• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.5
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• pp.527-534
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• 2015

This paper presents an integrated chassis control with electronic stability control (ESC) and active front steering (AFS) under lateral force constraint on AFS. The control yaw moment is calculated using a sliding mode control. The tire forces generated by ESC and AFS are determined using weighted pseudo-inverse based control allocation (WPCA) in order to generate the control yaw moment. On a low friction road, AFS is not effective when the lateral tire forces of front wheels are easily saturated. To solve problem, the lateral force of AFS is limited to its maximum and the braking of ESC is applied with WPCA. To evaluate the effectiveness of the proposed method, a simulation was performed on the vehicle simulation package, $CarSim^{(R)}$. From the simulation, it was verified that the proposed method could enhance the maneuverability and lateral stability if the lateral force of AFS exceeds its maximum.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.35 no.4
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• pp.243-248
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• 2022

Weight optimization was performed for a rotorcraft shaft system using one-dimensional Euler-Bernoulli beam elements. Torsion, shaft support stiffness such as bearings, flange mass are all considered. To guarantee structural dynamic stability, eigenvalue analysis was performed to avoid critical speed and tooth mesh excitation form the gearbox. The weight optimization was performed by adjusting the thickness and radius while the length of the shaft was fixed, and the optimization process was divided into two stages. In the first, the weight is optimized with the torsional strength constraint. In the second, the difference between the primary mode of shaft and the critical speed is maximized so that the primary mode of the shaft can avoid the critical speed while the constraint on the torsional strength of the shaft is satisfied according to the standard for shaft system stability (AMC P 706-201, 1974). The proposed method was verified by comparing the results of the optimal design using the given one-dimensional beam elements with the stress results of the 3D finite element and the actual manufactured shaft.

• Structural Engineering and Mechanics
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• v.62 no.5
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• pp.619-629
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• 2017

This paper focuses on the study of complete dynamic modeling and maximum dynamic load carrying capacity computation of N-flexible links and N-flexible joints mobile manipulator undergoing large deformation. Nonlinear dynamic analysis relies on the Timoshenko theory of beams. In order to model the system completely and precisely, structural and joint flexibility, nonlinear strain-displacement relationship, payload, and non-holonomic constraints will be considered to. A finite element solution method based on mixed method is applied to model the shear deformation. This procedure is considerably more involved than displacement based element and shear deformation can be readily included without inducing the shear locking in the element. Another goal of this paper is to present a computational procedure for determination of the maximum dynamic load of geometrically nonlinear manipulators with structural and joint flexibility. An effective measure named as Moment-Height Stability (MHS) measure is applied to consider the dynamic stability of a wheeled mobile manipulator. Simulations are performed for mobile base manipulator with two flexible links and joints. The results represent that dynamic stability constraint is sensitive when calculating the maximum carrying load. Furthermore, by changing the trajectory of end effector, allowable load also changes. The effect of torsional spring parameter on the joint deformation is investigated in a parametric sensitivity study. The findings show that, by the increase of torsional stiffness, the behavior of system approaches to a system with rigid joints and allowable load of robot is also enhanced. A comparison is also made between the results obtained from small and large deformation models. Fluctuation range in obtained figures for angular displacement of links and end effector path is bigger for large deformation model. Experimental results are also provided to validate the theoretical model and these have good agreement with the simulated results.

• Journal of the Korean Ceramic Society
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• v.33 no.6
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• pp.637-644
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• 1996

Phase stability and isothermal phase transformation during gaging at 25$0^{\circ}C$ were investigated in yttria stabilized zirconia powders prepared from hydrolysis of zirconium isopropoxide. The stability of tetragonal phase at room temperature in zirconia powder was decreased with calcination temperature but increased with the addition of yttria content. During aging at 25$0^{\circ}C$ in humid atmosphere isothermal phase transformation occurred in tetragonal zirconia powder stabilized by constraint effect not by alloying effect and grain size effect. Many twins and microcrackings were found in transformed monomlinic zirconia particles.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.26 no.1
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• pp.71-80
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• 2015

LDO(Low Drop-Out) regulators have become an essential building block in modern PMIC(Power Managment IC) to extend battery life of electronic devices. In this paper, we optimize capacitor-less LDO regulator via Geometric Programming(GP) designed using Dongbu HiTek $0.5{\mu}m$ BCDMOS process. GP-compatible models for stability and PSR of LDO regulators are derived based on monomial formulation of transistor characteristics. Average errors between simulation and the proposed model are 9.3 % and 13.1 %, for phase margin and PSR, respectively. Based on the proposed models, the capacitor-less LDO optimization can be performed by changing the PSR constraint of the design. The GP-compatible performance models developed in this work enables the design automation of capacitor-less LDO regulator for different design target specification.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.34 no.3
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• pp.283-289
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• 2010

