• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1275-1280
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• 2004

This paper presents the construction of an active suspension system of a one-wheel car model by using fuzzy reasoning. The car model is approximately described by a nonlinear two degrees freedom system subject to excitation from a road profile, and the active control force is constructed by actuating a pneumatic actuator, and the degradation of the performance due to the delay of the pneumatic actuator is improved by inserting a compensator. The fuzzy control is obtained by single input rule modules fuzzy reasoning, and the excitation from the road profile is estimated by using a disturbance observer. The experimental result shows that the proposed active suspension system much improves the performance in the vibration suppression of the car model.

• Structural Engineering and Mechanics
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• v.10 no.1
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• pp.81-92
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• 2000

This study is an investigation of the effect of cracks on the dynamical characteristics of a cantilever beam, having multiple open-edge transverse cracks. The flexibilities due to crack have been identified for several crack depths and locations. In the study the finite element method and component mode synthesis methods are used. Coupling the components is performed by a flexibility matrix taking into account the interaction forces. Each component is modelled by cantilever beam finite elements with two nodes and three degrees of freedom at each node. The results obtained lead to conclusion that, by using the drop in the natural frequencies and the change in the mode shapes, the presence and nature of cracks in a structure can be detected. There is some counter-evidence, however, that the effects due to multiple cracks may interact to make detection more difficult than for isolated cracks.

• International journal of advanced smart convergence
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• v.2 no.1
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• pp.18-20
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• 2013

The significance, is to introduce a novel way to employ the improved Runge-Kutta fifth order five stage method, here after called as Modified IRK(5,5) method, for system of second order robot arm problem and variations in angles at the joints in which parameters governing with two degrees of freedom which requires lesser number of function evaluations per time step as compared to the existing ones, in order to save time and spaceAn ultimate aim of this present paper is to solve application problem such as robot arm and initial value problems by applying Runge-Kutta fifth order five stage numerical techniques. The calculated output for robot arm coincides with exact solution which is found to be better, suitable and feasible for solving real time problems.

• Structural Engineering and Mechanics
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• v.8 no.3
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• pp.257-272
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• 1999

In this paper a simple finite element is proposed for analyzing out of plane vibration of thin walled curved beams, with both open and closed sections, considering shear flexibility. The present element is obtained from a variational formulation governing the dynamics of a three-dimensional elastic body in which the stress tensor as well as the displacements are variationally independent. The element has two nodes with four degrees of freedom in each. Numerical examples for the first six frequencies are performed in order to assess the accuracy of the finite element formulation and to show the influence of the shear flexibility on the dynamics of the member.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1222-1224
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• 1996

The Hong Ik Direct Drive Arm(HIDDA) is a SCARA typed direct drive manipulator with two degrees-of-freedom(DOF) using the direct drive motor of the NSK company. The direct NSK motors are used to give a large torque directly to the link, to reduce the modeling errors from the gears and chains. But, since the nonlinear coupling torques are transferred to the motor shaft without any reduction, we must consider a dynamic control algorithm. In this paper, we designed a robot controller for the HIDDA using a TMS320C31, which has the highest performance among the third DSP chips in the TI company. And we developed the integrated environment software of the robot management system to give the users an easy way of programming, running and simulation of the robot on the PC.

• Journal of Positioning, Navigation, and Timing
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• v.12 no.4
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• pp.409-421
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• 2023

In order to develop navigation systems, simulators that provide navigation sensors data are required. A trajectory generator that simulates vehicle motion is needed to generate navigation sensors data in the simulator. In this paper, a trajectory generator for evaluating navigation system performance is proposed. The proposed trajectory generator consists of two parts. The first part obtains parameters from the motion scenario file whereas the second part generates position, velocity, and attitude from the parameters. In the proposed trajectory generator six degrees of freedom, halt, climb, turn, accel turn, spiral, combined, and waypoint motions are given as basic motions with parameters. These motions can be combined to generate complex trajectories of the vehicle. Maximum acceleration and jerk for linear motion and maximum angular acceleration and velocity for rotational motion are considered to generate trajectories. In order to show the usefulness of the proposed trajectory generator, trajectories were generated from motion scenario files and the results were observed. The results show that the proposed trajectory generator can accurately simulate complex vehicle motions that can be used to evaluate navigation system performance.

• Journal of Advanced Marine Engineering and Technology
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• v.29 no.8
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• pp.842-848
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• 2005

The decoupling control using state feedback was once intensively studied during 1960's by many researchers. However, this control scheme was sensitive to the disturbance and Parameter variations. SMC(sliding mode control) is known as a robust control methodology to overcome such a disturbance. In this paper. the decoupling control by means of SM(sliding mode) for a trajectory control of a two-degrees-of- freedom manipulator was discussed. The position and velocity of manipulator tip were adopted to compose a nonlinear error functions. The reference inputs of the controller can be decided by switching function combined with the desired position and velocity. Simulation result is provided to verify the effectiveness of the proposed control scheme.

• International Journal of Aeronautical and Space Sciences
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• v.15 no.2
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• pp.113-122
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• 2014

The objective of the paper is to clarify a methodology based on the use of the existing component mode synthesis methods for the case of two damped substructures which are coupled through a linking viscoelastic flexible substructure and for which the structural modes with free geometrical interface are used for each main substructure. The proposed methodology corresponds to a convenient alternative to the direct use either of the Craig-Bampton method applied to the three substructures (using the fixed geometric interface modes) or of the flexibility residual approaches initiated by MacNeal (using the free geometric interface modes). In opposite to a geometrical interface which is a topological interface on which there is a direct linkage between the degrees of freedom of substructures, we consider a physical flexible interface which exists in certain present technologies and for which the general framework linear viscoelasticity is used and yields a frequency-dependent damping and stiffness matrices of the physical flexible interface.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.257-259
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• 1996

This paper presents the active eye system for tracking a moving object in 3D space. A prototype system able to track a moving object is designed and implemented. The mechanical system ables the control of platform that consists of binocular camera and also the control of the vergence angle of each camera by step motor. Each camera has two degrees of freedom. The image features of the object are extracted from complicated environment by using zero disparity filtering(ZDF). From the cnetroid of the image features the gaze point on object is calculated and the vergence angle of each camera is controlled by step motor. The Proposed method is implemented on the prototype with robust and fast calculation time.

• Steel and Composite Structures
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• v.3 no.5
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• pp.307-320
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• 2003

This paper presents an efficient approach to the determination of the buckling loads of down-aisle, spliced, unbraced, pallet rack structures subjected to vertical and horizontal loads. A pallet rack structures is analysed by considering the stability equations of an equivalent free-sway column. The effects of semi-rigid beam-to-upright, splice-to-upright and base-plate-to-upright connections are fully incorporated into the analysis. Each section of upright between successive beam levels in the pallet rack is considered to be a single column element with two rotational degrees of freedom. A computer algebra package was used to determine modified stability equations for column elements containing splices. The influence of the position of splices in a pallet rack is clearly demonstrated.