• Journal of Institute of Control, Robotics and Systems
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• v.17 no.11
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• pp.1067-1073
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• 2011

In this paper, the methodology of a CA (Control Allocation) based FTNCS (Fault-Tolerant Networked Control System) is proposed. Control allocation is a control surface management technique by redistributing the redundant control surfaces in overactuated systems. In modern high performance aircrafts, they adopt many redundant control surfaces to provide high performance and to satisfy various tactical requirements. Moreover, redundant control surfaces provide an opportunity to compensate performance degradation due to failures in more than one actuator by re-allocating redundant control surfaces. Simulation results with an F-18 HARV demonstrate that the proposed CA based FTNCS can achieve a fast and accurate tracking performance even in the presence of actuator faults.

• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.5
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• pp.1133-1138
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• 2012

In the paper, design of nonlinear sliding surfaces which are based on optimal control is studied, The state trajectory by the input of optimal control was obtained by Frobenius theorem and matrix decomposition method, was set the nonlinear sliding surfaces of the system. The states is maintained to sliding surfaces from initial states. As the result, robustness of the system can be guaranteed throughout an entire response of the system starting form the initial time instance, the uncertainty and external disturbance that can occur during the reaching time is removed, the problem of large control input was solved, and setting the sliding surfaces optimal path was able to reduce the tracking time. The validity of the proposed control scheme is shown in computer simulation for inverted pendulum.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.10
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• pp.148-155
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• 1998

For products of various shapes, compound surfaces are used. Blending surfaces are essential to the products of the compound surfaces. In this paper a method of making shape of blending surface flexible with parameter control is discussed. The parameter has quantitative control of shape of the blend. The blending surface is applied to NURBS and simple primitives in solid model. Intersection curves of surfaces is used to provide the blend with generality. Rail curve are found with the intersection curves. The blend is generated by rail curves and parameter control. Also, In strict constraint condition, blending surface with flexible shapes is discussed, keeping ;${GC}^1$ and ;${GC}^2$ continuity between free-formed surfaces and solids. Joining blending ,bridge blending and blending surface at corner are generated.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.6
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• pp.495-500
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• 2013

This paper proposes a double sliding surfaces based on a sliding mode control for a tracking control of nonholonomic mobile robots in the Cartesian coordinates. In order to remove sliding surface constraints, we design the additional sliding surface for the heading angle with respect to the newly defined coordinates. Then, we define the switching law based on the posture error to combine the designed sliding surface with the previous one. By using the double sliding surfaces and the switching law, we obtain the control law for arbitrary trajectories. It is proved that the position tracking error and the heading direction error asymptotically converge to zero, respectively, with the Lyapunov stability theory. Finally, through computer simulations, we demonstrate the effectiveness of the proposed control system.

• Journal of Korean Institute of Industrial Engineers
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• v.27 no.1
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• pp.1-10
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• 2001

In the reverse engineering, surfaces are modeled for new products by interpolating the digitized data points obtained by measuring the existing shapes. However, many measuring or deviation errors are happened during the measuring process. If these errors are ignored, designers could get undesirable results. Therefore, it is important to handle such errors and fairing procedure with the esthetics criteria is needed during surface modeling process. This paper presents algorithms for the fairing of B-spline surfaces. The algorithms are based on automatic repositioning of control points for B-spline surfaces. New positions of the control points are determined by solving a non-linear programming of which the objective functions are derived variously using derived surfaces and constraints are established by distance measures between the original and the modified control points. Changes in surface shapes are analyzed by illustrations of their shapes and continuous plotting of gaussian and mean curvatures.

• Journal of Periodontal and Implant Science
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• v.31 no.2
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• pp.333-344
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• 2001

The present study was performed to evaluate the effect of tetracycline - HCl on the change of implant surface microstructure according to application time. Implants with pure titanium machined surface and titanium plasma-sprayed surface were utilized. Implant surface was rubbed with 50mg/ml tetracycline - HCl solution for 1 min., $1\frac{1}{2}\;min$., 2 min., $2\frac{1}{2}\;min$. and 3min. respectively in the test group and with saline for 1 min. in the control group. Then, the specimens were processed for scanning electron microscopic observation. The following results were obtained. 1. Pure titanium machined surfaces conditioned with saline for 1 min., showed a few shallow grooves and ridges and were less irregular. 2. Pure titanium machined surfaces conditioned with 50mg/ml tetracycline - HCl solution showed more irregular and corrosive surfaces compared to the control group irrespective of the application time of tetracycline - HCl solution. 3. Titanium plasma-sprayed surfaces conditioned with saline for 1 min., were deposited with round amorphous particles and showed round or irregular pores that can be connected to each other. 4. The irregularity of titanium plasma-sprayed surfaces conditioned with 50mg/ml tetracycline - HCl solution was lessened and the flattened areas were wider relative to the application time of tetracycline - HCl solution. 5. Titanium plasma-sprayed surfaces conditioned with tetracycline - HCl solution for 1 min. and $1\frac{1}{2}\;min$. were very similar to that of the control group, but the surfaces conditioned for 2 min., $2\frac{1}{2}\; min$. and 3 min. were changed. In conclusion, pure titanium machined surfaces were changed irrespective of the application time of tetracycline - HCl solution. And titanium plasma-sprayed surfaces conditioned with tetracycline - HCl solution began to be changed from $1\frac{1}{2}\;min$. This results will be applicable to the regenerative procedures for peri-implantitis treatment.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.439-443
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• 2004

