• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.2
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• pp.399-405
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• 2002

This paper proposes a new type of piezoactuator-driven valve system. The piezoceramic actuator bonded to both sides of a flexible beam surface makes a movement required to control the pressure at the flapper-nozzle of a pneumatic valve system. After establishing a dynamic model, an appropriate size of the valve system is designed and manufactured. Subsequently, a robust H$_{\infty}$ control algorithm is formulated in order to achieve accurate tracking control of the desired pressure. The controller is experimentally realized and control performance for the sinusoidal pressure trajectory is presented in time domain. The control bandwidth of the valve system, which directly represents the fastness, is also evaluated in the frequency domain.

• Proceedings of the KSME Conference
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• 2001.11a
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• pp.673-678
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• 2001

This paper proposes a new type of piezoactuator-driven valve system. The piezoceramic actuator bonded to both sides of a flexible beam surface makes a movement required to control the pressure at the flapper-nozzle of a pneumatic valve system. After establishing a dynamic model, an appropriate size of the valve system is designed and manufactured. Subsequently, a robust $H_{\infty}$ control algorithm is formulated in order to achieve accurate tracking control of the desired pressure. The controller is experimentally realized and control performance for the sinusoidal pressure trajectory is presented in time domain. The control bandwidth of the valve system, which directly represents the fastness, is also evaluated in the frequency domain.

• Proceedings of the KIEE Conference
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• 2002.07b
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• pp.1158-1160
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• 2002

In this paper, we presents sliding surface design techniques using the virtual state. This sliding surface has same dynamic of nominal system and permit application with other controller. If select initial value of the virtual state properly, problem of reaching phase disappears. And applied in AC servo motor's speed control to show performance of proposed sliding mode control techniques.

• The Journal of Korea Robotics Society
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• v.2 no.4
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• pp.353-360
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• 2007

This paper proposes the trot gait pattern generation and online control methods for a quadruped robot to carry heavy loads and to move fast on uneven terrain. The trot pattern is generated from the frequency modulated pattern generation method based on the frequency modulated oscillator in order for the legged robots to be operated outdoor environment with the static and dynamic mobility. The efficiency and performance of the proposed method are verified through computer simulations and experiments using qRT-1/-2. In the experiments, qRT-2 which has two front legs driven by hydraulic linear actuators and two rear casters is used. The robot can trot at the speed up to 1.3 m/s on even surface, walk up and down the 20 degree inclines, and walk at 0.7 m/s on uneven surface. Also it can carry over 100 kg totally including 40 kg payload.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.11
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• pp.907-912
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• 2005

In this paper, we consider the problem of designing sliding surfaces fur a class of dynamic systems with mismatched uncertainties in the state space model. In terms of LMIs, we give necessary and sufficient conditions fir the existence of a linear sliding surface such that the reduced order sliding mode dynamics is asymptotically stable and completely independent of uncertainties. We parameterize all such linear sliding surfaces by using the solution to the given LMI conditions. And, we consider the problem of designing linear sliding surfaces guaranteeing pole placement constraints or $H_2/H_infty$ performances. Finally, we give a design example in order to show the effectiveness of our method.

• International Journal of Control, Automation, and Systems
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• v.5 no.1
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• pp.35-42
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• 2007

This paper presents an INS(Inertial Navigation System) grade, surface micro-machined differential resonant accelerometer(DRXL) manufactured by an epitaxially grown thick poly silicon process. The proposed DRXL system generates a differential digital output upon an applied acceleration, in which frequency transition is measured due to gap dependent electrical stiffness change. To facilitate the resonance dynamics of the electromechanical system, the micromachined DRXL device is packaged by using the wafer level vacuum sealing process. To test the DRXL performance, a nonlinear self-oscillation loop is designed based on the extended describing function technique. The oscillation loop is implemented using discrete electronic elements including precision charge amplifier and hard feedback nonlinearity. The performance test of the DRXL system shows that the sensitivity of the accelerometer is 24 Hz/g and its long term bias stability is about 2 mg($1{\sigma}$) with dynamic range of ${\sigma}70g$.

• Geomechanics and Engineering
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• v.9 no.1
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• pp.25-37
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• 2015

To predict the surface subsidence of salt rock storage, a new surface subsidence basin model is proposed based on the Logistic function from the phenomenological perspective. Analysis shows that the subsidence curve on the main section of the model is S-shaped, similar to that of the actual surface subsidence basin; the control parameter of the subsidence curve shape can be changed to allow for flexible adjustment of the curve shape. By using this model in combination with the MMF time function that reflects the single point subsidence-time relationship of the surface, a new dynamic prediction model of full section surface subsidence for salt rock storage is established, and the numerical simulation calculation results are used to verify the availability of the new model. The prediction results agree well with the numerical simulation results, and the model reflects the continued development of surface subsidence basin over time, which is expected to provide some insight into the prediction and visualization research on surface subsidence of salt rock storage.

• The Journal of Korean Physical Therapy
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• v.26 no.5
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• pp.365-371
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• 2014

Purpose: The aim of this study is to examine the effects of training in vestibular sensory stimulation on balance and gait of stroke patients. Methods: Twenty patients were randomly assigned to either the experimental group (n=10) or the control group (n=10). Patients in the experimental group received rotational stimulation training, vertical-horizontal stimulation training, gait training on a flat surface with vestibular sensory stimulation, and gait training on soft ground with vestibular sensory stimulation. Patients in the control group received general treadmill gait training. The intervention was applied four times per week, 25 minutes each time, for a period of four weeks. We measured Berg Balance Scale (BBS), Biodex Balance System, Timed up to Go (TUG) test and Dynamic Gait Index (DGI) to evaluate balance and gait ability. Results: BBS differed significantly in both groups between before and after the intervention (p<0.05) and changes in BBS after the intervention differed between the two groups (p<0.05). According to the Biodex Balance System test result, only the experimental group showed significant changes in balance in the conditions of static eyes open (SEC), dynamic eyes open (DEO), and dynamic eyes closed (DEC) (p<0.05). TUG test results differed significantly between prior to and after the training in both the experimental group and the control group (p<0.05) and changes in TUG after the intervention differed significantly between the two groups (p<0.05). DGI results showed significant change after the intervention in the experimental group only (P<0.05). Conclusion: Training in vestibular sensory stimulation was effective in improving static-dynamic balance and gait ability of stroke patients.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2009.04a
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• pp.384-389
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• 2009

In the present paper, dynamic characteristics and vibration control performance of a cylindrical shell structure are experimentally investigated and results are presented in the air and underwater conditions. End-capped cylindrical shell structure is manufactured and Macro-Fiber Composite (MFC) actuators are attached on the inside-surface of the structure. Modal characteristics are studied in the air and under the water conditions and then equation of motion of the structure is derived from the test results. Structural vibration control performances of the proposed structure are evaluated via experiments with optimal control algorithm. Vibration control performances are presented both in the frequency and time domains.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.19 no.9
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• pp.899-906
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• 2009

In the present paper, dynamic characteristics and vibration control performance of a cylindrical shell structure are experimentally investigated and results are presented in the air and underwater conditions. End-capped cylindrical shell structure is manufactured and macro-fiber composite(MFC) actuators are attached on the inside-surface of the structure. Modal characteristics are studied in the air and under the water conditions and then equation of motion of the structure is derived from the test results. Structural vibration control performances of the proposed structure are evaluated via experiments with optimal control algorithm. Vibration control performances are presented both in the frequency and time domains.