• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.422-427
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• 1994

In this paper, we propose a new design approach of a two-degrees-of-freedom compensator which assures the robust stability. First of all, we clarify the internal structure of the generalized two-degrees-of-freedom compensator. By adopting this structure, we can make a bridge between the generalized controller and the disturbance observer based controller, Secondly, based on the clarified structure we derive a robust stability condition, and propose a design algorithm of free parameter taking the condition into account. The proposed design algorithm is easy to implement and, as a result, we obtain lower order free parameter then that of the conventional design algorithm.. Thirdly, we show by adopting an appropriate coprime factorization that the clarified structure can also be regarded as an extended version of the conventional PID compensator. Finally, we apply the proposed algorithm to a three-degrees-of freedom direct drive robot, and show some experimental results to verify the effectiveness of the proposed algorithm.

• 대한수학회보
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• 제45권3호
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• pp.509-522
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• 2008

The main aim of this paper is to present some results related to asymptotic behavior of distribution functions of random variables of chi-square type $X^2_N={\Sigma}^N_{i=1}\;X^2_i$ with degrees of freedom N, where N is a positive integer-valued random variable independent on all standard normally distributed random variables $X_i$. Two ways for computing the distribution functions of chi-square type random variables with random degrees of freedom are considered. Moreover, some tables concerning considered distribution functions are demonstrated in Appendix.

• 한국자동차공학회논문집
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• 제13권4호
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• pp.105-112
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• 2005

Analyses of dynamic models which were one and two degrees of freedom, and had the nonlinear springs and dampings with certain polynomial functions were performed from SIMULINK in MATLAB. Those consisted of 12 programs and were built on the basis of the preceding programs fur the linear dynamic simulations. However the programs for the nonlinear simulations were quite different from those f3r the linear ones, and showed the results of the analyses in real time with animating. It was found that the programs would help us to solve any kind of nonlinear dynamic simulation with one and two degrees of freedom. Especially, the simulations for 1 DOF system with cubic nonlinear spring farce showed the results for Duffing's equation, of which phenomena were jump-up and jump-down. It will be applied to the dynamic simulation of the car seat vibration with a passenger, of which model has the equivalent nonlinear springs and is two degrees of freedom.

• Smart Structures and Systems
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• 제5권3호
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• pp.279-290
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• 2009

Two degrees of freedom resonant systems are employed to improve the resonant property of resonant sensor, as compared to a single degree of freedom resonant system. This paper presents design, development and testing of two degrees of freedom resonant sensor. To measure absolute mass, cantilever shaped two different masses (smaller/absorber mass and bigger/drive mass) with identical resonant frequency are mechanically linked to form 2 - Degree-of-Freedom (DOF) resonator which exhibits higher amplitude of displacement at the smaller mass. The same concept is extended for measuring differential quantity, by having two bigger mass and one smaller mass. The main features of this work are the 3 - DOF resonator for differential detection and the microcontroller based closed loop electronics for resonant sensor with piezoelectric sensing and excitation. The advantage of using microcontroller is that the method can be easily extended for any range of measurand.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2004년도 추계학술대회 논문집
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• pp.855-859
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• 2004

We develop a new four-node flat shell element which is accurate, efficient, and suitable to be used on general purpose. The new element has a hybrid Trefftz element with drilling degrees of freedom as a membrane part. We define the two independent displacement field: the internal displacement field that satisfies governing equations in the domain a priori and the boundary displacement field that is usually used as a conventional finite element method. The hybrid Trefftz variational formulation connects these two displacement fields on the boundary of the domain. To add drilling degrees of freedom, we introduce the Allman's quadratic displacement field to the boundary displacement field. As a result, our flat shell element has 6 degrees of freedom per a node. We also use the well-known DKMQ plate bending element for the plate part of the proposed element. The DKMQ element satisfies Mindlin-Reissner‘s plate theory along the edge of the element and gives proper behavior regardless of the thickness. A series of numerical experiments shows that the performance of the new element such as accuracy, rate of convergence, robustness to mesh quality, and so on.

