• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.11
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• pp.2073-2082
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• 2010

The 4-th generation of mobile communication aims to realize global, fast and mobile communication service. The satellite communication charges a key role in this field. In this study, an OTM(On-The-Move) antenna which is mounted on ground vehicles and is used for mobile communication between vehicle and satellite was addressed. Since vehicles move during communication, active antenna line-of-sight stabilization is a core technology to guarantee high satellite communication quality. Stabilization of a satellite tracking antenna which consists of 2-DOF gimbals, an elevation gimbal over an azimuth gimbal, was considered in this study. Various disturbance torques such as static and dynamic mass imbalance torques, variation of moment of inertia according to elevation angle, friction torque related to vehicle motion, equivalent disturbance torque due to antenna roll motion, etc. were analyzed. As a robust stabilization control, rate feedback with sliding mode control and position feedback with proportional+integral control was suggested. To compensate antenna roll motion, a supplementary roll rate feed forward control was included beside of the feedback control loop. The feasibility of the analysis and the proposed control design were verified along with some simulation results.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.18 no.11
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• pp.1150-1156
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• 2008

This paper presents vibration control of an active hybrid engine mount featuring a magneto-rheological(MR) fluid and a piezostack actuator. The MR fluid is adopted to improve isolation performance at resonant frequencies, while the piezostack actuator is adopted for performance improvement at non-resonant frequencies, especially at high frequencies. Based on some particular practical requirements of engine mounts, the proposed mount is designed and manufactured. The characteristics of rubber element, piezostack actuator and MR fluid are verified for system analysis and controller synthesis. The dynamic model of the proposed mount with a supported mass (engine) is established. In this work, a sliding mode controller is synthesized for the mount system to reduce vibrations transmitted from the engine in a wide frequency range. Computer simulations are performed to evaluate control performances of the proposed active engine mount in time and frequency domains.

• Korean Journal of Materials Research
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• v.28 no.8
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• pp.435-439
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• 2018

MA Al alloys are examined to determine the effects of alloying of Mg and Cu and rolling on tensile deformation behavior at 748 K over a wide strain rate range($10^{-4}-10^3/s$). A powder metallurgy aluminum alloy produced from mechanically alloyed pure Al powder exhibits only a small elongation-to-failure(${\varepsilon}_f$ < ~50%) in high temperature(748 K) tensile deformation at high strain rates(${\acute{\varepsilon}}=1-10^2/s$). ${\varepsilon}_f$ in MA Al-0.5~4.0Mg alloys increases slightly with Mg content(${\varepsilon}_f={\sim}140%$ at 4 mass%). Combined addition of Mg and Cu(MA Al-1.5%Mg-4.0%Cu) is very effective for the occurrence of superplasticity(${\varepsilon}_f$ > 500%). Warm-rolling(at 393-492 K) tends to raise ${\varepsilon}_f$. Lowering the rolling-temperature is effective for increasing the ductility. The effect is rather weak in MA pure Al and MA Al-Mg alloys, but much larger in the MA Al-1.5%Mg-4.0%Cu alloy. Additions of Mg and Cu and warm-rolling of the alloy cause a remarkable reduction in the logarithm of the peak flow stress at low strain rates (${\acute{\varepsilon}}$< ~1/s) and sharpening of microstructure and smoothening of grain boundaries. Additions of Mg and Cu make the strain rate sensitivity(the m value) larger at high strain rates, and the warm-rolling may make the grain boundary sliding easier with less cavitation. Grain boundary facets are observed on the fracture surface when ${\varepsilon}_f$ is large, indicating the operation of grain boundary sliding to a large extent during superplastic deformation.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.5
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• pp.421-426
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• 2015

Need to develop human body's posture supervised robots, gave the push to researchers to think over dexterous design of exoskeleton robots. It requires to develop quantitative techniques to assess human motor function and generate the command to assist in compliance with complex human motion. Upper limb rehabilitation robots, are one of those robots. These robots are used for the rehabilitation of patients having movement disorder due to spinal or brain injuries. One aspect that must be fulfilled by these robots, is to cope with uncertainties due to different patients, without significantly degrading the performance. In this paper, we propose chattering free sliding mode control technique for this purpose. This control technique is not only able to handle matched uncertainties due to different patients but also for unmatched as well. Using this technique, patients feel active assistance as they deviate from the desired trajectory. Proposed methodology is implemented on seven degrees of freedom (DOF) upper limb rehabilitation robot. In this robot, shoulder and elbow joints are powered by electric motors while rest of the joints are kept passive. Due to these active joints, robot is able to move in sagittal plane only while abduction and adduction motion in shoulder joint is kept passive. Exoskeleton performance is evaluated experimentally by a neurologically intact subjects while varying the mass properties. Results show effectiveness of proposed control methodology for the given scenario even having 20 % uncertain parameters in system modeling.

