• Journal of the Korean Society of Marine Environment & Safety
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• v.25 no.3
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• pp.306-312
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• 2019

This paper investigates to design a controller for maritime autonomous surface ship (MASS) by means of adaptive super-twisting algorithm (ASTA). A input-out feedback linearization method is considered for multi-input multi-output (MIMO) system. Sliding Mode Controller (SMC) is suitable for MASS subject to ocean environments due to its robustness against parameter uncertainties and disturbances. However, conventional SMC has inherent disadvantages so-called, chattering phenomenon, which resulted from the high frequency of switching terms. Chattering may cause harmful failure of actuators such as propeller and rudder of ships. The main contribution of this work is to address an appropriate controller for MASS, simultaneously controls surge and yaw motion in severe step inputs. Proposed control mechanism well provides convergence bewildered by external disturbances in the middle of steady-state responses as well as chattering attenuation. Also, the adaptive algorithm is contributed to reducing non-overestimated value of control gains. Control inputs of surge and yaw motion are displayed by smoother curves without excessive control activities of actuators. Finally, no overshoot can be seen in transient responses.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.4
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• pp.357-363
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• 2013

Most serious patients who have the paralysis of their ankles can't use of their feet freely. But their ankles can be recovered by an ankle bending rehabilitation exercise and a ankle rotating rehabilitation exercise. Recently, the professional rehabilitation therapeutists are much less than stroke patients in number. Therefore, the ankle-rehabilitation robot should be developed. The developed robot can be dangerous because it can't measure the applied bending force and twisting moment of the patients' ankles. In this paper, the six-axis force/moment sensor for the ankle-rehabilitation robot was specially designed the weight of foot and the applied force to foot in rehabilitation exercise. As a test results, the interference error of the six-axis force/moment sensor was less than 2.51%. It is thought that the sensor can be used to measure the bending force and twisting moment of the patients' ankles in rehabilitation exercise.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2014.10a
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• pp.904-910
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• 2014

The Helicopter noise analysis code was developed using Farassat's Formular 1A based on Ffowcs-Williams and Hawkings equation and Lowson's Formula which contains single loading noise source concept. HART-II(Higher harmonic control Aeroacoustic Rotor Test), STAR(Smart-Twisting Active Rotor) and Active-tab Rotor were computed and analyzed by using developed noise code. The results of these rotor noise prediction are explained and its applicability would be mentioned in this paper.

• Journal of the Korean Society of Marine Environment & Safety
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• v.24 no.7
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• pp.953-959
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• 2018

This paper deals with controlling surge oscillations of a mooring vessel system under large external disturbances such as wind, waves and currents. A control synthesis based on Sliding Mode Control (SMC) with a Super-Twisting Algorithm (STA) has been applied to suppress nonlinear surge oscillations of a two-point mooring system. Despite the advantages of robustness against parameter uncertainties and disturbances for SMC, chattering is the main drawback for implementing sliding mode controllers. First-order SMC shows convergence within the desired level of accuracy, in which chattering is the main obstacle related to the destructive phenomenon. Alternatively, STA completely eliminates chattering phenomenon with high accuracy even for large disturbances. SMC based on STA is an effective tool for the motion control of a nonlinear mooring system because it avoids the chattering problems of a first-order sliding mode controller. In addition, the error trajectories of controlled mooring systems implemented by means of STA form in the bounded region. Finally, the control gain effect of STA can be observed in sliding surface and position trajectory errors.

• Journal of KSNVE
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• v.7 no.1
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• pp.161-168
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• 1997

The present paper describes the vibration control experiment of composite plates with bonded piezoelectric sensor and actuator. The system is modeled as two degree-of-freedom system using modal coordinates and the system parameters are obtained from vibration tests. Kalman filter is adopted for extracting modal coordinates from sensor signal, and control algorithms applied to the system are Linear Quadratic Gaussian(LQG) control, Bang-Bang Control (BBC), Negative Velocity Feedback(NVF), Proportional Derivative Control(PDC). From observation of the spillover and control perfomance, it is concluded that a higher order control algorithm such as LQG rather than BBG, NVF, PDC is suitable for efficient simultaneous control of both bending and twisting modes of composite plates.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.703-707
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• 1992

In the field of assembly processes, non-rigid parts such as wires, tubes, gaskets and 0-rings cannot be assembled automatically. And although many researches have been made for rigid part mating, there are not substantial studies in flexible parts assembly field. In this paper, assembly stages of flexible parts are classified and some analysis are made. FEM was used to estimate the relationship between deformation and reactive forces. An assembly algorithm adopting reciprocal twisting motion was proposed and the assembly tool design methodology was discussed.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.197-201
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• 1993

A method for the closedloop control of the torsional tip motion of a piezo-polymer actuator is presented. The application of Lyapunov's direct, method to the problem is explored. A feedback control of the torsional tip motion of tile piezopolymer actuator is derived by considering tile time rate of change of the total energy of the system. If the angular velocity of the tip of the actuator is known, all the modes of tile actuator can be controlled simultaneously. This approach has tile advantage over the conventional methods in the respect that it allows one to directly with tile system's partial differential equations without resorting to approximations.

