• Journal of Mechanical Science and Technology
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• 제18권4호
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• pp.630-639
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• 2004

The Stewart platform manipulator is a closed-kinematics chain robot manipulator that is capable of providing high structural rigidity and positional accuracy. However, this is a complex and nonlinear system, so the control performance of the system is not so good. In this paper, a new robust motion control algorithm is proposed. The algorithm uses partial state feedback for a class of nonlinear systems with modeling uncertainties and external disturbances. The major contribution is the design of a robust observer for the state and the perturbation of the Stewart platform, which is combined with a variable structure controller (VSC). The combination of controller and observer provides the robust routine called sliding mode control with sliding perturbation observe. (SMCSPO). The optimal gains of SMCSPO, which is determined by nominal eigenvalues, are easily obtained by genetic algorithm. The proposed fitness function that evaluates the gain optimization is to put sliding function. The control performance of the proposed algorithm is evaluated by the simulation and experiment to apply to the Stewart platform. The results showed high accuracy and good performance.

• 제어로봇시스템학회논문지
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• 제8권8호
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• pp.639-648
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• 2002

The stewart platform manipulator is a manipulator that has the closed-loop structure with an upper plate end-effector and a base frame. The stewart platform manipulator has the merit of high working accuracy and high stiffness compared with a serial manipulator. However, this is a complex structure, so controllability of the system is not so good. In this paper, we introduce a new robust motion control algorithm using partial state feedback for a class of nonlinear systems in the presence of modelling uncertainties and external disturbances. The major contribution of this work introduces the development and design of robust observer for the state and the perturbation, which is integrated into a variable structure controller(VSC) structure. The combination of controller/observer improves the control performance, because of the robust routine called sliding mode control with sliding perturbation observer(SMCSPO). Simulation and experiment are performed to apply to the manipulator. And their results show a high accuracy and a good performance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.5-10
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• 2005

We deal with the sliding mode control using the time delay estimation. The time delay estimation is able to weaken the need for obtaining a quantitative plant model analogous to the real plant so the sliding mode control with a time delay estimation (SMCTE) is very suitable for plant such as SMA actuators whose quantitative model is difficult to obtain. We have already studied the application of the time delay control (TDC) to SMA actuators in other literature. Based on the previous study on the TDC, we developed the gain tuning method for the SMCTE, which results were nearly the same as the TDC. With respect to the step response, the SMCTE proved its predominance in a comparison with other control schemes such as the PID control and the relay control. As well as the contribution of the above control methodology, the model identification for SMA actuators has also been studied. The dynamics for an SMA actuator was newly derived using the modified Liang's model. The derived dynamics showed a continuity at the change of the phase transformation process but the original Liang's model could not.

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2005년도 추계종합학술대회
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• pp.1000-1002
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• 2005

최대 7기기까지의 슬레이브 디바이스들과 연결이 가능한 블루투스 피코넷에서, RF 연결단으로 송신되는 무선 데이터는 블루투스 버전 1.1 송신 규약에 적합하도록 1마이크로미터 단위로 슬라이싱되어 베이스밴드 입력단으로 들어오게 된다. 본 연구에서는 상대적으로 불안정한 RF 디바이스에서 베이스밴드로 전달되는 아날로그 신호를 1 마이크로미터 단위의 정확한 슬라이싱을 가능하게 해 주고, 또한 불안정한 아날로그에 대한 신호의 노이즈를 제거할 수 있는 디지털 로우패스 필터를 설계하였다. 설계된 디지털 로우패스필터는 블루투스 RF 일체형 베이스밴드 침의 절전 모드, 정상동작 모드와 고속 동작 모드인 12MHz, 24MHz, 48MHz 각 주파수에서 모두 정상적으로 동작하였다.

• 한국산학기술학회논문지
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• 제17권11호
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• pp.114-127
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• 2016

최근 들어 글로벌 경제는 국가 간 경쟁에서 지역 기반 경쟁으로 변모하고 있다. 이 같은 변화 속에 지역공간에 기반한 지식생산과 활용이 강조되고 있다. 우리나라도 고급 과학기술인재를 양성하고 지역산업을 육성한다는 목적 하에 KAIST를 비롯한 5개 과학기술특성화대학을 대전, 대구, 광주, 포항, 울산 지역에 설립한 바 있다. 이들 과학기술특성화대학은 국내 최고 수준의 연구역량과 교육여건을 보유하고 있으며 일반대학과 비교해 우수한 연구성과를 창출하고 있다고 평가된다. 하지만 이들이 설립의 목적과는 달리 우수 연구거점으로서의 역할에 중점을 두었고, 지역혁신 거점으로서 역할은 미흡하다는 지적도 있다. 이 같은 문제의식을 바탕으로 본 연구에서는 과학기술특성화대학의 성과를 Mode 1 성과와 Mode 2 성과로 구분하고 일반대학과 비교함으로써 이들 특성화대학이 설립목적에 부합하며 동시에 지역혁신에 기여하고 있는지를 실증분석 하고자 하였다. 분석결과, 특성화대학은 Mode 1 성과에 있어 일반대학에 비해 높게 나타났으나 Mode 2 성과는 이들에 비해 오히려 낮은 것으로 나타났다. 또한 학과의 구성이나 연구 분야에 있어서도 대학별 차별성이 적고, 지역 특화산업과의 연계 정도도 낮음을 확인할 수 있었다. 결론적으로 Mode 2 관점의 지역과 연계성에 있어 분석의 대상으로 삼은 특성화대학이 일반대학에 오히려 못 미치는 성과를 보였고, 그 특성화 정도에 있어 차이점을 확인하기 어려웠다.

