used in the network field. The client system is in any computer in remote place for the user to log-in the server and manage the remote factory. the server system is a computer which controls the manipulator and waits for a access from client. The server system consists of several control algorithms which is needed to drive the manipulator and networking system to transfer images that shows states of the work place, and to receive a Tmp data to run the manipulator. The client system consists of 3D(dimension) graphic user interface for teaching and off-line task like simulation, external hardware interface which makes it easier for the user to teach. Using this server-client system, the user who is on remote place can edit the work schedule of manipulator, then run the machine after it is transferred and monitor the results of the task.

• 한국정밀공학회지
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• 제15권4호
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• pp.15-26
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• 1998

Full car model is needed for investigating as a entire dynamics of vehicle. In this study, 7DOF of full car model's dynamics is selected. This paper proposes the output feedback controller based on optimal control theory. Input data and output data from the optimal controller are used for neural network system identification of the suspension system. To do system identification, neural network which has robustness against nonlinearities and disturbances is adapted. This study uses back-propagation algorithm to train a multil-layer neural network. After obtaining a neural network model of a suspension system, a neuro-controller is designed. Neuro-controller controls suspension system with off-line learning method and multistep ahead prediction model based on the neural network model and a neuro-controller. The optimal controller and the neuro-controller are designed and then, both performances are compared through. For simulation, sinusoidal and rectangular virtual bumps are selected.

• 한국공작기계학회논문집
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• 제10권2호
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• pp.95-102
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• 2001

In general there are many degrees of freedom(DOFs) in industrial robots. So they have many poses of several special end-effectors positions and orientations. For that reason, industrial robots are used in a wide scope of industrial applica-tions such as welding, spray painting, deburring, and so on. In this research, an off-line continuous path planning method based on linear interpolation with parabolic blend is developed. The method safely maintains the constant orientation for base frame and end-effectors path within allowable error and minimizes the number of segments in path. This algorithm may apply to welding and painting in which the orientation is particularly significant. The simulation study of cartesian curve is carried out to show the performance of this algorithm.

• 전자공학회논문지B
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• 제31B권9호
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• pp.85-100
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• 1994

This paper proposes a recognition system of constrained handwritten Hangul and alphanumeric characters using discrete hidden Markov models (HMM). HMM process encodes the distortion and similarity among patterns of a class through a doubly stochastic approach. Characterizing the statistical properties of characters using selected features, a recognition system can be implemented by absorbing possible variations in the form. Hangul shapes are classified into six types by fuzzy inference, and their recognition is performed based on quantized features by optimally ordering features according to their effectiveness in each class. The constrained alphanumerics recognition is also performed using the same features used in Hangul recognition. The forward-backward, Viterbi, and Baum-Welch reestimation algorithms are used for training and recognition of handwritten Hangul and alphanumeric characters. Simulation result shows that the proposed method recognizes handwritten Korean characters and alphanumerics effectively.

• 한국정밀공학회지
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• 제6권3호
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• pp.32-45
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• 1989

The positioning accuracy of robots depends upon a forward kinematics which relates the joint variables to the orientation and position of the robot extremity in the absolute coordinate system. The relationship between two connective joint coordi- nates of a robot, which is the basis of the kinematics, is defined by 4 Denavit-Hartenberg parameters. But manufacturing errors in machining and assembly process of robots lead to disctrepancies between the design parameters and the physical structure. Thus, improving the positioning accuracy of robots reguires the identification of the actual link parameters of each robot. In this study, the least-squares method is used to calibrate the link parameters and off-line parameter calibration software is developed. Computer simulation is done to study the dependence of the calibration performance upon the DOF of the robot and number of acquired data set used in the least-squares method. 3 DOF Robot/Controller and specially designed 3D coordinate measurer is made and experiment is carried out to verify the theoretical and computational analysis.

• 천문학회보
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• 제43권1호
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• pp.60.3-61
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• 2018

Abell 115 is a renowned cluster merger at z=0.197. It exhibits an asymmetric X-ray distribution with cometary tails and a megaparsec-sized radio relic stretching in the northeastern direction from the core of the northern cluster. Many observations have concluded that this cluster merger has a large impact parameter, but there has been no numerical analysis on the structure of Abell 115. In this study, we simulate Abell 115 with Gadget2 N-body/SPH code to reproduce the X-ray and weak lensing features of Abell 115. We find a new plausible merger scenario of Abell 115, wherein the northern cluster is currently in an outgoing phase. The predicted X-ray emission has a similar morphology to the observed tail of the northern cluster. However, in order to reproduce the observed line-of-sight velocity and projected distance while maintaining the two systems gravitationally bound, the system should possess a large projection angle, which makes the shock look considerably more diffused than the observed radio relic.

• 대한기계학회논문집B
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• 제25권8호
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• pp.1030-1036
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• 2001

A new mathematical model to determine the optimal gas temperatures in reheating furnace was proposed for the good quality of products. This model employs sensitivity method to calculate the optimal gas temperatures in each zone for heating the slab up to its discharging target temperature and for heating it uniformly. This method was validated by showing that the calculated discharging temperature of the slab was in a good agreement with its prescribed discharging target one through an off-line simulation.

• 수산해양기술연구
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• 제49권2호
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• pp.153-160
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• 2013

Control allocation is an important part of a system. It implements the function that map the desired command forces from the controller into the commands of the different actuators. In this paper, the authors present an approach for solving constrained control allocation problem in vessel system by using multi-parametric quadratic programming (mp-QP) algorithm. The goal of mp-QP algorithm applied in this study is to compute a solution to minimize a quadratic performance index subject to linear equality and inequality constraints. The solution can be pre-computed off-line in the explicit form of a piecewise linear (PWL) function of the generalized forces and constrains. The efficiency of mp-QP approach is evaluated through a dynamic positioning simulation for a vessel by using four tugboats with constraints about limited pushing forces and found to work well.