• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.7-12
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• 1990

In this paper, we propose a new manipulator control scheme based on the CMAG neural network. The proposed control consists of two components. The feedforward component is an output of trained CMAC neural network and the feedback component is a modified sliding mode control. The CMAC accepts the position, velocity and acceleration of manipulator as input and outputs two values for the controller : One is the nominal torque used for feedforward compensation(M1 network) and the other is the inertia matrix related information used for the feedback component(M2 network). Since the used control algorithm guarantees the robust trajectory tracking in spite of modeling errors, the CMAC mapping errors due to the memory limitation are little worth consideration.

• Journal of Environmental Science International
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• v.9 no.1
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• pp.57-64
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• 2000

The sensitivity analysis of two short-term models (ISCST3, INPUFF2.5) is performed to improve the model accuracy. It appears that the sensitivities on the changes of wind speed, stack height and stack inner diameter in the near distance from source, stability and mixing height in the remote distance form source, are significant. Also the gas exit velocity, stack inner diameter, gas temperature and air temperature which affect the plume rise have some effects on the concentration values of each model within the downwind distance where final plume rise is determined. And in modeling for the atmospheric dispersion of point pollutant source INPUFF2.5 can calculate amount, trajectory of puff and concentration versus time at each receptors. So, it is compatible to analyze distribution of point pollutants concentration at modeling area.

• 한국전산유체공학회:학술대회논문집
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• 1996.05a
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• pp.125-130
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• 1996

A numerical analysis is conducted on heat transfer and fluid flow of a plasma spraying process under the DC-RE hybrid electromagnetic field. Plasma flow is analyzed by using Eulerian approach and the equation of particle motion is simultaneously solved using a trajectory analysis with a lumped-heat-capacity model. Axisymmetric two dimensional electromagnetic fields governed by Maxwell's equations are solved based on a vector potential concept. The effects of the RF electromagnetic field on the temperature and velocity fields of the turbulent plasma flow are clarified. Control characteristics of phase changes and dispersed features of particles by applying the RF electromagnetic field are also clarified in an attempt to improve the plasma spraying process

• 한국전산유체공학회:학술대회논문집
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• 1996.05a
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• pp.137-142
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• 1996

A new wall impaction model for spray and its assessment are described in this paper. The gas phase is modelled in terms of the Eulerian continuum conservation equations of mass, momentum, energy and fuel vapour fraction. The liquid phase is modelled following the discrete droplet model approach. The droplet parcel contains many thousands of drops assumed to have the same size, temperature and velocity components. The droplet parcel equations of trajectory, momentum, mass and energy are written in Lagrangian form. The new drop-wall interaction model is proposed, which is based on experimental investigations on individual drops, and it is applied for the general non-orthogonal gird. The model is then assessed through comparison with experiments over a wide range of test conditions of sprays. The results are in good agreement with experimental data.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.27 no.7
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• pp.859-866
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• 2003

The Lagrangian dispserion of fluid particles in inhomogeneous turbulence is investigated by a direct numerical simulation of turbulent channel flow. Fluid particle velocity and acceleration along a particle trajectory are computed by employing several interpolation schemes such as linear interpolation, high-order Lagrange polynomial interpolation and the Hermite interpolation schemes. The performances of the schemes are evaluated through comparison of errors in computed particle positions, velocities and accelerations against spectral interpolation. Adopting the four-point Hermite interpolation in the homogeneous directions and Chebyshev polynomials in the wall-normal direction appears to produce most reliable Lagrangian statistics including acceleration correlations with a reasonable amount of computational overhead.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2001.11a
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• pp.130-134
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• 2001

In the re-entry control system, errors apt to induce because the time derivative of drag acceleration is analytically estimated. Still more, the difficulty of estimation of the exact drag coefficient in hypersonic velocity and the nun-reality of the scale height cause a steady-state drag error. This paper proposes the additional method of the disturbance observer. This reduces the steady-state drag error according to the following series. First, this method estimates a error in drag acceleration time derivative by the analytic calculation and then creates the new drag acceleration time derivative using the estimated error. The performance of the re-entry control system is verified about 32 reference trajectories.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.523-528
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• 2000

In this paper, the new type biped walking robot which is composed of the minimum number or links just for walking and its appropriate gaits are proposed. The proposed new gaits for this robot are four-crossing, crawling, standing and turning gait. In designing the biped robot we propose the Performance Index which means the needed torque per a moving distance and generate foot trajectories by $3^{rd}$ order spline Interpolation. Among those, numerically we find the optimal conditions which minimize the Performance Index. Dynamically stable walking of the biped robot is realized by satisfying the stability condition of ZMP(zero moment point), which is related to maintaining the ZMP within the region of the supporting foot during the s1n91e leg support phase. We determine the region of mass center from the stability condition of ZMP and plan references which track the mass conte. trajectory of constant velocity. Finally we implement the gaits statically tracking the planned trajectories using PD control method.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2004.10a
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• pp.309-314
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• 2004

A flexible disk grinding system process has been introduced that utilized varying disk orientation with respect to workpiece along with the applied feed speed. Various process conditions including cutting speed, maximum feed speed and orientation angles could applied to observe process outcomes. Even though continuous and constant feed speed has been applied to the process, the results from the trapezoidal input velocity profiles would be observed and compared. Based on the control strategies including neural network methodologies, several output results were compared to find the optimum process condition. Two axis control results were displayed showing better performance with higher trajectory error for larger training epoch.

• Proceedings of the KIEE Conference
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• 2002.07d
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• pp.2497-2499
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• 2002

This raper proposes a simple robust nonlinear controller design method based on Lyapunov stability for tracking reference welding trajectory and velocity of a three wheel welding mobile robot (WMR). Control law is obtained from Lyapunov control function to ensure asymptotical stability of the system. The effectiveness of the proposed controller is shown through simulation results.

• Journal of the Korean Society of Systems Engineering
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• v.1 no.1
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• pp.67-72
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• 2005

Design and optimization study has been performed to obtain a supersonic air.launching mission for the nanosat launcher. Given mission is to launch 10kg payload to target orbit of $700km{\times}700km$. Additional design constraints are imposed by the mother plane. After the required velocity is obtained, the stag ing optimization is carried out. Serial analyses for the propulsion system and aerodynamics are performed then, the rocket trajectory optimization has been carried out. After several mission design and optimization iterations, the optimized mission which satisfies the mission target is obtained. Total weight of the three-staged air-launching rocket is 1231.4kg and the payload weight is 10 kg.