• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2713-2718
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• 2003

Some of manufacturing tasks such as sawing task often requires continuous impulsive motion. In case of sawing task, such impulsive motions can be observed between the teeth of the saw and the object. The amount of the external impulse exerted on the object has been treated as an important control parameter. The purpose of this work is to introduce a new concept of an effective mass in sawing task and to suggest an external impulse model in sawing task. A normalized impulse ellipsoid reflecting the velocity direction is employed to visualize the impact geometry. Experiments are performed for soft and hard workpieces to justify the external impulse model in the sawing task. It is demonstrated through simulation and experiment that the proposed external impulse model is effective to characterize the impact property.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2004.04a
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• pp.251-258
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• 2004

This paper presents the parameter study of multiple tuned liquid damper (MTLCD) applied to the 76-story benchmark building. A parameter study involves the effects of number of TLCD, frequency range, and central tuning frequency ratio, which are important parameters of MTLCD. The performance of MTLCD is carried out numerical analysis which reflects the nonlinear property of liquid motion. The parameters of TLCD exist different each optimal values according to mass ratio. The performance of single-TLCD (STLCD) is sensitive for tuning frequency ratio. Therefore, MTLCD is proposed to protect such the shortcoming of STLCD. The result of numerical analysis presents improved performance for robustness of MTLCD

• Journal of the Korean Mathematical Society
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• v.35 no.3
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• pp.713-725
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• 1998

Let X and Y be Ito processes with dX$_{s}$ = $\phi$$_{s}$dB$_{s}$ ＋ $\psi$$_{s}$ds and dY$_{s}$ = (equation omitted)dB$_{s}$ ＋ ξ$_{s}$ds. Burkholder obtained a sharp bound on the distribution of the maximal function of Y under the assumption that │Y$_{0}$│$\leq$│X$_{0}$│,│ζ│$\leq$│$\phi$│, │ξ│$\leq$│$\psi$│ and that X is a nonnegative local submartingale. In this paper we consider a wider class of Ito processes, replace the assumption │ξ│$\leq$│$\psi$│ by a more general one │ξ│$\leq$$\alpha$ │$\psi$│ , where a $\geq$ 0 is a constant, and get a weak-type inequality between X and the maximal function of Y. This inequality, being sharp for all a $\geq$ 0, extends the work by Burkholder.der.urkholder.der.

• Transactions of the Korean Society of Automotive Engineers
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• v.4 no.6
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• pp.52-64
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• 1996

This paper presents an active position control of a single-rod cylinder system featuring an electrorheological(ER) fluid-based valve. The ER fluid consisting of silicone oil and chemically treated particles is firstly composed and its Bingham property is tested as a function of imposed electric field. A multi-channel plate type of ER valve is then designed and manufactured on the basis of the field-dependent Bingham model. Performance test of the ER valve is undertaken by evaluating pressure drop with respect to the number of electrode as well as the intensity of the electric field. Subsequently, the ER valve-cylinder system is constructed and its governing equation of motion is derived. A neural control scheme for position control of the cylinder is formulated by incorporating proportional-plus-derivative(PD) controller and implemented. Experimental results of both regulating and tracking control responses are presented in order to demonstrate the efficacy of the proposed ER valve-cylinder control system.

• Proceedings of the KIPE Conference
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• 2003.07a
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• pp.275-278
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• 2003

The pantograph contact can be disrupted due to irregularities in the motion. The pantograph detachment prohibits the current flow and makes the system uncontrollable. During the pantograph detachment period, the control error are accumulated by the integral property of the controller. The output of the controller, therefore, can be induced to be an extremely large value. When the pantograph is reattached, the extremely large output of the controllers causes a very high overshoot (or under-shoot) of the line current and the DC-link voltage. This work proposes a new method for detecting the pantograph bouncing conditions and designs a controller considering such conditions based on the pantograph bouncing detector.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2004.04a
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• pp.445-448
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• 2004

Linear motor is very rapidly substituted for rotary motor and ball screw for precision positioning applications because of its characteristics such as high speed, no backlash and simplicities. A precision positioning system which is composed of linear motion(LM) guide and linear motor is widely used since it has easy controllable property but this system has low accuracy problem caused by friction of the LM guide. In this study, a scanning type XY stage is manufactured and some experiments is performed to improve the accuracy of the stage.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.6
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• pp.425-434
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• 2003

The disturbance observer(DOB) has been widely used in high speed and high precision motion control applications and the characteristics of DOB have been investigated in depth. Though most of DOB's have been implemented as the discrete-time form in digital devices, we are still short of the researches on discrete-time DOB (DDOB) in spite of rich references on continuous-time DOB. In this paper, we discuss about the disturbance rejection property and measurement noise effect of discrete-time DOB. Especially, we will focus on revealing the role of sampling time in designing the discrete-time DOB and show the validity of analysis through simulations and experiments for optical disk drive systems.

• Journal of computational fluids engineering
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• v.12 no.3
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• pp.41-46
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• 2007

Dynamic behavior of immiscible gas bubble attached to the wall in channel flow plays very important role in many engineering applications. Special attention has been paid to micro direct methanol fuel cell(${\mu}$DMFC) where surface tension becomes dominant factor with minor gravitational effect due to its reduced size. Therefore, displacement of $CO_2$ bubble generating on a cathode side in ${\mu}$DMFC can be very difficult and efficient removal of $CO_2$ bubbles will affect the overall machine performance considerably. We have focused our efforts on studying the dynamic behavior of immiscible bubble attached to the one side of the wall on 2D rectangular channel subject to external shear flow. We used Level Contour Reconstruction Method(LCRM) which is the simplified version of front tracking method to track the bubble interface motion. Effects of Reynolds number, Weber number, advancing/receding contact angle and property ratio on bubble detachment characteristic has been numerically identified.

• Journal of Biomedical Engineering Research
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• v.15 no.3
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• pp.355-364
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• 1994

The most important requirement for the controller of a prosthetic arm is that it has a high fidelity discriminator where the motion control may be performed open loop using EMG signals as a control source. Therefore, it is very effective method to reduce the influence of misclassification of classifier for the total system performance. This paper presents the new function discrimination method which combines MLP classifier and frizzy filter by stages for the requirement. The major advantage of MLP is a consistent learning capability for the easy adaptation to environments. The fuzzy filter uses all informations of MLP outputs and prior EMG activity informations which increase as the experience increases. That property is superior to one which uses maximum output of MLP in view of information amounts and quality. Simulation result shows that proposed method is superior to the probabilistic model, MLP model and the combined model of both in the respect of discrimination quaity.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.3
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• pp.89-95
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• 2002

This paper describes a new identification method for friction in motion control systems, in which the friction model is not necessarily linear in parameters. The proposed method works well with any measurement data of velocity and input control force, as long as the initial and final velocities are identical. Most importantly, the proposed method does not require the information of acceleration for its implementation, in contrast with the previously known methods. This is due to the orthogonality property between acceleration and a function of velocity. In particular, if the parametric model is linear in parameters, its friction parameters can be identified in closed form without resorting to numerical search methods. To illuminate further the generality and practicality of the proposed friction identification method, we show good performance of the proposed method through some simulation results.