• International Journal of Control, Automation, and Systems
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• v.6 no.5
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• pp.677-688
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• 2008

In this paper, the general problem of impedance control for a robotic manipulator with a moving flexible base is addressed. Impedance control imposes a relation between force and displacement at the contact point with the environment. The concept of impedance control of flexible base mobile manipulator is rather new and is being considered for first time using singular perturbation and new sliding mode control methods by authors. Initially slow and fast dynamics of robot are decoupled using singular perturbation method. Slow dynamics represents the dynamics of the manipulator with rigid base. Fast dynamics is the equivalent effect of the flexibility in the base. Then, using sliding mode control method, an impedance control law is derived for the slow dynamics. The asymptotic stability of the overall system is guaranteed using a combined control law comprising the impedance control law and a feedback control law for the fast dynamics. As first time, base flexibility was analyzed accurately in this paper for flexible base moving manipulator (FBMM). General dynamic decoupling, whole system stability guarantee and new composed robust control method were proposed. This proposed Sliding Mode Impedance Control Method (SMIC) was simulated for two FBMM models. First model is a simple FBMM composed of a 2 DOFs planar manipulator and a single DOF moving base with flexibility in between. Second FBMM model is a complete advanced 10 DOF FBMM composed of a 4 DOF manipulator and a 6 DOF moving base with flexibility. This controller provides desired position/force control accurately with satisfactory damped vibrations especially at the point of contact. This is the first time that SMIC was addressed for FBMM.

• Journal of Biomedical Engineering Research
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• v.16 no.1
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• pp.95-100
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• 1995

In this study, we have evaluated the effect of amplitude and frequency perturbation of EGG signal for single vowels associated with laryngeal pathology. The normal EGG signal was properly characterized by an autoregressive model which has an optimal order of ninth using the parametric method. This can be analyzed by determining the transfer function. Perturbations in the fundamental pitch and in the peak amplitude of EGG signal measured with a four-electrode system using the modulation/demodulation techniques were investigated for the purpose of developing a decision criteria for the laryngeal function analysis. The abnormal EGG signal has nonperiodic and unstable characteristics. It can be discriminated by the calculation of opening and closing time of glottis using the EGG signal. In case of normal and abnormal subjects, m$\pm$0.5*sd was discriminating line for frequency perturbation and m$\pm$2*sd for normal amplitude perturbations, respectively. Also, The normal and abnormal cases of the subjects can be discriminated effectively using the pattern of attractor derived with Hilbert transform of EGG signal.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.11 no.4
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• pp.505-513
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• 2000

This study suggests new antenna design for polarization diversity. For dual polarization, two port feeding lines are printed on two separate layers and cross-shaped aperture is located on ground between the substrates. For reducing back radiation, a reflector is attached around $\lambda$/4 behind feeding substrates. For wide bandwidth we use a perturbed patch with saw tooth shaped. This perturbation effect causes reduction of antenna size and also reduction of array size. With the antenna proposed here, $1\times4$ array dual polarization antenna for polarization diversity of PCS base station is built. One single element has as large as 10.3%, 11.3% bandwidths at each port, V.S.W.R less than 1.3 and the isolation is less than -40 dB, also array antenna has 13.2% 12.7% band bandwidth, V.S.W.R less than 1.3 the isolation below -36dB and the XPD of 10 dB.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.28B no.5
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• pp.335-342
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• 1991

A real-tme nonlinear parameter tomography is pumping wave method. This tomorgraphy has a merit which requires no 180$^{\circ}$ projection datum, while the ray-bending effect is remrkably remained on the reconstructed image. In this paper we intend to compensate this ray-bending effect using the perturbation method. Impulsive pumping wave makes derived compensative term simple form, nad the compensative image is easily obtained. We perform computer simulation to confirm the improvement of corrected imate.

• Journal of applied mathematics & informatics
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• v.31 no.1_2
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• pp.131-145
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• 2013

In this paper, we present an initial value technique for solving singularly perturbed differential difference equations with a boundary layer at one end point. Taylor's series is used to tackle the terms containing shift provided the shift is of small order of singular perturbation parameter and obtained a singularly perturbed boundary value problem. This singularly perturbed boundary value problem is replaced by a pair of initial value problems. Classical fourth order Runge-Kutta method is used to solve these initial value problems. The effect of small shift on the boundary layer solution in both the cases, i.e., the boundary layer on the left side as well as the right side is discussed by considering numerical experiments. Several numerical examples are solved to demonstate the applicability of the method.

