• 한국생산제조학회지
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• 제5권2호
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• pp.63-72
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• 1996

In order to regulate the cutting force at a desired level during peripheral end milling processes a feedrate override Adaptive Control Constraint (ACC) system was developed. The feedrate override function was accomplished through a development of programmable machine controller (PMC) interface technique on the NC controller, Nonlinear model of the cutting process was linearized as an adaptive model with a time varying process parameter. An integral type estimator was introduced for on-line estimation of the cutting process parameter, Zero order hold digital control methodology which uses pole-assignment concept for tuning of PI controllers was applied for the ACC system. Performance of the ACC system wsa confirmed on the vertical machining center equipped with fanuc OMC through a large amount of experiment.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 1998년도 춘계학술대회논문집; 용평리조트 타워콘도, 21-22 May 1998
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• pp.407-412
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• 1998

In this work, a new time integration method is proposed using the generalized derivative concept to simulate the dynamic phenomena having sudden constraint occurring in dynamic contact/impact problems. By the adoption of the generalized derivative concept and jump assumption, discontinuity can be incorporated in time integration and as a result, the algorithm does not need any other special consideration of jumps in dynamic field variables due to sudden constraint like dynamic contact-release conditions. To observe the characteristics of the proposed time integration method, the stability and convergence analyses are carried out. In numerical tests, several dynamic contact/impact problems are analyzed by straightforward application of the proposed time integration method with the exterior penalty method.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1999년도 하계학술대회 논문집 B
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• pp.791-793
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• 1999

In this paper, neural network-supervisory control method is proposed to minimize the effect of system uncertainty by load change and disturbance in the PID control system. In the proposed method, PID controller performs main control action by performing control within constraint error. And neural network-supervisory controller performs control action when error reaches the boundary of constraint error. Combining neural network-supervisory controller to guarantee the stability into PID control system, the resulting PID control system is expected to show better performance in the system with load change and disturbance. Simulation applying PID controller and neural network-supervisory controller showed excellence of proposed method.

• Journal of Mechanical Science and Technology
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• 제14권2호
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• pp.159-167
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• 2000

A computational method for the dynamic analysis of a constrained mechanical system is presented in this paper. The partial velocity matrix, which is the null space of the Jacobian of the constraint equations, is used as the key ingredient for the derivation of reduced equations of motion. The acceleration constraint equations are solved simultaneously with the equations of motion. Thus, the total number of equations to be integrated is equivalent to that of the pseudo generalized coordinates, which denote all the variables employed to describe the configuration of the system of concern. Two well-known conventional methods are briefly introduced and compared with the present method. Three numerical examples are solved to demonstrate the solution accuracy, the computational efficiency, and the numerical stability of the present method.

• KIEE International Transaction on Systems and Control
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• 제2D권2호
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• pp.108-114
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• 2002

This paper describes the design of a robust adaptive controller for a nonlinear dynamical system with unknown nonlinearities. These unknown nonlinearities are approximated by multilayered neural networks (MNNs) whose parameters are adjusted on-line, according to some adaptive laws far controlling the output of the nonlinear system, to track a given trajectory. The main contribution of this paper is a method for considering input constraint with a rigorous stability proof. The Lyapunov synthesis approach is used to develop a state-feedback adaptive control algorithm based on the adaptive MNN model. An overall control system guarantees that the tracking error converges at about zero and that all signals involved are uniformly bounded even in the presence of input saturation. Theoretical results are illustrated through a simulation example.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.465-470
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• 2001

This paper presents an algorithm which seeks steady-state equilibrium positions of constrained multibody systems driven by constant generalized speeds. Since the relative coordinates are employed, the constraint equations at cut joints are incorporated into the formulation. The proposed algorithm leads to nonlinear equations that need to be solved iteratively. This algorithm should satisfy both types of conditions: the force equilibrium equations and the kinematic constraint equations. To verify the effectiveness of the proposed algorithm, two numerical examples are solved and the results are compared with those of a commercial program. This method, compared to the conventional method of using dynamic analysis, has the advantage of computational efficiency and stability.

• 한국시뮬레이션학회논문지
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• 제25권4호
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• pp.85-91
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• 2016

본 연구에서는 여러 시스템들 중 특정 확률적 제약식을 만족시킬 수 있는 시스템들을 시뮬레이션을 통해 판별해내는 새로운 방법론을 제안한다. 한 쌍의 알고리즘을 반복 수행하며 스스로 공차 수준을 조정해 가는 이 방법론은 사용자가 임의로 정하는 공차 수준에 따라 그 판별 성과가 크게 좌우되는 기존의 방법론과는 달리 공차 수준에 영향을 받지 않으면서도 가능 시스템 집합을 정확하게 찾아낼 확률을 일정 수준 이상으로 보장하는 안정적 성과를 제공한다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.513-518
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• 1993

In this paper, we consider the handling f a flexible object using dual-arm manipulators. We choose both the side arms as rigid, and the objects to be manipulated as flexible. Our purpose is to realize position control for the flexible object while suppressing its vibration. In particular, the problem taken up here is the stability of the control system while manipulating the object. We propose that the traditional approach to investigate the robot system be expanded to include the object's characteristics (thus transferring the stability of the robot system into the full assembly system). We define a handling characteristic while manipulating the object. Finally, the relationship between the handling characteristic and the positional constraint condition in the hold position of the arms is studied while considering the stability of the control system.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2000년도 하계학술대회 논문집 A
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• pp.3-6
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• 2000

In this paper the concept of voltage stability operating limit in optimal power flow problem is described. A methodology of optimal power flow considering voltage stability margin is proposed based on auxiliary constraint to get a secure dispatch solution. The look-ahead margin is used to shift dispatch solutions to the secure direction in proposed framework. The a1gorithm proposed is successfully tested on IEEE 30-bus system.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2003년도 추계학술대회논문집
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• pp.819-823
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• 2003

The differential equations governing the shape of displacement for the shallow parabolic arch subjected to multiple dynamic point step loads were derived and solved numerically The Runge-Kutta method was used to perform the time integrations. Hinged-hinged end constraint was considered. Based on the Budiansky-Roth criterion, the dynamic critical point step loads were calculated and the dynamic stability regions for such loads were determined by using the data of critical loads obtained in this study.