• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2725-2730
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• 2003

In this study we present a vibration controller for articulated robots that has flexible joints modeled as a 2-mass system. Most of articulated robots have time varying load inertias for each axis according to its motion. Moreover, the inertias vary drastically; for the base axis of articulated robots it may vary about 10 times of its minimum value. But, for industrial robots and many mechatronic devices, it is desirable to maintain control performance in spite of load inertia variation. So we propose a control gain adjustment rule considering the time-varying nature of load inertia. In this gain-adjusting algorithm, the pole locations are in proportion to the anti-resonance frequency of the 2-mass system. The simulation and experimental results show uniform properties in overshoot in spite of the variation of load.

• Smart Structures and Systems
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• v.20 no.3
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• pp.351-368
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• 2017

To peruse the free vibration of curved functionally graded piezoelectric (FGP) nanosize beam in thermal environment, nonlocal elasticity theory is applied for modeling the nano scale effect. The governing equations are obtained via the energy method. Analytically Navier solution is employed to solve the governing equations for simply supported boundary conditions. Solving these equations enables us to estimate the natural frequency for curved FGP nanobeam under the effect of a uniform temperature change and external electric voltage. The results determined are verified by comparing the results by available ones in literature. The effects of various parameters such as nonlocality, uniform temperature changes, external electric voltage, gradient index, opening angle and aspect ratio of curved FGP nanobeam on the natural frequency are successfully discussed. The results revealed that the natural frequency of curved FGP nanobeam is significantly influenced by these effects.

• International Journal of Aeronautical and Space Sciences
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• v.7 no.2
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• pp.42-49
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• 2006

In this paper, an efficient piezoelectric passive damper is newly devised to suppress the multi-mode vibration of plates. To construct the passive damper, the piezoelectric materials are utilized as energy transformer, which can transform the mechanical energy to electrical energy. To dissipate the electrical energy transformed from mechanical energy, multiple resonant shunted piezoelectric circuits are applied. The dynamic governing equations of a coupled electro-mechanical piezoelectric with multiple piezoelectric patches and multiple resonant shunted circuits is derived and solved for the one edge clamped plate. The equations of motion of the piezoelectrics and shunted circuits as well as the plate are discretized by finite element method to estimate more exactly the effectiveness of the piezoelectric passive damper. The method to find the optimal location of a piezoelectric is presented to maximize effectiveness for desired modes. The electro-mechanical coupling term becomes important parameter to select the optimal location.

• Smart Structures and Systems
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• v.15 no.6
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• pp.1411-1437
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• 2015

The electro-magneto- thermo-elastic behavior of a rotating functionally graded long hollow cylinder with functionally graded piezoelectric (FGPM) layers is analytically analyzed. The layers are imperfectly bonded to its inner and outer surfaces. The hybrid cylinder is placed in a constant magnetic field subjected to a thermo-electro-mechanical loading and could be rested on a Winkler-type elastic foundation. The material properties of the FGM cylinder and radially polarized FGPM layers are assumed to be graded in the radial direction according to the power law. The hybrid cylinder is rotating about its axis at a constant angular velocity. The governing equations are solved analytically and then stresses, displacement and electric potential distribution are calculated. Numerical examples are given to illustrate the effects of material in-homogeneity, magnetic field, elastic foundation, applied voltage, imperfect interface and thermo-mechanical boundary condition on the static behavior of a FG smart cylinder.

• Journal of Mechanical Science and Technology
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• v.18 no.10
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• pp.1763-1771
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• 2004

An experimental investigation was performed to study the characteristics of ER (Electro-Rheological) fluid flow in a horizontal rectangular tube with or without D. C voltage. To determine some characteristics of the ER flow, 2D PIV(Particle Image Velocimetry) technique was employed for velocity measurements. This research found the mean velocity distributions with 0kV /mm, l.0kV /mm and l.5kV /mm for Re=0, 0.62, 1.29 and 2.26. When the strength of the electric field increased, the cluster of ERF was clearly strong along the test tube and the flow rate decreased. The present results will contribute to the economical and compact design of ER fluids system.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.266-266
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• 2000

This paper relates to develop the human-mobile interface system using saccadic eye movements as an aid to the disabled. EOG(ElectroOculoGraphy) method is used to measure the potentials of rapid eye movements because the method is not expensive and the device is simple. But because the resolution and accuracy of this signal are not good, the algorithm to remove the drifting, using ideal velocity shape, is applied to process the signals. The mobile robot (POSTUR-II) used in this system was developed in Robot & Bio-mechatronics laboratory in POSTECH and has the tele-operation system for the tele-communication with a main computer. Our Research is to help the physically disabled except his eye movements to operate some works with the mobile. Our Results about the system's possibility will be showed by some experimental tests giving the point information to the mobile by eye-gaze.

• Proceedings of the KIEE Conference
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• 1997.07d
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• pp.1510-1512
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• 1997

Piezoelectric characteristics of lead zirconate(PZ)-lead titanate(PT)-lead manganese antimony(PMS) ceramics with the various changes of calcination temperature in PMS were prepared. The range of their sintering temperature was from $1100^{\circ}C$ to $1250^{\circ}C$. The electro-mechanical properties of PZ-PT-PMS ceramics such as piezoelectric constant, electro-mechanical coupling coefficient, and mechanical quality factor are measured as a function of the calcination temperature of PMS. As increasing the calcination temperature of PMS mechanical quality factor is increased.

• Journal of Power System Engineering
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• v.17 no.4
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• pp.120-130
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• 2013

An adaptive PID sliding mode controller is proposed for the position control of electro-hydrostatic actuator(EHA) systems with system uncertainties and saturation in the motor. An EHA prototype is developed and system modeling and parameter identification are executed. Then, adaptive PID sliding mode controller and optimal anti-windup PID controller are designed and the performance and robustness of the two control systems are compared by experiment. It was found that the adaptive PID sliding mode control system has better performance and is more robust to system uncertainties than the optimal anti-windup PID control system.

• Smart Structures and Systems
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• v.23 no.5
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• pp.429-447
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• 2019

The present study analyzed free vibration of the three-layered micro annular/circular plate which its core and face sheets are made of saturated porous materials and FG-CNTRCs, respectively. The structure is subjected to magneto-electric fields and magneto-electro-mechanical pre loads. Mechanical properties of the porous core and also FG-CNTRC face sheets are varied through the thickness direction. Using dynamic Hamilton's principle, the motion equations based on MCS and FSD theories are derived and solved via GDQ as an efficient numerical method. Effect of different parameters such as pores distributions, porosity coefficient, pores compressibility, CNTs distribution, elastic foundation, multi-physical pre loads, small scale parameter and aspect ratio of the plate are investigated. The findings of this study can be useful for designing smart structures such as sensor and actuator.

• Transactions of the Korean Society of Mechanical Engineers
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• v.13 no.2
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• pp.213-220
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• 1989

This paper describes the application of the variable structure control(VSC) concept for the position control of an electro-hydraulic servomotor system. The basic philosopy of VSC is that the structure of the feedback control is altered as the state crosses discontinuity surfaces in the state space with the result that certain desirable properties are achieved. The switching of the control function yields total(or selective) invariance to system parameter variations and disturbances, and closed loop eigen value placement in time-varing and uncertain systems. The control scheme is derived, implemented and tested in the laboratory where analog controller have been used to control the representive servosystem. The control system schematics are given and simple results are shown for illustration. And the results of variable structure system for the electro-hydraulic servomotor were compared to that of the fixed structure system when load disturbance and system parameter variation exists.