Owing to the increasing worldwide interest in green technology and renewable energy sources, flywheel energy storage systems (FESSs) are gaining importance as a viable alternative to traditional battery systems. Since the energy storage capacity of an FESS is proportional to the principal mass-moment of inertia and the square of the running speed, a design that maximizes the principal inertia while operatingrunning at the highest possible speed is important. However, the requirements for the stability of the system may impose a constraint on the optimal design. In this paper, an optimal design of an FESS that not only maximizes the energy capacity but also satisfies the requirements for system stability and reduces the sensitivity to external disturbances is proposed. Cross feedback control in combination with a conventional proportional-derivative (PD) controller is essential to reduce the effect of gyroscopic coupling and to increase the stored energy and the specific energy density.

• Aerospace Engineering and Technology
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• v.6 no.1
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• pp.103-108
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• 2007

Eurostar 3000 AOCS is optimized for telecommunication mission with no strong requirement on attitude stability and has therefore to be upgraded to comply with COMS high stability requirements for the optical observations. This COMS configuration constraint induces specificities for the wheel. The aim of this analysis is to verify the electrical compatibility of the interfaces which exist between COMS wheels and external equipments. For each interface, this study checked the compatibility between equipments for the power links, commands, digital telemetry, analog telemetry, and failure condition or AIT errors. In addition with this interface compatibility verification, this study outputs electrical and manufacturing recommendations to be applied at harness level.

• Proceedings of the KIEE Conference
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• 1991.07a
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• pp.738-743
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• 1991

A multiobjective analysis technique was applied for the optimum operation of pumps and reservoirs in service water transmission systems. Three major objectives were identified and assessed on the normally operating service water transmission systems. They are, 1) stability of pump operation; 2) economic point of view in minimizing the energy cost for pumping; 3) reliability in meeting the stochasticaly varying demands. The measures of these objectives were required times of pump on-offs in stability, required total energy cost in economics, and minimum required storage during the operating horizon in reliability. In order to find the best meeting solution to the decision maker, a set of non-dominated solutions which show the tradeoff relationships between the considering objectives were generated. The DM selects the best solution from this explicit tradeoff relationships using his heuristic decision rules or experience. The theory was verified by applying to the Kumi Service Water System. A combined technique of the ${\varepsilon}-constraint$ and the weighting methods was used to generate the nondominated solutions, and the dynamic programming algorithm was applied to find the optimal solution for the discretized multi-objective analysis problems.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.10
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• pp.1014-1022
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• 2009

A biped robot in locomotion can be regarded to be kinetically redundant in that the link-chain from its foot on the ground to its swing foot has more degrees of freedom that needed to realize stable bipedal locomotion. This paper proposes a new method to generate a trajectory for bipedal locomotion based on this redundancy, which directly generates a locomotion trajectory at the joint level unlike some other methods such as LIPM (linear inverted-pendulum mode) and GCIPM (gravity-compensated inverted-pendulum mode), each of which generates a trajectory of the center of gravity or the hip link under the assumption of the dominance of the hip-link inertia before generating the trajectory of the whole links at the joint level. For the stability of the trajectory generated in the proposed method, a stability condition based on the ZMP (zero-moment point) is used as a constraint as well as other kinetic constraints for bipedal motions. A 6-DOF biped robot is used to show how a stable locomotion trajectory can be generated in the sagittal plane by the proposed method and to demonstrate the feasibility of the proposed method.

• Transactions on Control, Automation and Systems Engineering
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• v.1 no.2
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• pp.134-140
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• 1999

The robust generalized H2 filtering problem for a class of discrete time uncertain linear systems satisfying the sum quadratic constraints(SQCs) is considered. The objective of this paper is to develop robust stability condition using SQCs and design a robust generalized Ha filter to take place of the existing robust Kalman filter. The robust generalized H2 filter is designed based on newly derived robust stability condition. The robust generalized Ha filter bounds the energy to peak gain from the energy bounded exogenous disturbances to the estimation errors under the given positive scalar ${\gamma}$. Unlike the robust Lalman filter, it does not require any spectral assumptions about the exogenous disturbances . Therefore the robust generalized H2 filter can be considered as a deterministic formulation of the robust Kalman filter. Moreover, the variance of the estimation error obtained by the proposed filter is lower than that by the existing robust Kalman filter. The robustness of the robust generalized H2 filter against the uncertainty and the exogenous signal is illustrated by a simple numerical example.