In this research, we describe the sorting conditions modeling by friction force. As in any mechanism which is required to provide good dynamic performance and high accuracy, performance evaluation of optimal control. To understand friction it is necessary to investigate the topography of the sliding surfaces in contact. Any surfaces, even apparently smooth surfaces, are microscopically rough. When two surfaces come into contact, the true contact takes place only at point where asperities come together. The sorting conditions of sorting mechanism with friction force is sorting force must be equal with force can sorting one highest veneer among loaded veneer. This is just a thing being sorted veneer have friction with under veneer and this friction disturb sorting at the same time. Hence, the sorting conditions evaluation is important to sorting one veneer must get under control friction with veneer.

• Journal of Periodontal and Implant Science
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• v.32 no.3
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• pp.523-537
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• 2002

The present study was performed to evaluate the effect of tetracycline - HCl on the change of implant surface microstructure according to application time. Implants with pure titanium machined surface, SLA surface and $TiO_2blasted$ surface were used. Implant surface was rubbed with 5Omg/ml tetracycline - HCl solution for ${\frac}{1}{2}$ min., 1 min., $1{\frac}{1}{2}$ min., 2 min., and 3min. respectively in the test group and with no conditioning in the control group. Then, the specimens were processed for scanning electron microscopic observation. The following results were obtained. 1. In the pure titanium machined surfaces, the control specimen showed a more or less rough machined surface composed of alternating positive and negative lines corresponding to grooves and ridges. After treatment, machining line was more pronounced for the control specimens. but in general, test specimens were similar to control. 2. In the SLA surfaces, the control specimen showed that the macro roughness was achieved by large-grit sandblasting. subsequently, the acid-etching process crated the micro roughness, which thus was superimposed on the macro roughness. 3. In the SLA surfaces, irrespective of the application time of 50mg/ml tetracycline-HCl solution, in general, test specimens were similar to control. 4. In the $TiO_2blasted$ surfaces the control specimen showed the rough surface with small pits. The irregularity of the $TiO_2blasted$ surfaces with 50mg/ml tetracycline-HCl solution was lessened and the flattened areas were wider relative to the application time of tetracycline - HCl solution. In conclusion, pure titanium machined surfaces and SLA surfaces weren't changed irrespective of the application time of tetracycline-HCl solution. And the $TiO_2blasted$ surfaces conditioned with tetracycline - HCl solution began to be changed from $1{\frac}{1}{2}$ min. This results are expected to be applied to the regenerative procedures for peri-implantitis treatment.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.3
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• pp.99-106
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• 1998

Recently, scientists introduced a new type of microscope capable of investigating nonconducting surfaces in an atomic scale, which is called AFM (Atomic Force Microscope). It was an innovative attempt to overcome the limitation of STM (Scanning Tunnelling Microscope) which has been able to obtain the image of conducting surfaces. Surfaces of samples are imaged with atomic resolution. The AFM is an imaging tool or a profiler with unprecedented 3-D resolution for various surface types. The AFM technology, however, leaves a lot of room for improvement due to its delicate and fragile probing mechanism. One of the room for improvements is gap control between probe tip and sample surface. Distance between probe tip and sample surface must be kept in below one Angtrom in order to measure the sample surface in Angstrom resolution. In this paper, AFM system modeling, experimental system identification and control scheme based on system identification are performed and finally sample surface is measured by home-built AFM with such a control scheme.

• International Journal of Aeronautical and Space Sciences
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• v.11 no.4
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• pp.285-302
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• 2010

Active aeroelastic control is an emerging technology aimed at providing solutions to structural systems that under the action of aerodynamic loads are prone to instability and catastrophic failures, and to oscillations that can yield structural failure by fatigue. The purpose of the aeroelastic control among others is to alleviate and even suppress the vibrations appearing in the flight vehicle subcritical flight regimes, to expand its flight envelope by increasing the flutter speed, and to enhance the post-flutter behavior usually characterized by the presence of limit cycle oscillations. Recently adaptive and robust control strategies have demonstrated their superiority to classical feedback strategies. This review paper discusses the latest development on the topic by the authors. First, the available control techniques with focus on adaptive control schemes are reviewed, then the attention is focused on the advanced single-input and multi-input multi-output adaptive feedback control strategies developed for lifting surfaces operating at subsonic and supersonic flight speeds. A number of concepts involving various adaptive control methodologies, as well as results obtained with such controls are presented. Emphasis is placed on theoretical and numerical results obtained with the various control strategies.