• 산업기술연구
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• 제21권A호
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• pp.81-88
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• 2001

In this work, we have developed a 2 degrees of freedom(DOF) motion simulator that can generate the sensation of motion in a 6 DOF space. The motion base has the DOF of roll and pitch, and the purpose of the motion base is to create the sensation of riding a vehicle in a 3D space by controlling the motion base. The dynamics of the mechanism was analysed and the optimal design of the motion base mechanism has been reached. The prototype motion base mechanism was developed and tested. The multi-axis motion controller(MMC) was used to control the two AC servo meters that drive the roll and pitch motion.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2004년도 봄 학술발표회 논문집
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• pp.87-94
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• 2004

A number of approximate techniques have been developed to calculate the eigenvalues in a reduced manner. These schemes approximate the lower eigenvalues that represent the global behavior of the structures. In general, sequential elimination has been widely used with reliability. But it takes excessively large amount of time to construct a reduced system. The present study proposes two-level condensation scheme(TLCS). In the first step, the candidate elements are selected by element-level energy estimation. In the second step, master degrees of freedom are selected by sequential elimination from the candidate degrees of freedom linked to the selected elements in the first step. Numerical examples demonstrate that the proposed method saves computational cost effectively and provides a reduced system which predicts the accurate eigenvalues of global system.

• 융합신호처리학회논문지
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• 제12권1호
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• pp.56-61
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• 2011

많은 제어기법들이 제어계의 제어성능을 개선하기 위해 제안되고 있다. 제어계에서 제어에 대한 자유도는 독립적으로 조정할 수 있는 페루프 전달함수의 수로 결정된다. 목표치 추종 및 외란억제에 2자유도 제어기법이 많이 이용되고 있다. 본 논문에서는 PID 제어기를 2자유도 제어기법을 이용하여 제어계를 설계할 수 있는 정규화법을 제안하였다. 제안한 설계법은 제어대상의 전달함수의 계수값을 이용하여 계의 전달함수를 정규화 하고, 제어기의 계수들이 결정되도록 하였다. 이 방법으로 설계된 제어계를 이용하여 2자유도 제어계를 구성하였고, 시뮬레이션 결과를 통하여 제안한 알고리즘의 유효성을 확인 하였다.

• 융합신호처리학회논문지
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• 제11권1호
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• pp.74-79
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• 2010

많은 제어기법들이 제어계의 제어성능을 개선하기 위해 제안되고 있다. 제어계에서 제어에 대한 자유도는 독립적으로 조정할 수 있는 폐루프 전달함수의 수로 결정된다. 목표치 추종 및 외란억제에 대해 2자유도 제어기법이 많이 이용되고 있다. 본 논문에서는 외란을 제거하기 위해 외란관측기를 갖는 제어계를 2자유도 제어계로 변환시켰으며, 기동 및 부하변동 시 과도응답의 제거를 용이하게 하였다. 그리고 외란관측기의 설계법이 주파수 영역으로 제안하였으며, 이 방법으로 설계된 외란관측기를 이용하여 2자유도 제어계를 구성하였다. 시뮬레이션 결과를 통하여 제안한 알고리즘의 유효성을 확인 하였다.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제10권1호
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• pp.168-186
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• 2016

In this paper, we investigate the degrees of freedom (DoF) of a two-cluster multiple-input multiple-output (MIMO) multiway relay interference channel (mRIC), where there are two relays and two users per cluster. In this channel, users within the same cluster exchange messages among themselves with the help of two relays.We first obtain the DoF upper bound of the considered MIMO mRIC based on cut-set bound. Then, we propose a novel transmission strategy, blind interference neutralization (BIN), to approach the DoF upper bound. This new method utilizes the overheard information at two relays and focuses on the beamforming matrix designs at two relays so that the channel state information (CSI) at users is not required. Through theoretical analysis and numerical simulations, we show that the DoF upper bound can be obtained by using the BIN scheme. From simulation results, we show that the proposed BIN scheme can provide significant performance gain over the conventional time division multiple access (TDMA) scheme in terms of DoF. In addition, we show that the BIN scheme is a superior approach to the existing signal space alignment (SSA) schemes for the considered mRIC.