• International Journal of Control, Automation, and Systems
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• v.4 no.4
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• pp.405-413
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• 2006

A novel approach based on genetic algorithms (GA) is developed to find a global minimum-jerk trajectory of a space robotic manipulator in joint space. The jerk, the third derivative of position of desired joint trajectory, adversely affects the efficiency of the control algorithms and stabilization of whole space robot system and therefore should be minimized. On the other hand, the importance of minimizing the jerk is to reduce the vibrations of manipulator. In this formulation, a global genetic-approach determines the trajectory by minimizing the maximum jerk in joint space. The planning procedure is performed with respect to all constraints, such as joint angle constraints, joint velocity constraints, joint angular acceleration and torque constraints, and so on. We use an genetic algorithm to search the optimal joint inter-knot parameters in order to realize the minimum jerk. These joint inter-knot parameters mainly include joint angle and joint angular velocities. The simulation result shows that GA-based minimum-jerk trajectory planning method has satisfactory performance and real significance in engineering.

• Korea-Australia Rheology Journal
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• v.18 no.2
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• pp.67-81
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• 2006

Using a strain-controlled rheometer, the dynamic viscoelastic properties of aqueous xanthan gum solutions with different concentrations were measured over a wide range of strain amplitudes and then the linear viscoelastic behavior in small amplitude oscillatory shear flow fields was investigated over a broad range of angular frequencies. In this article, both the strain amplitude and concentration dependencies of dynamic viscoelastic behavior were reported at full length from the experimental data obtained from strain-sweep tests. In addition, the linear viscoelastic behavior was explained in detail and the effects of angular frequency and concentration on this behavior were discussed using the well-known power-law type equations. Finally, a fractional derivative model originally developed by Ma and Barbosa-Canovas (1996) was employed to make a quantitative description of a linear viscoelastic behavior and then the applicability of this model was examined with a brief comment on its limitations. Main findings obtained from this study can be summarized as follows: (1) At strain amplitude range larger than 10%, the storage modulus shows a nonlinear strain-thinning behavior, indicating a decrease in storage modulus as an increase in strain amplitude. (2) At strain amplitude range larger than 80%, the loss modulus exhibits an exceptional nonlinear strain-overshoot behavior, indicating that the loss modulus is first increased up to a certain strain amplitude(${\gamma}_0{\approx}150%$) beyond which followed by a decrease in loss modulus with an increase in strain amplitude. (3) At sufficiently large strain amplitude range (${\gamma}_0>200%$), a viscous behavior becomes superior to an elastic behavior. (4) An ability to flow without fracture at large strain amplitudes is one of the most important differences between typical strong gel systems and concentrated xanthan gum solutions. (5) The linear viscoelastic behavior of concentrated xanthan gum solutions is dominated by an elastic nature rather than a viscous nature and a gel-like structure is present in these systems. (6) As the polymer concentration is increased, xanthan gum solutions become more elastic and can be characterized by a slower relaxation mechanism. (7) Concentrated xanthan gum solutions do not form a chemically cross-linked stable (strong) gel but exhibit a weak gel-like behavior. (8) A fractional derivative model may be an attractive means for predicting a linear viscoelastic behavior of concentrated xanthan gum solutions but classified as a semi-empirical relationship because there exists no real physical meaning for the model parameters.

• International Journal of Aeronautical and Space Sciences
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• v.15 no.2
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• pp.146-152
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• 2014

In this paper, a new adaptive nonsingular terminal sliding mode control theory based impact angle guidance law for intercepting maneuvering targets was documented. In the design procedure, a new adaptive law for target acceleration bound estimation was presented, which allowed the proposed guidance law to be used without the requirement of the information on the target maneuvering profiles. With the aid of Lyapunov stability criteria, the finite-time convergent characteristics of the line-of-sight angle and its derivative were proven in theory. Numerical simulations were also performed under various conditions to demonstrate the effectiveness of the proposed guidance law.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.6
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• pp.608-611
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• 2012

This paper focuses on attitude stabilization performance improvement of the quadrotor flying robot. First, the dynamic model of quadrotor flying robot was estimated through PEM (Prediction Error Method) using experimental input/output data. And attitude stabilization performance was improved by increasing the generation frequency of PWM signal from 50 Hz to 500 Hz. Also, the controller is implemented using a standard PID (Proportional-Integral-Derivative) controller augmented with feedback on angular acceleration, allowed the gains to be significantly increased, yielding higher bandwidth. Improved attitude stabilization performance is verified by experiment.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.1800-1805
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• 2008

A "finite volume method" is proposed to predict heat transport in a spherical enclosure at micro/nanoscale with the Boltzmann transport equation (BTE). The gray version of the BTE with the relaxation time approximation has been applied. Pointing out similarity between radiative transfer equation (RTE) and BTE, the mapping process in RTE is adopted to treat the angular derivative term and linear algebraic discretization equation is derived by using the established method which is used in 2-D BTE in cartesian coordinates. The simulation results are compared to exact solution to RTE for various acoustic thicknesses and ratio of radii. The comparison shows that this method is logical and accurate, and it is possible to easily adopt various models in spherical BTE.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.14 no.3
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• pp.200-208
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• 2014

This paper presents the control of an inverted pendulum system using intelligent algorithms, such as fuzzy logic and neural networks, for advanced control education. The swing up balancing control of the inverted pendulum system was performed using fuzzy logic. Because the switching time from swing to standing motion is important for successful balancing, the fuzzy control method was employed to regulate the energy associated with the angular velocity required for the pendulum to be in an upright position. When the inverted pendulum arrived within a range of angles found experimentally, the control was switched from fuzzy to proportional-integral-derivative control to balance the inverted pendulum. When the pendulum was balancing, a joystick was used to command the desired position for the pendulum to follow. Experimental results demonstrated the performance of the two intelligent control methods.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1113-1115
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• 1996

The servo system requires faster and more accurate dynamic responses. A new technique for the position control of DC servo motors is presented in this paper. The proposed technique employs a Self Tuning Regulator Proportional Integral Derivative(STR PID) position control systems in order to improve the dynamic performance of a DC servo motor. Recursive -least -squares (RLS) method is used in order to estimate the STR PID coefficients, $K_P$, $K_I$, and $K_D$. In order to consider dynamics such as voltage, angular velocity, and rotor angle, the above method was applied position control system.

