• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.1
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• pp.48-55
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• 2005

Mobility of an indoor wheeled robot is affected by adhesion force that is related to various floor conditions. When the adhesion force between driving wheels and floor decreases suddenly, the robot begins slip. In order to overcome this slip problem, optimal slip velocity must be decided for stable movement of wheeled robot. First of all, this paper shows that conventional PI control can not be applied to a wheeled robot of the light weight. Secondly, proposed fuzzy logic is applied to the Takagi-Sugeno model for the configuration of fuzzy sets. For the design of Takagi-Sugeno model and fuzzy rule, proposed algorithm uses FCM(Fuzzy c-mean clustering method) algorithm. In additionally, this algorithm adjusts the driving torque for restraining re-slip. The proposed fuzzy logic controller(FLC) is pretty useful with prevention of the slip phenomena for the controller performance in the re-adhesion control strategy, These procedures are implemented using a Pioneer 2-DXE wheeled robot parameter.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.6
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• pp.111-118
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• 2000

The design of reference trajectory with respect to drag acceleration is necessary to decelerate from hypersonic speed safely after atmosphere re-entry of space vehicle. The re-entry guidance design involves trajectory optimization, generation of a reference drag acceleration profile with the satisfaction of 6 trajectory constraints during the re-entry flight. This reference drag acceleration profile can be considered as the reference trajectory. The cost function is composed of the accumulated total heating on vehicle due to the reduction of weight. And a regularization is needed to prevent optimal drag profile from varying too fast and achieve realized trajectory. This paper shows the relations between velocity, drag acceleration and altitude in drag acceleration profile, and how to determine the reference trajectory.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2004.10a
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• pp.34-40
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• 2004

In this paper, peliminary design procedure of magnetorheological (MR) dampers is developed for controlling the building response induced by seismic excitation. Hysteretic biviscous model which is simple and can describe the hysteretic characteristics of MR damper is used for parametric studies. The capacity of MR damper is determined as a portion of not the building weight but the lateral restoring force. A method is proposed for the optimal placement and number of MR dampers, and its effectiveness is verified by comparing it with the simplified search algorithm. Numerical results indicate that the capacity, number and the placement can be reasonably determined using the proposed design procedure.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.998-1002
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• 2003

This paper investigates the characteristics of stiffness and load in the thrust bearing of spindle which could be changeable according to the groove shape of inlet, in order to design a high-stiffness air bearing by selecting a optimal groove shape. In experiments, dead weight and displacement sensor are used to measure the load carrying capacity and the stiffness respectively. Various shapes and different depth of groove of self-restrictor are used as experimental conditions. Comparative study between the theoretical value and the practical one by measuring the value of stiffness and load of the thrust bearing is performed.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.248-253
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• 1992

In the development of a high speed and light weight manipulator, it is necessary to consider the structural elasticity of a robotic arm. The analysis of the infinite mode dynamic of robotic arm must be performed to obtain the finite mode modelling to achieve the feasible controller design of the robotic arm. The modelling procedure of the robotic arm is also illustrated. The controlled mode of the modelled dynamic can be derived by truncating the higher vibrational mode to result in the low order system for the sampling in the control signal is confined to the higher mode. And it is controlled by the pole assignment which can compensate the unmodelled dynamic effects. The unmodelled dynamic can result in the instability of the controlled system, which is known as spillover. The controller design of the low order system is simulated by the pole assignment and optimal control theory.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.7 no.4
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• pp.135-141
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• 2008

Independent suspension axle and final reduction gear for special-purpose vehicles such as a armored vehicles are almost imported in Germany etc. so, developing them is necessary to save cost. In severe condition (open fields, water surface driving, obstacle pass), special-purpose vehicles must work well. Drop box, axle and final reduction gear performed static analysis. We know that is possible weight reduction. The purpose of this paper is to find out the optimal shape of final reduction gear's case by means of response surface methodology. The response surface method is the statistical method which can be applied to the non-sensitivity based optimization. The response surface which is constructed by the least square method contains only the polynomial terms so that the global maximum and minimum points are easily obtained.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1999.10a
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• pp.153-159
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• 1999

A material handling crane is composed of many complex structural components which require sufficient strength, stiffness and stability throughout its service life and need to be light in weight, and satisfy the required functions under the entire range of operating conditions. In this study, the analysis system for material handling cranes is presented. This program integrate various structural analyses modules with the GU(Graphic User Interface) concept. Utilizing basic variables as input data, the analysis system performs quasi-static, eigenvalue, buckling, fatigue and stability analysis. Using this program, the designer can generate optimal design data for the cranes without my actual measurements. This system will also be extended to other mechanical structures with kinematic motion like crane.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1990.10a
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• pp.95-100
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• 1990

An optimization method has been developed to find the minimum weight design of steel building structures which consist of the commercially available discrete sections. In this study, an emphasis was particularly placed on the practical applicability of optimization algorithm in engineering practice. The structure Is optimized through element optimization under the element level constraints first and then, if there is any violation of structural level constraints, it is adequately compensated by the constraint error correction vector obtained through the sensitivity analysis. A scaling procedure is introduced for the problems of large violated displacement constraint. The oscillation control in the objective function is also discussed. By dividing the available H-sections into two groups based on their section characteristics, much improved relationships between section variables were obtained and used efficiently in searching the optimum section in the section table.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 1994.03a
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• pp.209-217
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• 1994

The present study is concerned with the characteristics of the high speed precision bar cropping. This process is a practical application of High Energy Rate Forming in which the impact energy source is given by internal combustion engine. To enhance the added value of product, the recent forging fields trend toward the near net shape processes through the cold and closed die forging. For the purpose of these processes the precedent process is to obtain the precision billet which has little weight deviation and defect. The accuracy of initial billet by bar cropping depends upon the process parameters and die design technology. Therefore, in order to investigate the effect of process parameters upon product quality, the cropping experiments are carried out according to the various parameters such as billet clearence, billet length, billet material, cropping speed and so on. From these results some criteria of the optimal die design for the product of good quality are suggested.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2011.10a
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• pp.361-363
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• 2011

MFOD(Multi-Fuction Observation Devices) must be observed and measured the distance of the target with laser rangefinder, as well as satellite navigation devices and magnetic north by taking advantage of measuring the exact coordinates of the target is a portable observation. In this paper, it suggests for the multi-function observational study concepts of honor for the optimal design through the highest performance and lightest weight on how to implement the approach in theory.