• 한국건축시공학회:학술대회논문집
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• 한국건축시공학회 2010년도 춘계 학술논문 발표대회 1부
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• pp.13-16
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• 2010

This study is an Investigation on the Watertightness Properties of Rain-Block System on the Sliding-Roof Joint of Large-Span Membrane Structures. In this experimental, we test the watertightness performance of joint part of sliding door in roof of large span membrane structure(for pilot project) under environment of rain and wind. A shape of rain water blocking systems of joint part in sliding door verifies the defects and effects of water leakage prevention in precipitation with the wind conditions. For obtaining watertightness of large span membrane structures, it is necessary quality of joints and performance, and quality of membrane material of a retractable roof as well as a closed roof. Also, for obtaining quality in joints, it is essential to make a watertightness guideline for design of large-span membrane.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1994년도 하계학술대회 논문집 A
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• pp.468-471
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• 1994

This paper presents the digital implementation of an optimal and robust VSS controller with sliding observer. Firstly, a discrete-time VSS control law which enables the system state to move into a sliding sector where the closed-loop system is stable is designed. Then optimal control theory is used to design an optimal sliding sector. Secondly, a sliding observer which provide robust state estimation against model-plant mismatches due to parameter uncertainties is designed for the sampled-data multivariable systems. Finally, modified sliding observer which effectively reduce chattering of state variables in state estimation was proposed. The proposed scheme was applied 10 a two degree of freedom inverted pendulum with passive joint to verify robust motion control. Computer simulation results confirm the viability of the proposed observer-based controller.

• 대한물리의학회지
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• 제9권3호
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• pp.293-299
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• 2014

PURPOSE: The purpose of this study was to investigate the effect of functional training using a sliding rehabilitation machine (SRM) on the mobility of the ankle joint and balance in children with cerebral palsy (CP). METHODS: The subjects consisted of 11 children who were diagnosed with spastic CP. They carried out the functional training using the SRM for 30 minutes, three times a week, for 8 weeks. Before and after all of the training sessions, the subjects were tested using the Pediatric Balance Scale (PBS) and Gross Motor Function Measurement (GMFM), range of motion (ROM) in the ankle joint, the pennation angle of the gastrocnemius muscle and the fascicle length of gastrocnemius muscle were measured to determine the mobility of the ankle joint and balance ability. RESULTS: There were significant differences between the pre-test and post-test in the PBS and GMFM. The ROM of the ankle joint was significantly increased after the functional training using the SRM. Moreover, the fascicle length was increased and the pennation angle was decreased after the functional training using the SRM, but the difference was not significant. CONCLUSION: These results suggest that functional training using the SRM may have some effect on the mobility of ankle joint and balance in children with CP. According to the results, this study could present an approach to the rehabilitation or treatment of children with CP.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.1075-1079
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• 1989

In this paper a robust control design is developed for the control of a multi-joint manipulators using sliding observer. The sliding observer is introduced to estimate the angular velocity of the links under the disturbance input. The feedback control is designed by the use of the estimated value of the angular velocity .theta.. The VSS control laws is introduced to ensure the robustness concerning the disturbance inputs. To illustrate the effectiveness of the proposed method, a computer simulation is performed for a two-joint manipulator.

• 한국지반공학회:학술대회논문집
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• 한국지반공학회 2000년도 가을 학술발표회 논문집
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• pp.511-518
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• 2000

Characteristics of joint orientation, length, spacing and their distribution are very important factors for slope stability, Especially, the effect of joint spacing is an essential factor of slope stability. This study is to analyze the effect of joint spacing in cases of sliding and toppling, which is a typical failure mode. Joint spacing can divided into vertical spacing(spacing) and horizontal spacing(gap). And then, the spacing/length ratio of joint directly affect rock slope failure. When the ratio is below 0.05, the possibility of failure is rapidly increased. In case of toppling, the possibility of failure depends on the ratio of spacing to height of slope ratio slope. As the ratio decreases, the possibility of toppling failure increased. The critical ratio of spacing to height of slope is determined by the dip angle of the slope and the orientation of joint sets.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2000년도 춘계학술대회논문집A
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• pp.511-516
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• 2000

