• 제어로봇시스템학회논문지
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• 제6권7호
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• pp.568-577
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• 2000

In this paper for an object grasped by a robot hand to work in stiffness control domain we first investigate the number of fingers for successful stiffness modulation in the object operational space. Next we propose a new compliance control method for robot hands which consist of two steps. RIFDS(Resolved Inter-Finger Decoupling Solver) is to decompose the desired compliance characteristic specified in the op-erational space into the compliance characteristic in the fingertip space without inter-finger coupling and RIJDS(Resolved Inter-Joint Decoupling Solver) is to decompose the fingertip space without inter-finger coupling and RIJDS(Resolved inter-Joint Decoupling Solver) is to decompose the compliance characteristic in the finger-tip space into the compliance characteristic given in the joint space without inter-joint coupling. Based on the analysis results the finger structure should be biominetic in the sense that either kniematic redundancy or force redundancy are required to implement the proposed compliance control scheme, Five-bar fingered robot hands are used as an illustrative example to implement the proposed compliance control method. To show the effectiveness of the proposed compliance control method simulations are performed for two-fingered and three-fingered robot hands.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2005년도 추계학술대회논문집
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• pp.963-966
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• 2005

Model updating method is known to the area to correct finite element models by the results of the experimental modal analysis. Most common methods in model updating depend on a parametric model of the structure. In this case, the number of parameters is normally smaller than that of modal data obtained from an experiment. In order to overcome this limitation, many researchers are trying to get modal data as many as possible to date. 1 want to name this method multiple modified-system generation method. These Methods consist of direct system modification method and feedback controller method. The direct system modification Is to add a mass or stiffness on the original structure or perturb the boundary conditions. The feedback controller method is to make the closed food system with sensor and actuator so as to get the closed loop modal data. In this paper, we need to focus on the feedback controller method because of its simplicity. Several methods related the feedback controller methods are virtual passive controller (VPC) sensitivity enhancement controller (SEC) and mode decoupling controller (MDC). Among them, we will apply MDC to the model updating problem. MDC has various advantages compared with other controllers, such as VPC and SEC. To begin with, only the target mode can be changed without changing modal property of non-target modes. In addition, it is possible to fix any modes if the number of sensors is equal to that of the system modes. Finally, the required control power to achieve desired change of target mode is always lower than those of other methods such as VPC. However, MDC can make the closed loop system unstable when using incomplete modal data. So we need to take action to avoid undesirable instability from incomplete modal data. In this paper, we address the method to design the unique and robust MDD obtained from incomplete modal data. The associated simulation will be Incorporated to demonstrate the usefulness of this method.

• 한국항행학회논문지
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• 제20권4호
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• pp.344-351
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• 2016

본 논문에서는 격리도를 높이기 위한 디커플링 구조를 사용하지 않는 2.4 GHz (2.4 ~ 2.484 GHz) 및 5 GHz (5.15 ~ 5.825 GHz) WLAN용 MIMO (multiple-input-multiple-output) 안테나를 새롭게 제안하였다. 제안된 안테나는 PCB 좌측 및 우측 모서리에 위치하면서 양 끝이 개방된 두 개의 L-형 슬롯에 의해 부유된(floating) 접지면에 에칭된 두 개의 n-형 슬롯으로 구성된다. 제안된 안테나는 크기가 $50{\times}50mm^2$이고 두께가 1.6 mm, 유전율 4.3인 FR4 기판의 한쪽 면에서 설계 및 제작되었다. 제작된 안테나의 측정결과, 임피던스 대역폭 ($S_{11}{\leq}-10dB$)이 2.4 GHz 대역에서는 0.3 GHz (2.28 ~ 2.58 GHz), 5 GHz 대역에서는 0.89 GHz (5.11 ~ 6 GHz) 인 대역폭을 얻을 수 있었다. 또한 안테나의 전체 효율은 동작 주파수 전대역에서 80% 이상이며, 디커플링 구조를 사용하지 않았음에도 불구하고 상관계수는 0.05 이하의 매우 작은 값을 가진다.

