• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.1
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• pp.202-208
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• 2014

Friction force on robot systems is highly nonlinear and especially disturbs precise control of the robots at low speed. This paper deals with the dynamic friction compensation problem of a well-known one-link benchmark robot system. We consider the LuGre model because the model can successfully represent dynamic characteristics and various effects of friction phenomenon. The proposed controller is constructed as two parts. An adaptive controller based on dual observers is used to estimate and compensate the dynamic friction. In order to attenuate the friction estimation error and other disturbances, PI observer is additionally designed. Through the computer simulations with the benchmark system, this paper first examines the effects of nonlinear dynamic friction on the control performance of the benchmark robot system. Next, it is shown that the control performance against the dynamic friction is improved by using the proposed controller.

• Proceedings of the KIEE Conference
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• 2006.04b
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• pp.310-312
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• 2006

Maglev using EMS becomes unstable by unexpected big air-gap disturbance. The main causes of the unexpected air-gap disturbance are step-wise rail joint and large distance between rail splices. For the stable operation of the Maglev, the conventional system uses the threshold method, which selects one gap sensor among two gap sensors installed on the magnet to read the gap between magnet and guide rail. But the threshold method with a wide bandwidth makes the discontinuous air-gap signal at the rail joints because of the offset in air gap sensors and/or the step-wise rail joins. Further more, in the case of the one with a narrow bend-width, it makes Maglev system unstable because of frequent alternation. In this paper, a new method using fuzzy rule to reduce air-gap disturbances proposed to improve the stability of Maglev system. It treats the air-gap signal from dual gap sensors effectively to make continuous signal without air gap disturbance. Simulation and experiment results proved that the proposed scheme was effective to reduce air-gap disturbance from dual gap sensors in rail joints.

• Ocean Systems Engineering
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• v.11 no.4
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• pp.353-371
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• 2021

Sloshing behavior of liquid within containers represents one of the most fundamental fluid-structure interactions. Liquid in partially filled tanks tends to slosh when subjected to external disturbances. Sloshing is a vicious resonant fluid motion in a moving tank. To understand the effect of baffle positioned at L/3 and 2L/3 location, a shake table experiments was conducted for different fill volumes of aspect ratio 0.163, 0.325 and 0.488. For a fixed amplitude of 7.5 mm, the excitation frequencies are varied between 0.457 Hz to 1.976 Hz. Wave probes have been located at both tank ends to capture the surface elevation. The experimental parameters such as sloshing oscillation and energy dissipation are discussed here. Comparison is done for with baffles and without baffles conditions. For both conditions, the results showed that aspect ratio of 0.163 gives better surface elevation and energy dissipation than obtained for aspect ratio 0.325 and 0.488. Good agreement is observed when numerical analysis is compared with the experiments results.

• Steel and Composite Structures
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• v.51 no.5
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• pp.473-485
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• 2024

This paper proposes a composite form of fuzzy adaptive control plan based on a robust observer. The fuzzy 2D control gains are regulated by the parameters in the LMIs. Then, control and learning performance indices with weight matrices are constructed as the cost functions, which allows the regulation of the trade-off between the two performance by setting appropriate weight matrices. The design of 2D control gains is equivalent to the LMIs-constrained multi-objective optimization problem under dual performance indices. By using this proposed smart tracking design via fuzzy nonlinear criterion, the data link can be further extended. To evaluate the performance of the controller, the proposed controller was compared with other control technologies. This ensures the execution of the control program used to track position and trajectory in the presence of great model uncertainty and external disturbances. The performance of monitoring and control is verified by quantitative analysis. The goals of this paper are towards access to adequate, safe and affordable housing and basic services, promotion of inclusive and sustainable urbanization and participation, implementation of sustainable and disaster-resilient buildings, sustainable human settlement planning and manage. Therefore, the goal is believed to achieved in the near future by the ongoing development of AI and control theory.

• The Korean Journal of Physiology and Pharmacology
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• v.19 no.4
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• pp.299-307
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• 2015

Severe acute pancreatitis (SAP) is normally related to multiorgan dysfunction and local complications. Studies have found that local pancreatic renin-angiotensin system (RAS) was significantly upregulated in drug-induced SAP. The present study aimed to investigate the effects of angiotensin II receptors inhibitor valsartan on dual role of RAS in SAP in a rat model and to elucidate the underlying mechanisms. 3.8% sodium taurocholate (1 ml/kg) was injected to the pancreatic capsule in order for pancreatitis induction. Rats in the sham group were injected with normal saline in identical locations. We also investigated the regulation of experimentally induced SAP on local RAS expression in the pancreas through determination of the activities of serum amylase, lipase and myeloperoxidase, histological and biochemical analysis, radioimmunoassay, fluorescence quantitative PCR and Western blot analysis. The results indicated that valsartan could effectively suppress the local RAS to protect against experimental acute pancreatitis through inhibition of microcirculation disturbances and inflammation. The results suggest that pancreatic RAS plays a critical role in the regulation of pancreatic functions and demonstrates application potential as AT1 receptor antagonists. Moreover, other RAS inhibitors could be a new therapeutic target in acute pancreatitis.