• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.3
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• pp.9-16
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• 1996

LQ-servo is a robustness guaranteed multivariable controller design method based on the LQR structure to improve command following with output feedback. in this paper we introduce a weighting factor on the low frequency part of the state weighting matrix in the performance index in order to increase the low frequency gain of loop transfer function matrix T(s) in the loop shaping design method.

• Journal of the Korean Society of Propulsion Engineers
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• v.21 no.5
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• pp.61-70
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• 2017

Robust thrust distribution method of solid DACS is researched. For the case of the system which has higher number of actuation nozzles than the degree of freedom of thrust to be controlled, the robust thrust allocation law which accommodate the abnormal operation is suggested. Assuming the situation that some nozzles are uncontrollable, the error between nozzle throat area command and response can be calculated. The error is used for realtime reshaping of weighting matrix. From the weighting effect, the nozzle which operated abnormally has low responsibility for the command then, the thrust error is reduced. The suggested algorithm is verified by the simulation of abnormal operation condition of DCS and ACS nozzle respectively.

• Transactions of the Korean Society of Mechanical Engineers
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• v.18 no.10
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• pp.2554-2566
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• 1994

Robot position/force control has been a difficult task owing to the interaction between a robot and an environment with a rather high stiffness. In addition to the dynamic instability, the interaction causes the following problem : 1) chattering at steady-state, 2) dynamic coupling effect of robot, and 3) performance degradation due to a titled environment. To solve the problem, the Time Delay Control(TDC), which has been known to be quiet robust to plant uncertainties and disturbances, has been applied. In conjunction to TDC, the following three ideas were also used : 1) To reduce the amplitude of the chattering at the steady state, a novel scheme was adopted to enhance the resolution type solution of A/D conversion for the force sensor. 2) To reduce the dynamic coupling, a trajectory type position command was tried on a comparative basis to the step command, as well as a more accurate mass matrix was used instead of the constant mass matrix. 3) And finally to improve the performance in the tilted environment, force derivatives instead of position derivatives were used in the TDC law. Computer simulations and experiments resulted in obvious improvements on the quality of the hybrid control, thereby clearly demonstrating the effectiveness of TDC with the proposed ideas.

• The Journal of the Convergence on Culture Technology
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• v.5 no.1
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• pp.395-399
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• 2019

In order to support various parallel computing systems, it is necessary to extend LLVM IR to more efficiently support vector / matrix and to design LLVM IR to machine code as a new algorithm. As shown in the IR example, RISC instruction generation is naturally generated because the RISC instruction is basically composed of the RISC instruction, and the vector instruction is also not supported. There is a need for new IR structures, command generation algorithms and related extensions to support vector / matrix more robustly. To do this, it is important to map each instruction in the LLVM IR to the appropriate instruction in the target architecture (vector / matrix) (instruction selection algorithm). It is necessary to understand the meaning of LLVM IR command, to compare the meaning of each instruction of the target architecture with syntax, and to select the instruction that matches the pattern to make mapping efficient.

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2568-2570
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• 2004

CEMTool is a command style design and analyzing package for scientific and technological algorithm and a matrix based computation language. In this paper, we present new FEM (Finite Element Method) package in CEMTool environment. In contrast to the existing MATLAB PDE Toolbox, our proposed FEM package can deal with the combination of the reserved words. Also, we can control the mesh in a very effective way With the introduction of new mesh generation algorithm and NDM (Hosted Dissection Method), our FEM package can guarantee the shorter computational time than MATLAB PDE Toolbox. In addition, using the advanced electromagnetics library of CEMTool FEM package, we can analyze the practical problems such as the motor field analysis. Consequently, with our new FEM package, we can overcome some disadvantages of the existing MATLAB PDE Toolbox.

• Journal of Astronomy and Space Sciences
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• v.29 no.3
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• pp.287-293
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• 2012

Satellite operating agencies are constantly monitoring conjunctions between satellites and space objects. Two line element (TLE) data, published by the Joint Space Operations Center of the United States Strategic Command, are available as raw data for a preliminary analysis of initial conjunction with a space object without any orbital information. However, there exist several sorts of uncertainties in the TLE data. In this paper, we suggest and analyze a method for estimating the uncertainties in the TLE data through mean, standard deviation of state vector residuals and covariance matrix. Also the estimation results are compared with actual results of orbit determination to validate the estimation method. Characteristics of the state vector residuals depending on the orbital elements are examined by applying the analysis to several satellites in various orbits. Main source of difference between the covariance matrices are also analyzed by comparing the matrices. Particularly, for the Korea Multi-Purpose Satellite-2, we examine the characteristics of the residual variation of state vector and covariance matrix depending on the orbital elements. It is confirmed that a realistic consideration on the space situation of space objects is possible using information from the analysis of mean, standard deviation of the state vector residuals of TLE and covariance matrix.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.174-178
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• 1991

In this paper, we present a unified approach for the control of manipulator motions and active forces based on the operational space formulation. The end-effector dynamic model is used in the development of a control system in which the generalized operational space end-effector forces are selected as the command vector. A "generalized position and force specification matrix" is used for the specification of space of motions and forces in which manipulator is to be controlled. Flexibility in the force sensor, end-effector, and environment are discussed.discussed.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.292-295
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• 2003

In this paper, we present static output feedback model predictive tracking control for linear system with uncertainty. The proposed control law is based on integral action form to provide zero o��set for constant command signals and the closed loop stability is guaranteed under linear matrix inequality conditions on the terminal weighting matrix using the decreasing monotonicity property of the performance index. Through simulation examples, we illustrate that the proposed schemes can be appropriate tracking controllers for uncertain system.

• International Journal of Safety
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• v.2 no.1
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• pp.23-27
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• 2003

Recently, continuous fiber reinforced ceramic composite(CFCC) has attracted attention to a number of engineers because of its significant benefit for several industrial area. This work was conducted to provide a basic characteristic of CFCC for tensile loading condition. The numerical analysis by general purpose finite element program was accomplished and compared with an experimental tensile test. The stress strain curves were expressed well by the numerical analysis and the first matrix cracking stress was in accordance with that of the experimental result. Moreover, fracture pattern was shown by kill command graphically.

• Asian Pacific Journal of Cancer Prevention
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• v.13 no.6
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• pp.2437-2444
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• 2012

Tumor metastasis remains the principal cause of treatment failure and poor prognosis in patients with colorectal cancer. It is a multistage process which includes proteolysis, motility and migration of cells, proliferation in a new site, and neoangiogenesis. A crucial step in the process of intra- and extra-vasation is the activation of proteolytic enzymes capable of degrading the extracellular matrix (ECM). In this stage, urokinase plasminogen activator receptor (uPAR) and matrix metalloproteinases (MMPs) are necessary. Micrometastases need the presence of growth factor and vascular growth factor so that they can form macrometastasis. In addition, cell adhesion molecules (CAMs) and guanine nucleotide exchange factors (GEFs) play important roles in the progression of colorectal cancer and metastatic migration. Further elucidation of the mechanisms of how these molecules contribute will aid in the identification of diagnostic and prognostic markers as well as therapeutic targets for patients with colorectal metastasis.