• 한국전자통신학회논문지
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• 제11권12호
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• pp.1209-1218
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• 2016

4대의 전동실린더를 이용하여 대형 유리판과 같은 부하를 신속하고 안전하게 이송하기 위해서는 동기오차가 허용된 범위 내에서 지속적으로 유지되어야 한다. 본 연구에서는 4대 이상의 전동실린더 간의 동기화에 적용 가능한 동기제어기법이 제안된다. 이 동기제어시스템은 디커플링 구조에 기반을 두고 있으며, 기준모델, 위치제어기 그리고 동기제어기로 구성된다. 기준모델은 각각의 실린더에 대해 상호 분리된 동기오차와 제어입력의 계산이 가능하도록 한다. I-PD형의 위치제어기는 각 실린더가 오버슈트와 입력포화를 일으키지 않고 지령을 추종하도록, 그리고 진상보상기형의 동기제어기는 루프정형을 통해 안정적으로 정밀한 동기가 되도록 설계 된다. 끝으로 토크외란이 인가된 상태에서도 4개의 실린더가 신속하고 안정적으로 동기를 유지하면서 목표지점에 도달됨을 시뮬레이션으로 검증한다.

• Journal of Electrical Engineering and Technology
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• 제12권4호
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• pp.1675-1682
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• 2017

This paper deals with three dimensional orientation estimation algorithm for an attitude and heading reference system (AHRS) based on nine-axis inertial/magnetic sensor signals. In terms of the orientation estimation based on the use of a Kalman filter (KF), the quaternion is arguably the most popular orientation representation. However, one critical drawback in the quaternion representation is that undesirable magnetic disturbances affect not only yaw estimation but also roll and pitch estimations. In this paper, a sequential direction cosine matrix-based orientation KF for AHRS has been presented. The proposed algorithm uses two linear KFs, consisting of an attitude KF followed by a heading KF. In the latter, the direction of the local magnetic field vector is projected onto the heading axis of the inertial frame by considering the dip angle, which can be determined after the attitude KF. Owing to the sequential KF structure, the effects of even extreme magnetic disturbances are limited to the roll and pitch estimations, without any additional decoupling process. This overcomes an inherent issue in quaternion-based estimation algorithms. Validation test results show that the proposed method outperforms other comparison methods in terms of the yaw estimation accuracy during perturbations and in terms of the recovery speed.

• 대한기계학회논문집
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• 제16권2호
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• pp.207-225
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• 1992

The study is concerned with the thermo-viscoplastic finite element analysis of axisymmetric forward hot extrusion through square dies. The problem is treated as a nonsteady state problem because the distribution of temperature and material properties are continuously changing with the punch travel. In square die extrusion, difficulties arise from the severe distortion and die interference of elements at the aperture rim of the die even with a small punch travel. And finite element computation is impossible without intermittent remeshing. Accordingly, an automatic remeshing technique is proposed by employing specially designed mesh structure near the aperture rim. The analysis of temperature distribution includes heat conduction through material interfaces, heat convection and radiation to the atmosphere and is carried out by decoupling the heat analysis from the analysis of the deformation. The extrusion load and the distributions of strain rate and temperature are computed for the given cases rendering reasonable results. Computed grid distortions are found to be in good agreement with the experimental results. It has been thus shown that the proposed method of analysis can be effectively applied to the axisymmetric hot extrusion through square dies.

• 한국차세대컴퓨팅학회논문지
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• 제15권4호
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• pp.80-88
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• 2019

소프트웨어 정의 네트워킹(SDN)은 네트워크 장치의 데이터 기능과 제어기능을 분리한 미래 네트워킹 기술이다. 네트워크 장치들이 하나의 컨트롤러에 의해 중앙 제어되는 SDN의 구조는 대규모의 네트워크로의 확장성을 보장하기가 쉽지 않다. 선행연구들은 다수의 컨트롤러를 배치하는 수평적 확장성에 초점을 두어왔다. 이 연구들은 제어 평면과 응용 평면을 하나의 컨트롤러로 추상화하고 있다. 보편적인 SDN 아키텍처의 계층은 데이터 평면, 제어 평면, 응용 평면으로 나뉘는데 응용평면과 제어평면은 논리적으로 분리되어 있음에도 두 평면을 하나의 컨트롤러로 간주하였다. 따라서 본 논문에서는 대기행령 이론을 바탕으로 제어 평면과 응용 평면을 분리하여 반영한 트래픽 성능 분석 모델을 제안한다. 이 모델을 사용하면 복잡한 시뮬레이션 대신 간단하게 컨트롤러 배치 문제 등과 같은 확장성 문제에 활용할 수 있다.