• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.386-390
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• 1998

A master-slave system is proposed as a teaching device for a dual arm robot. The slave robots are remotely controlled by two delta-type master arms. In order to help the operator to observe the target object from the desired position and desired direction, cameras are mounted on a specialized manipulator, Movements of two slave arms are coordinated with that of the cameras. Due to this coordinated movements, the operator needs not to care the geometrical relation between the cameras and the slave robots.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.301-301
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• 2000

It is well known, for many years, that deep drawability ,can be improved by applying variable blank holding force. To apply variable blank holding force during cup during, we set up pressure controlling system on experimental hydraulic press, and the pressure control system is often called NC(Numerically Controlled} cushion system. Using the NC cushion system we carry out pressure control experiment and the proposed structure shows good performance. And we compare drawability of square steel cups with NC cushion and that with conventional cushion. The results show drawability is greatly improved when the pressure control curve is designed in a S-shaped curve. This paper includes design details of the NC cushion system and experimental analysis of drawability with experimental NC cushion system.

• International Journal of Control, Automation, and Systems
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• 제1권1호
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• pp.35-42
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• 2003

This paper proposes a simple, robust, nonlinear controller based on Lyapunov stability for tracking the reference welding path and velocity of a two-wheeled welding mobile robot (WMR). The system has three degrees of freedom including two wheels and one torch slider. Torch slider motion is used for faster tracking because the welding speed is very slow. Control law is obtained from the Lyapunov control function to ensure the asymptotical stability of the system. The controller has three free parameters for adjusting the performance of the controlled system. A simple way of measuring the errors using two potentiometers is introduced. The effectiveness of the proposed controller is shown through simulation results.

• Transactions of the Korean Society of Automotive Engineers
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• 제14권6호
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• pp.34-42
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• 2006

As many systems depend on electronics, concern for fault tolerance is growing rapidly. For example, a car with its steering controlled by electronics and no mechanical linkage from steering wheel to front tires(steer-by-wire) should be fault tolerant because a failure can come without any warning and its effect is devastating. In order to make system fault tolerant, there has been a body of research mainly from aerospace field. This paper presents the structure of predictive smoothing voter that can filter out most erroneous values and noise. In addition, several numerical simulation results are given where the predictive smoothing voter outperforms well-known average and median voters.

• Carbon letters
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• 제12권4호
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• pp.185-193
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• 2011

Carbon nanotubes (CNTs) have developed into one of the most competitively researched nano-materials of this decade because of their structural uniqueness and excellent physical properties such as nanoscale one dimensionality, high aspect ratio, high mechanical strength, thermal conductivity and excellent electrical conductivity. Mass production and structure control of CNTs are key factors for a feasible CNT industry. Water and ethanol vapor enhance the catalytic activity for massive growth of vertically aligned CNTs. A shower system for gas flow improves the growth of vertically aligned single walled CNTs (SWCNTs) by controlling the gas flow direction. Delivery of gases from the top of the nanotubes enables direct and precise supply of carbon source and water vapor to the catalysts. High quality vertically aligned SWCNTs synthesized using plasma enhance the chemical vapor deposition technique on substrate with suitable metal catalyst particles. This review provides an introduction to the concept of the growth of vertically aligned SWCNTs and covers advanced topics on the controlled synthesis of vertically aligned SWCNTs.

• Transactions of the Korean Society of Mechanical Engineers A
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• 제25권4호
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• pp.685-694
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• 2001

In this study, a transfemoral prosthesis system of which both stance phase and swing phase are controllable has been developed for the recovery of the biomechanical function of the amputated leg. It consists of a 5 bar link mechanism, a hydraulic-rubber knee damper for stance phase control and a pneumatic cylinder controlled via a microprocessor for stance phase control. The mechanical characteristics of the knee damper which absorbs the impact energy generated at the heel contact were investigated. The characteristics of the pneumatic cylinder essential for the speed adaptation of the prosthesis during swing phase were also studied for its mechanical characteristics. The prosthesis was subject to the clinical tests, and the gait characteristics obtained were very close to those of normal subjects. The stance and swing controlled prosthesis that were developed in this study showed good stability during the stance phase and showed good controllability during the swing phase.

• Journal of the Korean Institute of Intelligent Systems
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• 제25권1호
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• pp.48-56
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• 2015

In the paper, a smartphone-controlled personal mobility system(PMS) based on a compass sensor is developed. The use of a magnetic compass sensor makes the PMS move according to the heading direction of a smartphone controlled by a rider. The proposed smartphone-controlled PMS allows more intuitive interface than PMS controlled by pushing a button. As well, the magnetic compass sensor makes a role in compensating for the mechanical characteristics of motors mounted on the PMS. For adequate control of the robot, two methods: absolute and relative direction methods based on the magnetic compass sensor and wireless communication are presented. Experimental results show that the PMS is conveniently and effectively controlled by the proposed two methods.

• The Transactions of the Korean Institute of Power Electronics
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• 제7권1호
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• pp.74-80
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• 2002

A propulsion system apparatus for railroad vehicle is estimated it's performance because of safety and confidence. In general, flywheel type testing method is widely used in the equipment. However, mechanical inertia generated by the flywheel can not be varied (or controlled) and can not be represent actual running resistance. In this study, we have focused on the development of variable vehicle load generation. Therefore, we have proposed the method which uses variable vehicle load controlled by vector motor to get the characteristics of the real vehicle load and confirmed the results with those of computer simulations.

• Journal of the Korean Society for Precision Engineering
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• 제18권8호
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• pp.116-121
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• 2001

The paper presents the dynamic characteristics of a rotor-bearing system supported by an actively controlled hydrodynamic journal bearing. The proportional. derivative and integral controls are adopted for the control algorithm to control the hydrodynamic journal bearing with an axial groove. Also, the cavitation algorithm implementing the Jakobsson-Floberg-Olsson boundary condition is adopted to predict cavitation regions in the fluid film more accurately than conventional analysis, which uses the Reynolds condition. The speed at onset of instability of a rotor-bearing system is increased by both proportional and derivative control of the bearing. The proportional control increases the stability threshold without affecting the whirl ratio. However, for the derivative control of the bearing, increase of stability threshold speed is accompanied by a parallel reduction of the whirl ratio. The integral control has no effect on stability characteristics of hydrodynamic journal bearing. The PD-control is more effective than proportional or derivative control. Results 7how the active control of bearing can be adopted for the stability improvement of a rotor-bearing system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.680-684
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• 2005

This paper presents a data-based stability analysis of a MIMO linear time-invariant discrete-time system, as an extension of the previous results for a SISO system. In the MIMO case, a similar discussion as in the case of a SISO system is also applied, except that an augmented input and output space is considered whose dimension is determined in relation to both the orders of the input and output vectors and the numbers of inputs and outputs. As certain subspaces of the input and output space, both output data space and closed-loop data space are defined, which contain all the behaviors of a system, respectively, with zero input in open-loop and with a control input in closed-loop. Then, we can derive the data-based stability conditions, in which the open-loop stability can be checked by using a data matrix whose column vectors span the output data space and the closed-loop stability can also be checked by using a data matrix whose column vectors span the closed-loop data space.