• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.1
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• pp.146-153
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• 1996

A SCARA type direct drive robot which can be used in the assembly operation was designed and manufactured. Graphite fiber epoxy composite material was used in the fabrication of the robot arm structure in order to improve the speed of the robot arm with a high damping effect. For model-based control and sensitivity analysis of system parameters, the dynamic model of robot arm and drive servo amplifier parameters such as equivalent gains of PWM driver and velocity gains of servo system were estimated from frequency response tests. The complete dynamic model for overall robot system was used in the simulation of the open-loop control. The simulation results agreed reasonably well to the experimental results. The feedforward control using the dynamic models improved the trajectory tracking performance, decreasing the tracking error by factor of three compared with PID control. This study found that the inverse dynamic model of the robot arm including the drive servo system showed better performances than the case of arm dynamic model only.

• Transactions of the Korean Society of Automotive Engineers
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• v.24 no.3
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• pp.302-309
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• 2016

Urea-SCR system is currently regarded as promising NOx reduction technology for diesel engines. SCR system has to achieve maximal NOx conversion in combination with minimal $NH_3$ slip. In this study, model based open loop control for urea injection was developed and assessed in the European Transient Cycle (ETC) for heavy duty diesel engine. On the basis of the transient modeling, the kinetic parameters of the $NH_3$ adsorption and desorption are calibrated with the experimental results performed over the zeolite based catalyst. $NH_3$ storage or surface coverage of SCR catalyst can not be measured directly and has to be calculated, which is taken into account as a control parameter in this model. In order to reduce $NH_3$ slip while maintaining NOx reduction, $NH_3$ storage control algorithm was applied to correct the basic urea quantity. If the actual $NH_3$ surface coverage is higher than the maximal $NH_3$ surface coverage, the urea injection quantity is significantly reduced in the ETC cycle. By applying this logic, the resulting $NH_3$ slip peak can be avoided effectively. With optimizing the kinetic parameters based on standard SCR reaction, it suggests that a simplified, less accurate model can be effective to evaluate the capability of model based control in the ETC cycle.

• Smart Structures and Systems
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• v.3 no.2
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• pp.189-200
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• 2007

As a functional material, shape memory alloy (SMA) has attracted much attention and research effort to explore its unique properties and its applications in the past few decades. Some of its properties, in particular the electrical resistance (ER) based self-sensing property of SMA, have not been fully studied. Electrical resistance of an SMA wire varies during its phase transformation. This variation is an inherent property of the SMA wire, although it is highly nonlinear with hysteresis. The relationship between the displacement and the electrical resistance of an SMA wire is deterministic and repeatable to some degree, therefore enabling the self-sensing ability of the SMA. The potential of this self-sensing ability has not received sufficient exploration so far, and even the previous studies in literature lack generality. This paper concerns the utilization of the self-sensing property of a spring-biased Nickel-Titanium (Nitinol) SMA actuator for two applications: ER feedback position control of an SMA actuator without a position sensor, and estimation of the opening of a SMA actuated valve. The use of the self-sensing property eliminates the need for a position sensor, therefore reducing the cost and size of an SMA actuator assembly. Two experimental apparatuses are fabricated to facilitate the two proposed applications, respectively. Based on open-loop testing results, the curve fitting technique is used to represent the nonlinear relationships between the displacement and the electrical resistance of the two SMA wire actuators. Using the mathematical models of the two SMA actuators, respectively, a proportional plus derivative controller is designed for control of the SMA wire actuator using only electrical resistance feedback. Consequently, the opening of the SMA actuated valve can be estimated without using an extra sensor.

• Molecules and Cells
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• v.26 no.1
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• pp.26-33
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• 2008

The plasmid pJB01, a member of the pMV158 family isolated from Enterococcus faecium JC1, contains three open reading frames, copA, repB, and repC. Plasmids included in this family produce counter-transcribed RNA (ctRNA) that contributes to copy number control. The pJB01 ctRNA, a transcript which consists of 54 nucleotides (nts), is encoded on the opposite strand from the copA/repB intergenic region and partially overlaps an atypical ribosome binding site (ARBS) for repB. The ARBS is integrated by the two underlined conserved regions: 5'-TTTTTGTNNNNTAANNNNNNNNNATG-3', and the ctRNA is complementary only to the 5' conserved sequence 5'-TTTTTGT-3'. This complementary sequence is located at a distance from the terminal loop of the ctRNA secondary structure. The ctRNA structure predicted by the mfold program suggests the possible generation of a terminal and an internal hairpin loop. The amount of in vitro translation product of repB mRNA was inversely proportional to the ctRNA concentration. Mutations in the terminal and internal hairpin loops of the ctRNA had inhibitory effects on its binding to the target mRNA. We propose that the intact structures of the terminal and internal hairpin loops, respectively, play important roles in forming the initial kissing and extending complexes between the ctRNA and target mRNA and that these regulate the copy number of this plasmid.

• Journal of Navigation and Port Research
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• v.32 no.5
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• pp.379-385
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• 2008

In this paper, we presents a scheme for the parameter estimation and optimal control scheme for apparatus of container crane system. For parameter estimation, first, we construct the open loop of the container crane system and estimate its parameters based on input-output data, a real-coded genetic algorithm(RCGA) and the model adjustment technique. The RCGA plays an important role in parameter estimation as an adaptive mechanism. For controller design, state feedback gain matrix is searched by another RCGA and the estimated model. The performance of the proposed methods are demonstrated through a set of simulation and experiments of the experimental apparatus.