• Ocean Systems Engineering
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• 제2권2호
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• pp.115-135
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• 2012

The very low natural frequencies of tension leg platforms (TLP's) have raised the concern about the significance of the action of hydrodynamic wave forces on the response of such platforms. In this paper, a numerical study using modified Morison equation was carried out in the time domain to investigate the influence of nonlinearities due to hydrodynamic forces and the coupling effect between surge, sway, heave, roll, pitch and yaw degrees of freedom on the dynamic behavior of TLP's. The stiffness of the TLP was derived from a combination of hydrostatic restoring forces and restoring forces due to cables and the nonlinear equations of motion were solved utilizing Newmark's beta integration scheme. The effect of wave characteristics such as wave period and wave height on the response of TLP's was evaluated. Only uni-directional waves in the surge direction was considered in the analysis. It was found that coupling between various degrees of freedom has insignificant effect on the displacement responses. Moreover, for short wave periods (i.e., less than 10 sec.), the surge response consisted of small amplitude oscillations about a displaced position that is significantly dependent on the wave height; whereas for longer wave periods, the surge response showed high amplitude oscillations about its original position. Also, for short wave periods, a higher mode contribution to the pitch response accompanied by period doubling appeared to take place. For long wave periods, (12.5 and 15 sec.), this higher mode contribution vanished after very few cycles.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2007년도 추계학술대회논문집
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• pp.291-296
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• 2007

This study presents the evaluation process for door module. Its objective evades the resonance generated at module plate due to the operation of window regulator motor. For this study, the design improvement process is composed of experimental methods having three steps. First step is modal analysis at door assembly status for acquisition of dynamic characteristics which are modal frequency and damping. Second step is a vibration experiment to get the test mode considered an efficiency of window regulator motor. Last step is a vibration measurement by the form of $6{\times}6$ array on module plate. A vibration measurement of 6x6 array form can be got to three analysis results which are a transfer path of vibration using cross correlation function, a vibration map using OA level and a contribution by frequency band using coherent output power spectrum on module plate. These results are applied to SDM(structural dynamic modification) for design improvement to get around the resonance on module plate by the excitation of window regulator motor.

• Wind and Structures
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• 제20권3호
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• pp.363-388
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• 2015

For controlling the vibration of specific building structure with large span, a practical method for the design of MTMD was developed according to the characteristics of structures subjected to wind loads. Based on the model of analyzing wind-induced response of large-span structure with MTMD, the optimization method of multiple tuned mass dampers for large-span roof structures subjected to wind loads was established, in which the applicable requirements for strength and fatigue life of TMD spring were considered. According to the method, the controlled modes and placements of TMDs in MTMD were determined through the quantitative analysis on modal contribution to the wind-induced dynamic response of structure. To explore the characteristics of MTMD, the parametric analysis on the effects of mass ratio, damping ratio, central tuning frequency ratio and frequency range of MTMD, was performed in the study. Then the parameters of MTMD were optimized through genetic algorithm and the optimized MTMD showed good dynamic characteristics. The robustness of the optimized MTMD was also investigated.

• 한국소음진동공학회논문집
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• 제17권11호
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• pp.1093-1101
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• 2007

This study presents the design improvement process for door module. Its objective evades the resonance generated at module plate due to the operation of window regulator motor. For this study, the design improvement process is composed of experimental methods having three steps. First step is modal analysis at door assembly status for acquisition of dynamic characteristics which are modal frequency and damping. Second step is a vibration experiment to get the test mode considered an efficiency of window regulator motor. Last step is a vibration measurement by the form of $6{\times}6$ array on module plate. A vibration measurement of $6{\times}6$ array form can be got to three analysis results which are a transfer path of vibration using cross correlation function, a vibration map using OA level and a contribution by frequency band using coherent output power spectrum on module plate. These results are applied to SDM(structural dynamic modification) for design improvement to get around the resonance on module plate by the excitation of window regulator motor.

• Structural Engineering and Mechanics
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• 제90권4호
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• pp.391-401
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• 2024

The present study focuses on the effect of extension-bending coupling on the elastic stability (buckling) of laminated composite plates. These plates will be loaded under uni-axial or bi-axial in-plane mechanical loads, especially in the orthotropic or anti-symmetric cross-angle cases. The main objective is to find a limit where we can approximate the elastic stability behavior of angularly crossed anti-symmetric plates by the simple behavior of specially orthotropic plates. The contribution of my present study is to predict the explicit effect of extension-flexion coupling on the elastic stability of this type of panel. Critically, a parametric study is carried out, involving the search for the critical buckling load as a function of deformation mode, aspect ratio, plate anisotropy ratio and finally the study of the effect of lamination angle and number of layers on the contribution of extension-flexure coupling in terms of plate buckling stability. We use first-order shear deformation theory (FSDT) with a correction factor of 5/6. Simply supported conditions along the four boundaries are adopted where we can develop closed-form analytical solutions obtained by a Navier development.