• Earthquakes and Structures
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• v.3 no.2
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• pp.169-180
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• 2012

The performance of pure friction isolation system with respect to the frequency bandwidth of excitation and the predominant frequency is investigated. A set of earthquake ground motions (artificial as well as recorded [with different combinations of magnitude-distance and local site geology]) is considered for investigating effectiveness of pure friction isolators. The results indicate the performance of pure friction base isolated system does not only depend upon coefficient of friction and mass ratio but the stick-slip behaviour depends upon the frequency content of the excitation as well. Slippage prevails if the excitation frequency lies in a suitable frequency range. This range widens with increasing mass ratio. For larger mass ratios, the sliding effect is more pronounced and the maximum acceleration response is further reduced in the neighbourhood of frequency ratio (${\omega}/{\omega}_n$) of unity. The pure friction isolation system is effective in the case of broadband excitations only and that too, in the acceleration sensitive range of periods. The pure friction system is not effective for protection against narrow band motions for which the system response is quasi-periodic.

• The Journal of Engineering Geology
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• v.11 no.3
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• pp.295-301
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• 2001

Geological and geophysical surveys were performed to examined the cause of the rock-mass slide occurred at the opening site of the Wanglim tunnel of the Seoul-Pusan High Speed Railway. The results of geophygical survey and geometrical analysis for the geological structures indicate that the rock-mass slide was triggered by the heavy rainfall which increases the groundwater level and results in high pore pressure in the N60$^{\circ}$ E-trending major fractured zone of the slope, and that the foliation dipping toward the vertical open face of the slope acted as a main sliding plane during movement.

• Journal of the Korean Geotechnical Society
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• v.31 no.12
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• pp.59-69
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• 2015

This study examined the magnitude and distribution of earth pressure on the support system in a jointed rock mass due to the different joint sets as well as varying the rock type and joint condition (joint shear strength and joint inclination angle). Based on a physical model test and its numerical simulation, a series of numerical parametric analyses were conducted using a discrete element method. The results showed that the induced earth pressure was affected significantly by a joint set depending on the inclusion of the joint inclination angle, which induces a joint sliding condition, but the number of joint sets alone was not important, even though the earth pressure could be increased slightly as the number of joint sets is increased. In addition, the study results were compared with Peck's earth pressure for soil ground, which indicated that the earth pressure in a jointed rock mass could be considerably different from that in soil ground. The study suggests that the effects of joint sets as well as rock type and joint condition are important factors affecting the earth pressure in a jointed rock mass and they should be considered when designing a support system in a jointed rock mass.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.05a
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• pp.892-896
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• 2001

Investigation is performed on the stability of nonlinear system under turbulent fluid motion modelled as white noise random process, which is a preliminary result in the course of research on the characteristic and nonlinear control of the stochastic system. Adopted physical model is beam-type structure with tip-mass and main base mass. The governing equation is derived via F-P-K approach in stochastic sense. By means of Gaussian Closure method infinite dynamic moment equations due to system nonlinearity is closed to finite one. At the best of authors' knowledge, it is the first trial to design nonlinear controller by using of sliding mode technique in stochastic domain and control performance and effect in stochastic domain is studied.

• Smart Structures and Systems
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• v.4 no.6
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• pp.741-757
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• 2008

The research field of structural control has evolved from the development of passive devices since 1970s, through the intensive investigation on active systems in 1980s, to the recent studies of semi-active control systems in 1990s. Currently semi-active control is considered most promising in civil engineering applications. However, actual implementation of semi-active devices is still limited due mainly to their system maintenance and associated long-term reliability as a result of power requirement. In this paper, the concept of functionally upgraded passive devices is introduced to streamline some of the state-of-the-art researches and guide the development of new passive devices that can mimic the function of their corresponding semi-active control devices for various applications. The general characteristics of this special group of passive devices are discussed and representative examples are summarized. Their superior performances are illustrated with cyclic and shake table tests of two example devices: mass-variable tuned liquid damper and friction-pendulum bearing with a variable sliding surface curvature.

• Proceedings of the Korean Society of Tribologists and Lubrication Engineers Conference
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• 2002.10b
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• pp.377-378
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• 2002

In many dynamic systems, unwanted vibrations which may arise during operation of machines are costly in terms of reduction of performance and service life. Sometimes these risky oscillations endanger equipment and personnel. When hydraulic telescopic booms taken large mass are driven at slow speeds between the two pads, unstable oscillations occur through the stick-slip at the sliding parts and become more severe and saw-toothed. This paper supposes few models for the telescopic boom in the multi-degree of freedom system, and attempts a theoretical approach for the numerical analysis in its stick-slip condition, It was verified that this theoretical approach has an effect on estimate of stick-slip in the one-degree as well as multi-degree of freedom system.