• Bulletin of the Korean Chemical Society
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• v.19 no.10
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• pp.1080-1083
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• 1998

An efficient method for construction of 2-arylfiirans has been developed by ceric(IV) ammonium nitratemediated oxidative cycloaddition of cyclic and acyclic 1,3-dicarbonyl compounds to several alkynes. Reactions of 1,3-cyclohexanedione, 1,3-cyclopentanedione, and 2,4-pentanedione with several alkynes furnish 2-arylfurans in 26-75% yields. Extension of this technology to more complex 4-hydroxy-2-quinolone and 3-hydroxy-lH-phenalen-l-one with phenylacetylene also affords furoquinolinone and ftirophenalenone derivative in moderate yields. Reaction of 4-hydroxycoumarins with phenylacetylene give linear and angular furocoumarin derivatives as a mixture of regioisomer in good yields. The mechanistic pathway for the formation of 2-arylfurans has been also described.

• Journal of the Korean Magnetics Society
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• v.9 no.1
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• pp.7-16
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• 1999

Stoichiometric and nonstoichiometric $Y_{3-x}Fe_{5+x}O_{12})$ polycrystalline samples (x=0.00, 0.05, 0.10, 0.30, -0.05, -0.10, -0.30) were prepared by solid state reaction method. The magnetic properties of the sample were investigated by FMR (ferromagnetic resonance) technique at microwave frequency 5.11 GHz (G-band) and 23.39 GHz (K-band) respectively. The spectroscopic splitting factor g were estimated to be 2.04~2.35 from the derivative absorption lines. As the samples became yttrium $(Y^{3+})$ excess and iron $(Fe^{3+})$ excess, Magnetizations were decreased. But resonance linewidth were increased. To investigate the anisotropy, the angular dependence of resonance magnetic fields were measured. Angular dependence of effective magnetizations were measured by FMR from 77 K to 300 K at K-band microwave frequency (23.39 GHz) and the saturation magnetizations were measured by VSM. The Bloch coefficients B and C were determined by fitting. $M_{eff}(0)$ was obtained by the extrapolation from 80 K. From this result, the spin wave stiffness constant D $(about\; 162~206 \;eV{\AA}^2)$and average square range of exchange interaction $$$(about \;5.84~12.13\;{\AA}^2)$ were determined.

• Journal of Pharmaceutical Investigation
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• v.39 no.3
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• pp.185-199
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• 2009

Using a strain-controlled rheometer [Advanced Rheometric Expansion System (ARES)], the steady shear flow properties and the dynamic viscoelastic properties of $Antiphlamine-S^{(R)}$ lotion have been measured at $20^{\circ}C$ (storage temperature) and $37^{\circ}C$ (body temperature). In this article, the temperature dependence of the linear viscoelastic behavior was firstly reported from the experimental data obtained from a temperature-sweep test. The steady shear flow behavior was secondly reported and then the effect of shear rate on this behavior was discussed in detail. In addition, several inelastic-viscoplastic flow models including a yield stress parameter were employed to make a quantitative evaluation of the steady shear flow behavior, and then the applicability of these models was examined by calculating the various material parameters. The angular frequency dependence of the linear viscoelastic behavior was nextly explained and quantitatively predicted using a fractional derivative model. Finally, the strain amplitude dependence of the dynamic viscoelastic behavior was discussed in full to elucidate a nonlinear rheological behavior in large amplitude oscillatory shear flow fields. Main findings obtained from this study can be summarized as follows : (1) The linear viscoelastic behavior is almostly independent of temperature over a temperature range of $15{\sim}40^{circ}C$. (2) The steady shear viscosity is sharply decreased as an increase in shear rate, demonstrating a pronounced Non-Newtonian shear-thinning flow behavior. (3) The shear stress tends to approach a limiting constant value as a decrease in shear rate, exhibiting an existence of a yield stress. (4) The Herschel-Bulkley, Mizrahi-Berk and Heinz-Casson models are all applicable and have an equivalent validity to quantitatively describe the steady shear flow behavior of $Antiphlamine-S^{(R)}$ lotion whereas both the Bingham and Casson models do not give a good applicability. (5) In small amplitude oscillatory shear flow fields, the storage modulus is always greater than the loss modulus over an entire range of angular frequencies tested and both moduli show a slight dependence on angular frequency. This means that the linear viscoelastic behavior of $Antiphlamine-S^{(R)}$ lotion is dominated by an elastic nature rather than a viscous feature and that a gel-like structure is present in this system. (6) In large amplitude oscillatory shear flow fields, the storage modulus shows a nonlinear strain-thinning behavior at strain amplitude range larger than 10 % while the loss modulus exhibits a weak strain-overshoot behavior up to a strain amplitude of 50 % beyond which followed by a decrease in loss modulus with an increase in strain amplitude. (7) At sufficiently large strain amplitude range (${\gamma}_0$>100 %), the loss modulus is found to be greater than the storage modulus, indicating that a viscous property becomes superior to an elastic character in large shear deformations.