• The Journal of the Korea institute of electronic communication sciences
• /
• v.13 no.1
• /
• pp.93-100
• /
• 2018

This study proposes a controller that compensates torque error for precise angular velocity tracking and a method to compensate the stability of controller in implementation. Also, it is proved that the designed controller can be asymptotically stable based on Lyapunov stability theory. The proposed controller is able to control the d-axis reference current to arbitrary values and easily achieve control performance with two gains. As a result of applying to IPMSM of about 750W class, the steady state error with reference speed 1200 [RPM] is within 0.1 [%]. And it can be seen that it is an asymptomatic stable controller overcoming disturbance within about 0.2 second in application of constant load of about 5 [Nm].

• Journal of the Korean Society for Precision Engineering
• /
• v.14 no.11
• /
• pp.34-41
• /
• 1997

This paper presents a technique to control a very flexible robot moving in a vertical plane. The flexible robot is modeled as an Euler-Bernoulli beam. Elastic deformation is approximated using the assmed modes method. A comparison function which satisfies all geometric and natural boundary conditions of a cantilever beam with an end mass is used as an assumed mode shape. Lagrange's equation is utilized for the development of a discretized model. A control algorithm is developed using a simple PID cnotrol tech- nique. The proportional, integral and deivative control gains are determined based on the dominant pole placement method and tuned to show no overshoot and no steady state error, and short settling time. The effectiveness of the developed control scheme is showed in the hub angular diaplacement control experiment. Three different end masses are uned in the experiment. The experimental results show that developed control algorithm is very effective showing little overshoot, no steady state error, and less than 2.5 second settl- ing time in case of having an end mass which is equivalent to 45% of the manipulator mass. Also the experimental results show that the residual vibration fo the end point is effectively controlled.

• Journal of the Korean Society of Physical Medicine
• /
• v.3 no.2
• /
• pp.63-74
• /
• 2008

Purpose : The purpose of this study was to compare trunk repositioning errors between subjects with and without low back pain in sitting and standing. Methods : Total 81 participants were recruited who consisted of 41 subjects with low back pain and 40 normal subjects. The subjects were instructed to replicate the predetermined target positions of the trunk toward upright and $30^{\circ}$ flexion in sitting and standing. During each of movement, digital inclinometer was used to measure the angular movement of $T_{12}$ spinal process. Repositioning error was calculated as the absolute difference between the predetermined target positions and replicated target positions. Results : In subjects with low back pain, upright repositioning error was $1.26^{\circ}{\pm}0.14^{\circ}$ in sitting and $1.55^{\circ}{\pm}0.24^{\circ}$ in standing, and $30^{\circ}$ flexion repositioning error was $3.23^{\circ}{\pm}0.33^{\circ}$ in sitting and $5.50^{\circ}{\pm}0.50^{\circ}$ in standing. In subjects without low back pain, upright repositioning error was $1.38^{\circ}{\pm}0.15^{\circ}$ in sitting and $1.67^{\circ}{\pm}0.18^{\circ}$ in standing, and flexion repositioning error was $2.61^{\circ}{\pm}0.28^{\circ}$ in sitting and $3.70^{\circ}{\pm}0.52^{\circ}$ in standing. It was demonstrated that flexion repositioning error increased significantly in standing position. In subjects with low back pain, $30^{\circ}$ flexion repositioning error was significantly higher in standing than in sitting. Conclusion : The repositioning error of subjects with low back pain increased during flexion and it implies that some aspects of proprioception are decreased in subjects with low back pain. Therefore, it will be emphasis that a clinical trial to increase the trunk flexion stability of subjects with low back pain in standing.

• Journal of electromagnetic engineering and science
• /
• v.3 no.2
• /
• pp.133-139
• /
• 2003

The nonuniqueness of a mathematically rigorous solution to 2-dimensional inverse scattering problems is explained in a limiting view of the numerical calculations based on the spectral-domain moment method. It is illustrated that its theoretical uniqueness cannot be assured even by performing additional measurements of the scattered fields not only along multiple lines but also with angular/frequency-diversities. In a real situation, however, computational error and measurement noise are inevitable. Those limitations render it meaningless to controvert the existence of a theoretically rigorous solution. Hence the most practical issue is how to remedy the instability of its practically approximate solution.