• Steel and Composite Structures
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• v.24 no.2
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• pp.141-149
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• 2017

In this study, vibration analysis of fluid conveying microbeams under non-ideal boundary conditions (BCs) is performed. The objective of the present paper is to describe the effects of non-ideal BCs on linear vibrations of fluid conveying microbeams. Non-ideal BCs are modeled as a linear combination of ideal clamped and ideal simply supported boundary conditions by using the weighting factor (k). Non-ideal clamped and non-ideal simply supported beams are both considered to show the effects of BCs. Equations of motion of the beam under the effect of moving fluid are obtained by using Hamilton principle. Method of multiple scales which is one of the perturbation techniques is applied to the governing linear equation of motion. Approximate solutions of the linear equation are obtained and the effects of system parameters and non-ideal BCs on natural frequencies are presented. Results indicate that, natural frequencies of fluid conveying microbeam changed significantly by varying the weighting factor k. This change is more remarkable for clamped microbeams rather than simply supported ones.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.12
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• pp.95-104
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• 1997

We consider controller design problem to enhance shift quality for automatic transmission. A dynamic modeling related to shifting (mainly 2-3 up-shift) is constructed and nonlinear robust controllers are designed to reduce output torque during shifting. Suggesting a new hydraulic circuit enabling the direct clutch drive, the control activity is extended and more implementable than the conventional design. The designed robust controllers overcome the unmodeled dynamics and the uncertainty embending in the system. Moreover, the dynamic effect between the clutch pressure and the PWM valve duty is considered via singular perturbation technique.

• Journal of KSNVE
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• v.7 no.3
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• pp.387-392
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• 1997

This paper concerns a SCARA robot with the flexible forearm linked to the rigid upper arm. The equations of motion are derived by the Lagrangian mechanics. For controller design, the perturbation approach is taken to separate the original equations of motion into linear equations describing small perturbed motions and nonlinear equations describing purely rigid motion of the robot. To effect the desired payload motion, open loop control inputs are determined based on the inverse dynamics of the latter. In order to reduce the positional error during maneuver, an active vibration suppression is done. To this end, a feedback control is designed for robustness against disturbance on the basis of the linear equations and the LQR theory modified to have a prescribed degree of stability. The proposed control scheme shows satisfactory performances in experiments as well as in numerical simulations.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 2004.11a
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• pp.143-148
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• 2004

The numerical analysis of the hard disk drive slider is presented. The pressure distribution was calculated using the finite element method. The generalized Reynolds equation was applied in order to include the gas rarefaction effect. The balance of the air bearing force and preload force was considered. The characteristics of the small vibrations near the equilibrium were studied using the perturbation method. Triangular mesh with variable element size was employed to model the two-rail slider. The flying height, pitching angle, rolling angle, stiffness and damping of the two-rail slider were calculated for radial position changing from the inner radius to the outer radius and for a wide range of the slider crown values. It was found that the flying height, pitching angle and rolling angle were increased with radial position while the stiffness and damping coefficients were decreased. The higher values of crown resulted in increased flying height, pitching angle and damping and decreased stiffness.

• Bulletin of the Korean Space Science Society
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• 1992.10a
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• pp.11-11
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• 1992

The most celebrated problem in artificial satellite theory is undoubtedly the critical inclination problem. The KITSAT-1 satellite launched by Arian 42P from Guiana in August 11, 1992 has orbital inclination close to the critical value cos-1(1/rs). In that case, there is a singularity in some perturbation terms and therefore perigee will be fixed because do/dt is equals to zero. But actually the long periodic behaviour in argument of perigee, u is affected by luni-solar gravity andrelativistic effect, etc. Luni-solar gravity induces periodic perturbations in allorbital elements except the semi-major axis, and secular variations in 0, u and M.We have obtained nodal rate and inclination variations in case of the KITSAT-1.In this paper, we will also show the geopotential perturbations in 0, M of the Satellite in CIUding J2, J3, J4, J22 terms.