• Journal of Biomedical Engineering Research
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• v.29 no.4
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• pp.323-328
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• 2008

A patient with respiratory disorders such as a sleep apnea is increasing as the obese patient increase on the modern society. Positive Airway Pressure (PAP) devices are used in curing patient with respiratory disorders and turn out to be efficacious for patients of 75%. However, these devices are required for evaluating their performance to improve their performance by the mechanical breathing simulator. Recently, the mechanical breathing simulator was studied by the real time feedback control. However, the mechanical breathing simulator by an open loop control was specially required in order to analyze the effect of flow rate and pressure after operating the breathing auxiliary devices. Therefore the aims of this study were to make the mechanical breathing simulator by a piston motion and a valve function from the characteristic test of valve and motor, and to duplicate the flow rate and pressure profiles of some breathing patterns: normal and three disorder patterns. The mechanical simulator is composed cylinder, valve, ball screw and the motor. Also, the characteristic test of the motor and the valve were accomplished in order to define the relationship between the characteristics of simulator and the breathing profiles. Then, the flow rate and pressure profile of human breathing patterns were duplicated by the control of motor and valve. The result showed that the simulator reasonably duplicated the characteristics of human patterns: normal, obstructive sleep apnea (OSA), mild hypopnea with snore and mouth expiration patterns. However, we need to improve this simulator in detail and to validate this method for other patterns.

• Proceedings of the KIEE Conference
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• 2000.07c
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• pp.2098-2100
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• 2000

We propose pulsed $CO_2$ laser below 30W by the AC(60Hz) switching control of leakage transformer primary which has some advantage of cost and size compared to a typical pulsed power supply. Pulse repetition rate is adjusted from 5Hz to 60Hz to control laser output. In this laser, a low voltage open loop control for high voltage discharge circuit is employed to avoid the HV sampling or switching and high voltage leakage transformer is used to convert rectified low voltage pulse to high voltage one. A ZCS(Zero Cross Switch) circuit and a PIC one-chip microprocessor are used to control gate signal of SCR precisely. The pulse repetition rate is limited by 60Hz due to the frequency of AC line and a high leakage inductance. The maximum laser output was obtained about 23W at pulse repetition rate of 60Hz, total gas mixture of $CO_{2}/N_{2}$/He = 1/9/15, SCR gate trigger angle 90$^{\circ}$, and total pressure of 18Torr.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.1A
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• pp.27-33
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• 2009

This paper proposes transmit power control techniques with fading channel prediction scheme based on recurrent neural network for high-speed mobile communication systems. The operation result of recurrent neural network which is derived interpretively solves complexity problems of neural network circuit, and channel gain of multiple transmit antenna is derived with maximum ratio combining(MRC) by using the operation result, and this channel gain control transmit power of each antenna. simulation results show that proposed method has a outstanding performance compared to method that is not to be controlled power based on channel prediction. Most of legacy studies are for robust receive technique of fading signals or channel prediction of fading signals limited low-speed mobility, but in open loop Power control, proposed channel prediction method decrease system complexity with removal of fading effect in transmitter.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.13 no.12
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• pp.2685-2692
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• 2009

We propose pulsed magnetic stimulation below 30W by the AC(60Hz) switching control of leakage transformer primary which has some advantage of cost and size compared to a typical pulsed power supply. Pulse repetition rate is adjusted from 5Hz to 60Hz to control magnetic stimulation output. In this magnetic stimulation, a low voltage open loop control for high voltage discharge circuit is employed to avoid the HV sampling or switching and high voltage leakage transformer is used to convert rectified low voltage pulse to high voltage one. A ZCS(Zero Cross Switch)circuit and a DSP & FPGA are used to control gate signal of SCR precisely. The pulse repetition rate is limited by 60Hz due to the frequency of AC line and a high leakage inductance. The maximum magnetic stimulation output was obtained about 33W at pulse repetition rate of 60Hz, total 40, 80, 120, $160^{\circ}$, SCR gate trigger angle $90^{\circ}$ and total output.

• Journal of Mechanical Science and Technology
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• v.16 no.12
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• pp.1583-1593
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• 2002

This paper discusses the model validation and vibration suppression of an AMB flexible rotor via additional LQG controller. The main difficulty in the vibration suppression of the flexible rotor using AMB is to realize a controller that can minimize resonance without injuring the stabilized rigid modes. In order to solve this problem, simple scheme for system modeling and controller design are developed. Firstly, the AMB flexible rotor is stabilized with a PID controller, which leads to a new stable rotor-bearing system. Then, authors propose the model validation procedure using measured open-loop frequency responses to obtain an accurate model of the AMB flexible rotor system. After that, LQG controller with modal weighting is designed to suppress resonances of the stable rotor-bearing system. Due to the poor controllability and observability of flexible modes compared to rigid ones, balancing of two Gramians is prerequisite for the fair LQG controller design. Simulation with step disturbance and experimental results of unbalance response up to 10,000 rpm verified the effectiveness of the proposed scheme.