• International Journal of Fuzzy Logic and Intelligent Systems
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• v.4 no.1
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• pp.70-78
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• 2004

This paper proposes non-linear control method using immune algorithm based fuzzy logic. Nonlinear dynamic system exist widely in many types of systems such as chemical processes, biomedical processes, and the main steam temperature control system of the thermal power plant. Up to the present time, PID Controllers have been used to operate these systems. However, it is very difficult to achieve an optimal PID gain with no experience, because gain of the PID controller has to be manually tuned by trial and error. An inverted pendulum control problem is selected to illustrate the efficiency of the proposed method and defines relationship state variables $\chi$, $\chi$, $\theta$, $\theta$ using immune fuzzy.

• Journal of Advanced Marine Engineering and Technology
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• v.22 no.3
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• pp.328-336
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• 1998

Marine reduction gears are usually used to increase the propulsion efficiency of propellers for ships powered by medium and small sized high speed diesel engines. Most of shaft systems adopt flexible couplings to absorb the transmitted vibratory torque from the engines to the reduction gears and to prevent the chattering phenomenon of reduction gears. However some elastic couplings show non-linear characteristics due to the variable torque transmitted from the main engines and the change of ambient temperature. In this study dynamic characteristics of flexible couplings sare investigated and their effects upon various vibratory conditions of propulsion systems are clarified. A calculation program of torsional vibration for the propulsion systems are clarified. A calculation program of Results of the program developed are compared with ones of the existing linear method and propulsion systems with the elastic couplings the transfer matrix method is adopted which is found to give satisfied results.

• Structural Engineering and Mechanics
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• v.25 no.2
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• pp.201-217
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• 2007

A harmonic type differential quadrature approach for nonlinear dynamic analysis of multi-degree-of-freedom systems has been developed. A series of numerical examples is conducted to assess the performance of the HDQ method in linear and nonlinear dynamic analysis problems. Results are compared with the existing solutions available from other analytical and numerical methods. In all cases, the results obtained are quite accurate.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.930-939
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• 2004

In this paper, both dynamic constraints and kinematic constraints are considered for the analysis of manipulability of robotic systems comprised of multiple cooperating arms. Given bounds on the torques of each Joint actuator for every robot, the purpose of this study is to drive the bounds of task-space acceleration of object carried by the system. Bounds on each joint torque, described as a polytope, is transformed to the task-space acceleration through matrices related with robot dynamics, robot kinematics, object dynamics, grasp conditions, and contact conditions. A series of mathematical manipulations including the procedure calculating minimum infinite-norm solution of linear equation is applied to get the reachable acceleration bounds from given actuator dynamic constrains. Several examples including two robot systems as well as three robot system are shown with the assumptions of complete-constraint contact model(or' very soft contact') and insufficient or proper degree of freedom robot.

• Advances in robotics research
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• v.2 no.2
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• pp.151-159
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• 2018

The evolution of bipedal robots was the foundation stone for development of Humanoid robots. The highly complex and non-linear dynamic of human walking made it very difficult for researchers to simulate the gait patterns under different conditions. Simple controllers were developed initially using basic mechanics like Linear Inverted Pendulum (LIP) model and later on advanced into complex control systems with dynamic stability with the help of high accuracy feedback systems and efficient real-time optimization algorithms. This paper illustrates a number of significant mathematical models and controllers developed so far in the field of bipeds and humanoids. The key facts and ideas are extracted and categorized in order to describe it in a comprehensible structure.

• KSTLE International Journal
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• v.10 no.1_2
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• pp.6-12
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• 2009

In this study, the effect of oil supply conditions on the dynamic performance of a hydrodynamic journal bearing is analyzed numerically. Axial length, circumferential length and location of oil grooves are considered as oil supply conditions. The perturbation equations of the perturbed film contents are obtained by applying Elrod's universal equation implementing JFO film rupture / reformation boundary conditions to Lund's infinitesimal perturbation method. The dynamic coefficients of a hydrodynamic journal bearing are calculated by solving the perturbation equations, and the linear stability analysis is carried out by using those for a variety of oil supply conditions.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.10A
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• pp.746-751
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• 2009

We propose a dynamic time allocation method in cooperative multiplexing with partial relaying system. This method uses a linear programming and considers protocol that is based on relaying of partial information bits followed by cooperative multiplexing. In this protocol, regardless of the location of relay, the allocation time for each transmission time slots are constant. Using a dynamic time allocation method with considering the location of relay, we can find optimal transmission time slots, and show that the system capacity is optimized.

• Aerospace Engineering and Technology
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• v.11 no.1
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• pp.98-102
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• 2012

These days, Uncooled IR Systems are more popular in the area of defense and aerospace than before. Uncooled IR Systems are widely used as core technology for making unmanned systems and detecting enemy objects during the day and night in the distance. Recently, researches on TEC-less IRFPA have been increased to minimize the power consumption and to make a smaller system than before. For this, it needs to find adequate NUC(Non-Uniformity Correction) coefficients as FPA(Focal Plane Array) temperature changes. In this paper, we propose a new NUC coefficient estimating technique, DCCE-LI(Dynamic Calibration Coefficients Estimation with Linear Interpolation), for TEC-less IRFPA. It is based on a linear interpolation method and it can estimate NUC coefficients in real-time. So, by testing and evaluating it with some IR images, we conclude that the quality of IR images using proposed method is better than applying static coefficients.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1643-1646
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• 2003

Drawing is a mechanical operation that attenuates thick material to an appropriate thickness for the next processing or end usage. When the input material has the form of a bundle or bundles made of very thin and long shaped wire or fibers, this attenuation operation is called "bundle drawing" or "drafting" Drafting is being used widely in manufacturing staple yarns. which is indispensable for the textile industry. However, the bundle processed by this operation undertake more or less defects in the evenness of linear density. Such irregularities cause many problems not only for the product quality but also for the efficiency of the next successive processes. Since long there have been many researches tying to find out factors affecting the irregularity of linear desity, to obtain optimal drafting conditions, to develop efficient measuring and analysis methods of linear density of bundle, etc., but there exists yet no fundamental equation describing the dynamic behavior of the flowing bundle during processing. In this research a mathematical model for the dynamic behavior of the bundle fluid is to be set up on the basis of general physical lows representing physical variables, i.e. linear density and velocity as the dynamic state of bundle. The conservation of mass and momentum balance was applied to the fluid field of bundle. while the movement of′ individual material was taken into account. The constitutive model relating the surface force and the deformation of bundle was introduced by considering a representative prodedure that stands for the bundle movement. Then a fundamental equations system could be simplified considering a steady state of the process. On the basis of the simplified model, the simulation was performed and the results could be confirmed by the experiments under various conditions.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.11
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• pp.907-912
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• 2005

In this paper, we consider the problem of designing sliding surfaces fur a class of dynamic systems with mismatched uncertainties in the state space model. In terms of LMIs, we give necessary and sufficient conditions fir the existence of a linear sliding surface such that the reduced order sliding mode dynamics is asymptotically stable and completely independent of uncertainties. We parameterize all such linear sliding surfaces by using the solution to the given LMI conditions. And, we consider the problem of designing linear sliding surfaces guaranteeing pole placement constraints or $H_2/H_infty$ performances. Finally, we give a design example in order to show the effectiveness of our method.