• Proceedings of the KIEE Conference
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• 1992.07a
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• pp.269-272
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• 1992

In this paper, an implementation approach of Fuzzy Position Controller for DC servo motor which requires the faster and more accurate dynamics is presented. The proposed Fuzzy position controller is consists of an adjustment routine obtaining optimal scale factors and a Fuzzy control routine inferencing optimal control signals, using 80286 microprocessor and DT 2801 board. Comparing to conventional PD controllers, the control performances such as reaching time, overshoot, disturbance adaptability and etc. are substantially improved.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.109.1-109
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• 2001

This paper deals with the path following problem of car-like intelligent mobile robot. A robust sliding mode control law based on time-varying state feedback is performed via Lyapunov method for path tracking of nonholonomic mobile robot with uncertainties. At first, A sliding control law is designed by combing the natural algebraic structure of the chained form system with ideas from sliding mode theory. Then, a robust control law is proposed to impose robustness against bounded uncertainties in path tracking. The problem of estimating the asymptotic stability region and the sliding domain of uncertain sliding mode system with bounded control input is also discussed. The proposed sliding mode control law can ensure the global reaching condition of the uncertain control system.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.162.1-162
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• 2001

In this paper, the adaptive fuzzy system is used as an adaptive approximator for robot nonlinear dynamic. A theoretical justification for the adaptive approximator is proving that if the representive point(RP or switching function) and its derivative in sliding mode control are used as the inputs of the adaptive fuzzy system, the adaptive fuzzy system can approximate robot nonlinear dynamics in the neighborhood of the switching surface. Thus the fuzzy controller design is greatly simplified and at the same time, the fuzzy control rule can be obtained easily by the reaching condition. Based on this, a new method for designing an adaptive fuzzy control system based on sliding mode is proposed for the trajectory tracking control of a robot with unknown nonlinear dynamics.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.1885-1890
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• 2003

The cooling tower is a device for making a cooling water in the air conditioning system of building, and there are many kinds of cooling tower system for air conditioner. In this paper, we introduced the water cooling system with an enclosed tank and water ejecting system for evaporating the water in tank. The city water was used for a working fluid, and the cooling water is generated by evaporating latent heat in the tank with a $25{\sim}50mmHg$. The time to reaching this vacuum pressure was about $20{\sim}30minutes$, and cooling water was obtained the value of temperature difference ${\Delta}T=7^{\circ}C$.

• Journal of Mechanical Science and Technology
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• v.17 no.12
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• pp.1876-1885
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• 2003

The artificial potential field (APF) methods provide simple and efficient motion planners for practical purposes. However, these methods have a local minimum problem, which can trap an object before reaching its goal. The local minimum problem is sometimes inevitable when an object moves in unknown environments, because the object cannot predict local minima before it detects obstacles forming the local minima. The avoidance of local minima has been an active research topic in the potential field based path planing. In this study, we propose a new concept using a virtual obstacle to escape local minima that occur in local path planning. A virtual obstacle is located around local minima to repel an object from local minima. We also propose the discrete modeling method for the modeling of arbitrary shaped objects used in this approach. This modeling method is adaptable for real-time path planning because it is reliable and provides lower complexity.

• Smart Structures and Systems
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• v.11 no.6
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• pp.569-587
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• 2013

This paper evaluates the closed loop performance of the reaching law based discrete sliding mode controller with multisensor data fusion (MSDF) in real time, by controlling the first two vibrating modes of a piezo actuated structure. The vibration is measured using two homogeneous piezo sensors. The states estimated from sensors output are fused. Four fusion algorithms are considered, whose output is used to control the structural vibration. The controller is designed using a model identified through linear Recursive Least Square (RLS) method, based on ARX model. Improved vibration suppression is achieved with fused data as compared to single sensor. The experimental evaluation of the closed loop performance of sliding mode controller with data fusion applied to piezo actuated structure is the contribution in this work.

• Animal Systematics, Evolution and Diversity
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• v.29 no.3
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• pp.207-216
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• 2013

We recognized Linnaemya microchaetopsis Shima, L. picta (Meigen) and L. zachvatkini Zimin in Korean Linnaemya subgenus Ophina Robineau-Desvoidy and the latter two are reported for the first time in Korea. The subgenus Ophina shares the following morphological characteristics (sensu Shima): 1) the male tergite 6 is fused mid-dorsally with sternite 7+8; 2) the female tergite 6 and tergite 7 are almost always divided longitudinally into two hemitergites; 3) the female tergite 6 is always longer than the tergite 7; 4) circus parallel-sided in caudal view; 5) epiphallus present; and 6) pteropleural seta long, reaching posterior margin of lower calypter. We provide a key to the included Korean species, as well as descriptions and illustrations with their diagnostic characters indicated.

• Proceedings of the Korea Concrete Institute Conference
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• 2003.05a
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• pp.83-88
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• 2003

In this paper, the medium strength self-compacting concrete with simple mix design method was manufactured and investigated about the properties of flowability and strength. Two types of binders like as fly-ash and RP(rock powder) were contained to the SCC in order to obtain the target medium strength of 270-350kgf/$cm^2$. The experimental tests about slump-flow, reaching time to the slump-flow of 50cm, V-funnel and U-box were carried out in accordance with the specified by the Japanese Society of Civil Engineering(JSCE). The mechanical properties such as compressive strength, splitting tensile strength and static modulus of elasticity were checked with the requirements specified by KS.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.27 no.7
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• pp.877-882
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• 2003

The main objective of the present study is to analyze the heat transfer characteristics in the vacuum carburizing furnace. Local temperatures are measured at different locations in the self-fabricated furnace for various operating conditions using K-type thermocouples. In addition, the present study simulates the fluid flows and heat transfer in the vacuum carburizing furnace using a commercial package (Fluent V. 6.0), and compares the predictions of local temperatures with experimental data. The temperature and flow fields are predicted. It is found that the time taken for reaching the steady-state temperature under the vacuum pressure is shorter than that under the normal pressure condition. It means that the carburizing furnace under vacuum pressure condition is capable of saving the required energy more efficiently than the furnace under the normal pressure condition. Furthermore, the temperature variations predicted by the numerical simulations are in good agreement with experimental data.

• Proceedings of the Korean Institute of Building Construction Conference
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• 2017.05a
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• pp.266-267
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• 2017

As apartment buildings defect lawsuits become socioeconomic problems, an objective basis system for the term of warranty liability of reinforced concrete constructions is urgent. This study was carried out as a basic study for developing a basis system for the term of warranty liability. To do this, defect data actual collected in apartment complexes were collected and analyzed. As the result of checking the cumulative rate of defect occurrence in reinforced concrete construction by year, the point of time of reaching the 90% level was the 5th years, which was similar with the provision of the Apartment Building Management Act. However, the current Supreme Court precedent has decided that the term of warranty liability for the main structural parts in reinforced concrete construction shall be 10 years and the dispute is expected to continue in the future in the defect lawsuit.