• 해양환경안전학회지
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• 제25권3호
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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.

• 제어로봇시스템학회논문지
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• 제19권4호
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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.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2014년도 추계학술대회 논문집
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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.

• 해양환경안전학회지
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• 제24권7호
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• pp.953-959
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• 2018

본 논문에서는 바람, 파도, 조류 등의 큰 외란조건에서 선박계류시스템의 계류안정성 확보를 위한 동적제어기 설계를 연구하였다. 선박계류시스템의 비선형 동요를 억제하기 위해 슈퍼트위스팅 알고리즘(STA)을 포함한 슬라이딩 모드 제어(SMC) 기법이 적용되었다. 외란이나 파라미터의 불확실성에 대한 강인성의 장점에도 불구하고, 채터링은 슬라이딩 모드 제어기를 적용하는데 주요 단점이 되고 있다. 1차계 SMC는 정확히 제어 목표치에 수렴 하도록 정밀한 제어는 가능하나, 채터링과 같은 파괴적인 현상과 연계되어 적용에 주요한 장애가 된다. 대신에, STA는 큰 외란에도 불구하고 비교적 높은 정확도를 보이며 채터링 현상을 완전히 제거한다. 1차계 슬라이딩 모드 제어기의 채터링 문제를 피할 수 있는 STA기반의 SMC는 비선형 계류시스템의 동적제어를 위한 아주 효과적인 수단으로 판단된다. 아울러, STA로 제어된 선박계류시스템의 위치오차 궤적은 경계 구역 내에서 형성된다. 끝으로, 슬라이딩 표면과 위치궤적의 오차결과를 통해 STA의 이득제어 효과도 관측할 수 있다.

• 소음진동
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• 제7권1호
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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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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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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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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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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.

• 대한치과교정학회지
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• 제28권5호
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• pp.813-823
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• 1998

마찰력은 치아이동시 활주이동부에 유해한 인자로 인식되어져 왔으나 치아이동에 저항하는 고정원에 있어서는 유리한 인자로 받아들여질 수 있다. 즉 마찰력이 작은 결찰법들을 이용하여 효과적인 치아이동을 도모하는 반면 마찰력이 큰 결찰법들을 이용하여 브라켓의 걸림에 의해 치아이동이 거의 일어나지 않게 하면 고정원을 강화할 수 있다. 인공타액하에서 시간경과에 따른 교정선과 브라켓 사이의 마찰력 변화, 탄성 모듈과 스테인레스 강 결찰선을 이용하여 각각 결찰양식을 달리 하였을 때의 마찰력 변화 그리고 결찰재의 재료를 달리 하였을 때의 마찰력 변화를 알아보기 위하여 .018"x.025" 슬롯의 상악 중절치용 standard edgewise twin 브라켓과 .017"x.022" 스테인레스 강 교정선을 탄성 모듈, .009" 스테인레스 강 결찰선 그리고 .012" 스테인레스 강 결찰선을 이용하여 다양하게 결찰하였다. 또한 통상적인 방법으로 결찰한 탄성 모듈 결찰군을 결찰 직후와 1주 간격으로 4주간 마찰력을 측정하여 다음과 같은 결과를 얻었다. ${\cdot}$탄성 모듈 whole tie시 시간경과에 따른 마찰력은 4주 경과시 가장 높았으나 3주, 2주, 1주, 결찰 직후간에는 통계학적으로 유의한 차이가 없었다 (p>0.n). ${\cdot}$탄성 모듈로 결찰시 마찰력은 twisting tie가 가장 높았고 double overlay tie, whole tie, half tie 순으로 나타났으나 twisting tie와 double overlay tie 간에는 통계학적으로 유의한 차이가 없었다 (p>0.05). ${\cdot}$스테인레스 강 결찰선으로 결찰시 half tie 군이 whole tie 군보다 낮은 마찰력을 보였으며 ligature tying plier로 결찰한 경우가 needle holder로 결찰한 경우보다 더 높았고 .012" 결찰선을 이용한 경우가 .009" 결찰선을 이용한 경우보다 더 높았다 (p<0.05). ${\cdot}$통상적인 방법으로 탄성 모듈과 스테인레스 강 결찰선을 이용하여 결찰한 경우 두 군간에 유의한 차이가 없었다(p>0.05).

• Transactions on Control, Automation and Systems Engineering
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• 제3권4호
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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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• 제54권5호
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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).