• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1249-1253
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• 2004

A robust input modification approach to the control of flexible joint robot is presented. In our previous study, we developed an observer based state feedback control for the suppression of residual vibration of a robot. The control was very effective in suppressing the inherent vibration of a flexible joint robot. However it did not meet high performance requirements under high speed motion and model uncertainties. As a solution of the problem, we present an input modification method with robustness against parametric uncertainties. The main idea of the proposed input modification method is to generate a modified reference position command for fast and accurate motion of the robot. Using this proposed method we can reduce the servo delay and settling time by about 60% and substantially improve the path accuracy.

• Asian Journal of Innovation and Policy
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• 제4권2호
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• pp.178-199
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• 2015

This study provides a background on the growth of Indian automobile industry under different regulatory regimes. It is observed that the international joint ventures have played a key role in the growth of the sector. The study further examines the motives for forming IJVs in the auto component sector and also identifies the criteria for choosing the joint venture partner to mitigate conflicts. These two specific attributes form the core towards transfer of technology, promoting innovation and also act as a catalyst for adopting and choosing appropriate technology. The study brings out the relationship between motives, partner selection criteria and performance of the IJVs. Results indicate that firms gave maximum importance to technological skills, quality control measures and proprietary knowledge in selecting IJV partners. It is also observed that the motives affect the partner selection criteria in terms of skill and resources needed from the partner.

• ETRI Journal
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• 제36권3호
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• pp.367-373
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• 2014

With high bandwidth, low interference, and low power consumption, optical network-on-chip (ONoC) has emerged as a highly efficient interconnection for the future generation of multicore system on chips. In this paper, we propose a new path-setup method for ONoC to mitigate contentions, such as packets, by recycling the setup packet halfway to the destination. A new, strictly non-blocking $6{\times}6$ optical router is designed to support the new method. The simulation results show the new path-setup method increases the throughput by 52.03%, 41.94%, and 36.47% under uniform, hotspot-I, and hotspot-II traffic patterns, respectively. The end-to-end delay performance is also improved.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.927-932
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• 2007

This paper proposes a robust back-stepping control with polynomial-type PD input for flexible joint robot manipulators to overcome parameter uncertainty. In the first step, a fictitious control is designed with polynomial-type PD input for the rigid link dynamic by the H-infinity control method. In second and third steps, the other fictitious control and real control are designed using saturation control and polynomial-type PD input based on the Lyapunov's second method. In each step, the designed robust inputs satisfy the L2-gain, which is equal to or less than gamma in the closed loop system. In contrast with the previous researches, the proposed method proves performance relations with PD gain from the robust gain. The performance robustness of the proposed control is verified through a 2-DOF robot manipulator with joint flexibility.

• 한국공간구조학회논문집
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• 제15권3호
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• pp.85-93
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• 2015

This paper presents a foundation pile to steel column connection that can resist large magnitude of moment and that can be easy installed. The developed joint has spherical shape and it is given the name HAT joint to mean Hallow half-sphere steel joint. Four types of HAT joints are developed. Namely, H-type, T-type, P-type and K-type. In this paper I will talk about the performance assessment of T-type(Tube Column) and P-type(Pile Column) of HAT joints with finite element analysis and experiment on a full scale model is presented.

• 한국정밀공학회지
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• 제12권8호
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• pp.92-98
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• 1995

The position control of flexible joint manipulator is investigated by applying the self-organizing fuzzy logic controller (SOC) proposed by Procyk and Mamdani. The SOC is a heuristic rule-based controller and a further extension of an ordinary fuzzy controller, which has a hierachy structrue which consists of an algorithm being identical to a fuzzy controller at the lower ollp and a learning algorithm accomodating the performance evalution and rule modification function at the upper ollp. This form of control can be used in those complex systems which have been too difficult to control or which in the past have had to rely on the experience of a human operator. Even though the significant dynamic coupling of the motors and links on the flexible joint manipulator, the performance of command-following is good by applying the proposed SOC.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.913-916
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• 1990

In this paper, attempts have been made to control AC synchronous servo motor used as actuators of joints of the FARA robot with high dynamic performance and precise positioning. The AC synchronous servo motors used in FARA robots have resolves as position sensors. Resolver to digital converters are used in order to obtain the information of rotor speed and position from resolver outputs. The proposed joint position control system consists of four speed controller and one position controller. Analog methods are used in the position controller, while digital methods are used in the position controller. For precise position control, PID control algorithm and interpolation functions are executed in two 16 bit microprocessors with sampling rate 2ms. Experimental results show that the proposed joint position control system can be effectively applied to industrial robots in order to obtain high dynamic performance and precise positioning. The proposed joint position control system is being used in the control of FARA robots of Samsung Electronics.

• 한국안전학회지
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• 제26권2호
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• pp.48-61
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• 2011

In this study, static tests were done on the joints between precast manholes and the joints between manhole and sewer. The static loading tests in not only elastic range but also ultimate state of model members were carried out to investigate the bond strength and ultimate load of a joint of precast manholes. Specimens were tested in bending, horizontal shear, horizontal shear of circumferencial direction and direct tension. The results of tests indicated good structural performance of the joints between precast manholes and the joints between manhole and sewer.

• 한국통신학회논문지
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• 제38B권7호
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• pp.535-542
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• 2013

Coordinated multi-point transmission (CoMP) is considered to be a promising technique to improve the throughput for LTE-Advanced systems. One important approach for CoMP is Joint Transmission (JT). However, the analytical model of JT has not been fully studied, as user equipments (UEs) receiving the desired signals from an adjacent base station (BS) as well as serving BS, or only serving BS were not distinguished. We derive a new analytical model to describe the call admission control in JT based systems. The performance measures of interest are the call blocking probability, and resource utilization. Furthermore, we compare the performance of JT-based systems and non-JT- based systems. The analytical results are in reasonable agreement with the simulation results.

• 한국컴퓨터정보학회:학술대회논문집
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• 한국컴퓨터정보학회 2022년도 제66차 하계학술대회논문집 30권2호
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• pp.371-372
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• 2022

본 연구는 국제 합작투자사업 참여 기업들을 대상으로 국제합작투자 사업에서의 합작사업 파트너 기업 간 통제가 합작투자사업참여 파트너간 지식공유 및 협력과 합작사업성과에 어떠한 영향을 주는지를 살펴보고자 하는 실증연구이다. 본 연구에서는 국제합작사업 참여기업간 통제를 과정통제와 산출통제로 구분하여 통제유형별로 분석하고자 한다. 이를 위해 본 연구에서는 구조방정식을 이용하여 합작투자사업 참여 파트너간 통제유형별로 지식공유와 협력 및 합작사업성과에 어떠한 유의한 영향을 미치는지 실증분석을 통하여 알아보고자 한다.