• The korean journal of orthodontics
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• v.28 no.5 s.70
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• pp.813-823
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• 1998

The frictional force has been considered as an harmful factor in an active unit where tooth movement occurs, but as an advantageous factor in anchor unit that resist tooth movement. That is, efficient tooth movement is planned by using ligation methods that have low levels of bracket-wire frictional force and the anchorage control can be achieved by using ligation methods that have high levels of bracket-wire frictional force that result in binding of the bracket accompanied by little or no tooth movement. The purpose of this study was to evaluate the frictional force generated between bracket and wire in accordance with the methods of ligation, the material of ligation and the passage of time under artificial saliva. Tested were 0.017x0.022 inch stainless steel wires in standard edgewise twin brackets for upper central incisors in a 0.018-inch slot. The wires were ligated into the brackets with elastomeric modules and stainless steel ligatures. Whole tie, half tie, twisting tie and double overlay tie were done with elastomeric modules. With 0.009-inch stainless steel ligature whole tie and half tie were done by needle holder and whole tie by ligature tying plier. With 0.012-inch stainless steel ligature whole ties were done by needle holder. Whole tie groups of elastomeric module were kept in artificial saliva bath at $37^{\circ}C$ for 28 days. The frictional force was recorded by means of an Instron universial testing instrument (4202 INSTRON, Instron Co., U.S.A.) at initial, 7, 14, 21, and 28 days. The results for ligated samples in a simulated oral environment revealed the fellowing : ${\cdot}$In elastomeric module whole tie, 28 days group was significantly greater mean static frictional force than any other group but there were no significant differences among any other group (p>0.05). ${\cdot}$Elastomeric module twisting ties were significantly greater mean static frictional forces than any other ligation method but there were no significant differences between twisting tie and double overlay tie (p>0.05). Twisting tie, double overlay tie, whole tie, half tie showed differences in decreasing order. ${\cdot}$Stainless steel half tie produced lower mean static frictional force than whole tie, ligation by ligature tying plier produced greater mean static frictional force than by needle holder and ligation with 0.012-inch stainless steel ligature produced greater mean static frictional force than with 0.009-inch stainless steel ligature (p<0.05). ${\cdot}$There were no significant differences between the mean static frictional forces of elastomeric whole tie and stainless steel whole tie (p>0.05).

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.4
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• pp.236-241
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• 2001

Teach pendant is the most widely used means of robot teaching at present. Despite the difficulties of using the motion command buttons on the teach pendant, it is an economical, robust, and effective device for robot teaching task. This paper presents the development of a force/moment direction sensor named COSMO that can improve the teach pendant based robot teaching. Robot teaching experiment of a six axis commercial robot using the sensor is described where operator holds the sensor with a hand, and move the robot by pushing, pulling, and twisting the sensor in the direction of the desired motion. No prior knowledge of the coordinate system is required. The function of the COSMO sensor is to detect the presence f force and moment along the principal axes of the sensor coordinate system. The transducer used in the sensor is micro-switch, and this intuitive robot teaching can be implemented at a very low cost.

• Nuclear Engineering and Technology
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• v.54 no.5
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• pp.1644-1651
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• 2022

This paper focuses on the power-level control of nuclear power plants (NPPs) in the presence of lumped disturbances. An adaptive second-order nonsingular terminal sliding mode control (ASONTSMC) scheme is proposed by resorting to the second-order nonsingular terminal sliding mode. The pre-existing mathematical model of the nuclear reactor system is firstly described based on point-reactor kinetics equations with six delayed neutron groups. Then, a second-order sliding mode control approach is proposed by integrating a proportional-derivative sliding mode (PDSM) manifold with a nonsingular terminal sliding mode (NTSM) manifold. An adaptive mechanism is designed to estimate the unknown upper bound of a lumped uncertain term that is composed of lumped disturbances and system states real-timely. The estimated values are then added to the controller, resulting in the control system capable of compensating the adverse effects of the lumped disturbances efficiently. Since the sign function is contained in the first time derivative of the real control law, the continuous input signal is obtained after integration so that the chattering effects of the conventional sliding mode control are suppressed. The robust stability of the overall control system is demonstrated through Lyapunov stability theory. Finally, the proposed control scheme is validated through simulations and comparisons with a proportional-integral-derivative (PID) controller, a super twisting sliding mode controller (STSMC), and a disturbance observer-based adaptive sliding mode controller (DO-ASMC).