• Journal of Institute of Control, Robotics and Systems
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• v.14 no.12
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• pp.1266-1269
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• 2008

We propose an integral sliding mode control for robot manipulators guaranteeing that sliding motion exists starting from an initial time. Also, we prove the asymptotic stability for robot manipulators using three important properties in the robot dynamics: skew-symmetry, positive-definiteness, and boundedness of robot parameter matrices. From illustrative examples, we show that the proposed method effectively controls for robot manipulators.

• Korean Journal of Mathematics
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• v.31 no.3
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• pp.295-303
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• 2023

This paper introduces a novel method for obtaining umbrella matrices, which are defined as orthogonal matrices with row sums of one, using skew-symmetric matrices and Cayley's Formula. This method is presented for the first time in this paper. We also investigate the kinematic properties and applications of umbrella matrices, demonstrating their usefulness as a tool in geometry and kinematics. Our findings provide new insights into the connections between matrix theory and geometric applications.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.4
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• pp.327-331
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• 2008

An in-line wet etch/cleaning system was established for the research and development in wet etch process as a formation of electrode such as metal or transparent conductive oxide layer. A reverse moving system was equipped in the in-line wet etch/cleaning system for the alternating motion of glass substrate in a wet etch bath of the system. Therefore, it was possible for the glass substrate to be moved back and forth and it was possible to reduce the size of the system by using the reversing moving system. For the effect of the alternating motion of substrate on the etch rate in the in-line wet etch bath, indium tin oxide(ITO) patterns were obtained through wet etch process in the in-line system in which the substrate was moved back and forth. From the CD(critical dimension) skews resulted from the ADI CD and ACI CD of the ITO patterns, it was concluded that the alternating motion of glass substrate are possible to be applied to the mass production of wet etch process.

• Journal of the Korean Society of Industry Convergence
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• v.17 no.4
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• pp.211-216
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• 2014

In general, gantry robot is very useful handling of heavy objects. But rope-driven yard cranes must have a little of sway and skew motion because ropes are passive mechanical device. So many researches have been concentrated on anti-sway algorithm controlling trolley speed. These approaches require sway angle. But it is very difficult to know sway angle and its derivative. Therefore control algorithm of trolley speed is not practical in general. On the contrary, control strategy using auxiliary rope is very useful to sway control of yard crane because rope length is shorter than quay-side container cranes. In this paper, we derive equations of motion of trolley system which have anti-sway controller to use auxiliary rope. And we propose the control strategy and analyse the behavior of the proposed system.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.46 no.9
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• pp.52-59
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• 2009

In this paper, the planar waveguide slotted array antenna is presented, which has the 3-layered structure of feeding networks for a high gain. Due to the ionosphere which generates 'Faraday rotation', the skew is happened between the signal radiated from an artificial satellite and the receiving antenna. This causes a polarization loss. In this paper, to remove this polarization loss, the dumbbell shaped linear polarizer using a single layer film is proposed. The gain of proposed antenna is 29.4dB.

• Smart Structures and Systems
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• v.24 no.2
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• pp.267-292
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• 2019

The present article addresses the coupled free vibration problem of skew magneto-electro-elastic plates (SMEE) considering the temperature-moisture dependent material properties. The plate kinematics follows Reddy's higher order shear deformation theory. With the aid of finite element methods, the governing equations of motion are derived considering the Hamilton's principle and solved by adopting condensation technique. The influence of different temperature and moisture dependent empirical constants on the frequency response of SMEE plate has been assessed. In addition, the natural frequencies corresponding to various fields are evaluated and the effect of empirical constants on these coupled frequencies is determined. A detailed parametric study has been carried out to assess the individual effects of temperature and moisture dependent empirical constants along with their combined effect, aspect ratio, length-to-width ratio, stacking sequence and boundary conditions. The results reveal that the external environment as well as the geometrical skewness has a significant influence on the stiffness of the SMEE plates.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.05a
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• pp.428-431
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• 2002

Yard cranes are very useful equipments for handling of heavy containers. But rope-driven yard cranes must have a little of sway and skew motion because ropes are passive mechanical device. So many researches have been concentrated on anti-sway algorithm controlling trolley speed. But control algorithm of trolley speed is not practical in windy weather. In this paper, we are going to propose a new structure for anti-sway. This structure uses aux. ropes. The control strategy with auxiliary rope is very useful to sway control of yard crane because rope length is shorter than quay-side container cranes. In this paper, we derive equations of motion of trolley system which have anti-sway controller to use auxiliary rope. And main schemes are introduced and explained briefly.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2000.04a
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• pp.64-71
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• 2000

Yard cranes are very useful equipments for handling of heavy containers. But rope-driven yard cranes must have a little of sway and skew motion because ropes are passive mechanical device. So many researches have been concentrated on anti-sway algorithm controlling trolley speed. These approaches require sway angle. But it is very difficult to know sway angle and its derivative. Therefore control algorithm of trolley speed is not practical in general. On the contrary, control strategy using auxiliary rope is very useful to sway control of yard crane because rope length is shorter than quay-side container cranes. In this paper, we derive equations of motion of trolley system which have anti-sway controller to use auxiliary rope. And we propose the control strategy and analyse the behavior of the proposed system.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2000.11a
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• pp.143-151
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• 2000

Yard cranes are very useful equipments for handling of heavy containers. But rope-driven yard cranes must have a little of sway and skew motion because ropes are passive mechanical device. So many researches have been concentrated on anti-sway algorithm controlling trolley speed. These approaches require sway angle. But it is very difficult to know sway angle and its derivative. Therefore control algorithm of trolley speed is not practical in general. On the contrary, control strategy using auxiliary rope is very useful to sway control of yard crane because rope length is shorter than quay-side container cranes. In this paper, we derive equations of motion of trolley system which have anti-sway controller to use auxiliary rope. And we propose the control strategy and analyse the behavior of the proposed system.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.446-449
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• 1997

Yard cranes are very useful equipments for handling of heavy containers. But rope-driven yard cranes must have a little of sway and skew motion because ropes arc passive mechanical device. So many researches have been concentrated on anti-sway algorithm controlling trolley speed. But control algorithm of trolley speed is not practical in windy weather. In this paper, we are going to propose a new structure for anti-sway. This structure uses aux. :opes. The control strategy with auxiliary rope is very useful to sway control of yard crane because rope length is shorter than quay-sidc container cranes. In this paper, we derive cquatlons of motion of trolley system which have anti-sway controller to use auxiliary rope. And we propose the control strategy and analyse the behavior of the proposed system.