• International Journal of Naval Architecture and Ocean Engineering
• /
• v.10 no.3
• /
• pp.282-293
• /
• 2018

This paper attempts to address the motion parameter skip problem associated with three-dimensional trajectory tracking of an underactuated Autonomous Underwater Vehicle (AUV) using backstepping-based control, due to the unsmoothness of tracking trajectory. Through kinematics concepts, a three-dimensional dynamic velocity regulation controller is derived. This controller makes use of the surge and angular velocity errors with bio-inspired models and backstepping techniques. It overcomes the frequently occurring problem of parameter skip at inflection point existing in backstepping tracking control method and increases system robustness. Moreover, the proposed method can effectively avoid the singularity problem in backstepping control of virtual velocity error. The control system is proved to be uniformly ultimately bounded using Lyapunov stability theory. Simulation results illustrate the effectiveness and efficiency of the developed controller, which can realize accurate three-dimensional trajectory tracking for an underactuated AUV with constant external disturbances.

• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.9
• /
• pp.723-732
• /
• 2016

This paper proposes an approach to fused navigation of an unmanned surface vehicle(USV) and to detection of the outlier or interference of global positioning system(GPS). The method fuses available sensor measurements through extended Kalman filter(EKF) to find the location and attitude of the USV. The method uses error covariance of EKF for detection of GPS outlier or interference. When outlier or interference of the GPS is detected, the method excludes GPS data from navigation process. The measurements to be fused for the navigation are GPS, acceleration, angular rate, magnetic field, linear velocity, range and bearing to acoustic beacons. The method is tested through simulated data and measurement data produced through ground navigation. The results show that the method detects GPS outlier or interference as well as the GPS recovery, which frees navigation from the problem of GPS abnormality.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.28 no.6
• /
• pp.701-708
• /
• 2004

This paper discusses applicability of the enhanced reference stress method to estimate J-integral along the semi-elliptical surface crack front. It is found that angular variations of normalized J­integral are strongly dependent on the geometry, loading mode and loading magnitude. As application of the reference stress approach to semi-elliptical surface cracks implies proportional increases in the normalized J-integral, the present results pose a question in applicability of the reference stress approach. However, investigation of the error in the estimated J-integral in the present work suggests that the enhanced reference stress approach, recently proposed by authors, provides an effective engineering tool fur estimating crack driving force along the semi-elliptical surface crack front.

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.28 no.8 s.227
• /
• pp.989-995
• /
• 2004

This paper presents a semi-empirical model to predict the frost growth formed on the cold cylinder surface. The model is composed of the correlations for frost properties including the various frosting parameters and local heat transfer coefficient. The effects of varying the correlations for local heat transfer coefficient on the frost growth are examined to establish the model. The numerical results are compared with experimental data obtained by the previous researchers. The results agree well with the experimental data within a maximum error of $13\%$. As the results, the frost thickness decreases with changing angular position from front stagnation to separation point. Also, the effects of air velocity on the frost growth are negligible, as compared to the other frosting parameters.

• Journal of the Korean Society for Precision Engineering
• /
• v.19 no.11
• /
• pp.160-166
• /
• 2002

In this paper, data acquisition and analysis of a measuring machine for marine engine's cams is discussed. A rotary encoder and linear scale of the machine to measure angular and linear displacement respectively are interfaced to the PC via encoder board with 2 channels. The design and measuring data are interpolated by cubic spline curves to compute the precision error which is defined by the maximum and minimum distances between two curves. The minimum zone fit of ISO is employed to evaluate the geometric deviation. The developed system takes only 5 minutes to measure and analyze while the CMM takes over 1 hours even with a skilled operator.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2005.06a
• /
• pp.448-451
• /
• 2005

An aspheric mirror, which requires less than $\lambda/2\;(\lambda=632.8nm)$ of form error for the $\phi$ 200mm reference curved surface, has been manufactured with an ultra-precision turning machine. We have known through several tests that the deformation patterns of the reflecting surface is related with bolting positions. In this paper the effect of main factors on deformation of a reflector is studied with a FE code. The considered factors are angular velocity, natural frequencies for a mirror, temperature increment during machining. The obtained test results are similar to the deformation shape due to the assumed temperature increment.