• 한국소음진동공학회논문집
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• 제19권10호
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• pp.1043-1052
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• 2009

In this work, a master-slave manipulator system which will be used for handling objects contaminated by radioactivity has been addressed. The links of manipulators are driven independently by individual motors installed on the base and the driving torque is transmitted through pre-tensioned tendons. Since the measurable variables are the positions and rates of master/slave motors, only a constrained specific bilateral control structure is available. In the consideration of the flexibility of the tendon and constrained control structure, we derived a necessity for tendon design to prevent uncontrollable vibration mode through a modal analysis. Based on a reduced rigid body model, a control design was suggested and tendons were selected. The feasibility of the proposed analysis and tendon design were verified along with some simulation results.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2007년도 추계학술대회 논문집
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• pp.1616-1625
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• 2007

Recently, embedded systems role as control systems instead of mechanical control systems in many parts of vehicles. In cases that embedded systems are used controling the electric signal, it is important to secure the reliability of a software within embedded systems. In this paper, the test platform for securing the reliability and real-time characteristic of the embedded system that controls electric signal of All Wheel Steering Control System in a Bi-modal tram is proposed. The platform is built on a HIL (Hardware In the Loop) architecture. Through the HIL platform, various vehicle conditions, driver activities and environment conditions can be successfully tested without actual driving, hence improving the reliability of the embedded system for the All Wheel Steering Control System.

• 소음진동
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• 제4권2호
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• pp.177-185
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• 1994

In this study, the effect of parameter errors on the closed-loop behavior of flexible structure is analyzed for IMSC(Independent Modal Space Control) with PPF(Positive Position Feedback). If the control force designed on the basis of structure model with the parameter errors is applied to control the actual system, the closed-loop performance of the actural system will be degraded depending on the degree of the errors. An asymptotic stability condition has been derived, using Lyapunov approach, which is independent of the dynamic characteristics of the structure being controlled. The extent of deviation of the closed-loop performance from the designed one is also derived and evaluated using operator techniques. It has been found that the extent of the deviation is proportational to the magnitude of the parameter errors, and that the proportional coefficient depends on the control algorithm.

• 한국소음진동공학회논문집
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• 제11권6호
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• pp.193-199
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• 2001

Active control of forced vibration of the cantilevered laminated composite plates using collocated piezoceramic sensor/actuator is analyzed numerically and verified experimentally for various fiber orientations. Impact on the stiffness and the damping properties is studied by varying stacking sequence of [$\theta$$_{4}$O$_{2}$90$_{2}$]s for the laminated composite plate. For the forced vibration control, the plate is excited by one pair of collocated PZT exciters in resonance and its vibrational response is suppressed by the other collocated PZT sensor/actuator using direct negative velocity feedback. It is shown that the active control of forced vibration is more effective for the smart laminated plate with higher modal damped stiffness(2ζ$\omega$/aup 2/) .

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.22.5-22
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• 2001

Robust control of a GFR composite beam with a distributed PVDF sensor and piezo-ceramic actuator is presented En this paper. Modal analysis method and modal coordinates are introduced to obtain the state educations of the structural system. 1st and 2nd natural frequencies are considered In the modeling, because robust control theory which is robustness to structured uncertainty is adopted to suppress the vibration. If the controllers designed by H$\^$$\infty$/ theory do not satisfy control performance, it is improved by ${\mu}$-synthesis method with D-K Iteration so that the ${\mu}$-controller based on the structured singular value satisfies the nominal performance and robust performance.

• Smart Structures and Systems
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• 제16권6호
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• pp.1091-1105
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• 2015

Piezoelectric coefficient and dielectric constant of PZT-5H vary with electric field. In this work, variations of these coefficients with electric field are included in finite element modelling of a cantilevered plate instrumented with piezoelectric patches. Finite element model is reduced using modal truncation and then converted into state-space. First three modal displacements and velocities are estimated using Kalman observer. Negative first modal velocity feedback is used to control the vibrations of the smart plate. Three cases are considered v.i.z case 1: in which variation of piezoelectric coefficient and dielectric constant with electric field is not considered in finite element model and not considered in Kalman observer, case 2: in which variation of piezoelectric coefficient and dielectric constant with electric field is considered in finite element model and not considered in Kalman observer and case 3: in which variation of piezoelectric coefficient and dielectric constant with electric field is considered in finite element model as well as in Kalman observer. Simulation results show that appreciable amount of change would appear if variation of piezoelectric coefficient and dielectric constant with r.m.s. value of electric field is considered.

• 대한토목학회논문집
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• 제14권3호
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• pp.473-485
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• 1994

정말진동환경을 요구하는 혐진기기 하부의 콘크리트슬래브를 대상으로 하여 시간영역에서만이 아니라 진동수영역에서의 진동수준을 허용진동범위 이하로 제어하므로써 요구되는 진동환경을 조성하는데 본 연구의 목적이 있다. 이를 위하여 콘크리트슬래브에 대한 진동실험을 실시하여 진동수영역에서의 동적응답 및 가진점과 응답점간의 진동수응답함수를 구한다. 또한 실험적모드해석법에 의하여 콘크리트슬래브의 동특성을 분석한다. 이를 근거로 외부로부터의 가진진동수와 콘크리트슬래브의 고유진동수간의 공진현상을 피하기 위하여 계의 동특성을 변경하므로써 구조물의 동적응답을 제어할 수 있다.

• 대한정형도수물리치료학회지
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• 제26권2호
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• pp.19-27
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• 2020

Background: The purpose of this study was to examine the effects of a multi-modal exercise program for patients with chronic low back with respect to pain intensity, trunk muscle strength and Oswestry disability index. Methods: Thirty patients with chronic low back pain were recruited and divided equally into two groups. The multi-modal training program comprised a series of exercises such as warm-up, stabilization exercises, stretching, endurance exercises, and cool down whereas the control group performed only stabilization exercises. The both group spent an equal amount of time performing 60 minutes per day, three times per week, for five weeks. Results: The experimental group demonstrated statistically significant improvements in range of motion, trunk muscle strength, the visual analogue scale, and the Oswestry Disability Index (p<.05). Intergroup comparison showed a statistically significant difference in the range of motion of the lumbar spine and the degree of disability in the experimental group. Muscle strength and pain were statistically significant in both groups. Conclusion: The multi-modal exercise program is effective for patients with chronic low back pain, as it reduces lower back pain, increases trunk muscles strength, and decrease the potential for becoming disabled.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 춘계학술대회 논문집
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• pp.275-278
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• 2001

Research on the forced vibration control of a flexible GFR composite beam using $\mu$-synthesis is performed on this paper. Modal analysis method and modal coordinates are introduced to obtain the state equations of the structural system. Using these equations, Robust control algorithm using $\mu$-synthesis is adopted to suppress the forced vibration of a flexible beam since the designed controller can considered plant uncertainty and external disturbance. Constant disturbance which is generated by shaking the flexible beam as I's natural frequency is effectively rejected by a PZT actuator. Simulations and experiments are carried out with the designed controller and effectiveness of forced vibration suppression strategy is verified by results.

• 한국소음진동공학회논문집
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• 제11권4호
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• pp.37-42
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• 2001

Active vibration control of laminated composite plates has been carried out to design structure with maximum possible damping capacity, using piezoceramic sensor/actuators and passive constrained-layer damping treatment. The equations of motion are derived for symmetrical, multi-layer laminated plates. The damping ratio(ζ) and modal damping(2ζ$\omega$) of the first bending and torsional modes are calculated by means of iterative complex eigensolution method for both passive and active vibration control. This paper addresses a design strategy of laminated composite plate under structural vibrations.