In order to not only perform as a extreme model under the severe operating condition but also acquire more diverse and advanced control capability utilizing high compliance, active vibration control of a flexible 2-link robot manipulator are investigated. Multi variable-structured frequency shaped optimal sliding mode is proposed for the flexible robot manipulator like control system, whose control variables, an angular motion of joint and vibration of flexible link, have to be controlled simultaneously by one control torque at a driving joint. The control system is divided into two subsystems, a control input related subsystem and an added subsystem. The proposed sliding mode, composed of multi control variables, makes optimized relation between subsystems and a individual control input, thus, the sliding mode controller can compensate whole dynamics of each subsystems simultaneously. And the possibility and effectiveness are verified by vibration control of a manipulator having two flexible links. Simulation and experiment results show that the proposed control scheme achieves the purpose effectively.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.648-653
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• 1993

This paper presents an nonlinear observer scheme for flexible joint robot manipulators. This nonlinear observer scheme is based on the sliding mode method. Sliding controllers have recently been shown to feature excellent robustness and performance properties for specific classes of nonlinear tracking problems. Dynamic equations of flexible joint robot manipulators are derived from the Euler-Lagrange equations by forming the corresponding Lagrangian. Simulation results are presented to show the validness of the proposed nonlinear observer scheme.

• 한국정보통신학회논문지
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• 제21권3호
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• pp.643-650
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• 2017

최근에 유연관절로봇의 제어는 로봇시스템에 있어서 다양한 적용가능성이 증가하고 있기 때문에 점점 그 중요성이 커지고 있다. 본 논문에서는 유연관절로봇의 제어에 있어서 적분슬라이딩모드제어기와 백스테핑제어기법을 도입하여 강인성을 증가시키는 방법을 제안한다. 슬라이딩모드제어기를 사용하여 강인성을 향상시키기 위해서는 제어대상이 정합조건을 만족시켜야 하는데 유연관절로봇은 이 조건을 만족시키지 못한다. 유연관절로봇은 링크측과 모터측으로 나누어 생각할 수 있고 각 측에 외란이 존재하나 실제입력은 모터측에 존재하기 때문에 링크측 외란은 정합조건을 만족시킬 수 없으므로 슬라이딩모드제어기로 제거하기가 어렵다. 이에 본 논문에서는 백스테핑을 도입하여 이러한 비정합 문제를 해결함으로써 링크측 외란의 영향을 제거할 수 있도록 한다. 이와 더불어 임피던스제어 성능을 가질 수 있도록 적분슬라이딩모드제어기를 함께 사용한다.

• 한국건축시공학회지
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• 제10권3호
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• pp.129-136
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• 2010

지붕 개폐형태의 대공간 막 구조물은 멀티미디어적인 요소 및 전천후 공간을 활용할 수 있지만, 다수의 연결 조인트에 의해 구조물이 형성되므로 누수에 취약한 문제점이 있다. 특히 개폐식 지붕 맞댐부위의 우수차단 시스템은 우수의 직접적인 유입을 차단하는 역할을 하고 있으므로 바람을 동반한 강우환경에서도 수밀성능이 요구된다. 따라서 상기의 환경 조건을 부여한 수밀성 실험을 통하여 우수차단 시스템의 디테일에 대한 수밀성능을 평가하고자 한다. 실험 결과, 모든 실험체에서 누수가 발생하였으며, 우수의 유입경로는 동일한 것으로 확인되었다. 특히, 바람에 의하여 물입자들이 구조물 내부로 들이치는 현상이 주원인이므로 이를 보완한 새로운 우수차단 시스템의 디테일이 요구된다. 이 연구를 통해 강우 환경과 바람 환경을 동시에 부여하였을 때 발생될 수 있는 우수 침입 경로를 확인하였으며, 수밀 성능 확보 유무가 사전에 검토되어 져야함을 알 수 있었다. 또한, 디테일을 사전에 작성하여 모형 수밀성 시험을 반드시 시행한 후 그 결과에 따라 설계 디테일의 변경, 개선, 보완시공을 하여야 할 것이다.

• 한국정밀공학회지
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• 제19권2호
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• pp.126-132
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• 2002

Robot manipulator has highly nonlinear dynamics. Therefore the control of multi-link robot arms is a challenging and difficult problem. In this paper an independent joint adaptive fuzzy sliding mode scheme is developed leer control of robot manipulators. The proposed scheme does not require an accurate manipulator dynamic model, yet it guarantees asymptotic trajectory tracking despite gross robot parameter variations. Numerical simulation for independent joint control of a 3-axis PUMA arm will also be included.