• Journal of the Korean Society for Precision Engineering
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• v.29 no.4
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• pp.417-425
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• 2012

This paper presents reference ZMP trajectory generation and implementation for a biped robot via linear inverted dumbbell model (LIDM), which can consider the effect of external momentum on the center of mass (COM) of robot. Based on a reference ZMP trajectory derived by using LIDM, a base trajectory is proposed not only to make the locomotion of robot similar to that of human but also to facilitate its implementation and tuning. In order to realize a dynamic walking using the proposed trajectory, compliance, impedance and ZMP tracking controllers are adopted together. Extensive experiments show that the proposed locomotion of a biped robot is stable and also, similar to that of human. Further researches on balance recovery of a biped robot will be carried out to guarantee its robust locomotion in combination with the proposed trajectory.

• Journal of the Korean Society of Clothing and Textiles
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• v.26 no.6
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• pp.877-888
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• 2002

Price is a product attribute, which is determined by the function of the producing cost and profit. It is also identified as one of the most important components of the marketing mix. For consumers, price is an always-existing cue, definite evaluation criteria, and easily accessible information in the purchasing process. Considering the concept of the clothing-price in a comprehensive perspective encompassing economic, psychological and marketing perspectives, a theoretical model was developed. The model includes souses and dimensions of price perception and related behaviors. Souses of price perception were: the actual retail price at selling point, the internal reference price and external reference price. The dimensions of price perception included sacrifice perception, economic value perception, inference, savings perception and price as information perception. Clothing price related behaviors that flowed these dimensions were: low price consciousness, value for money consciousness, price-quality inference, price-prestige inference, sale proneness and price mavenism. An empirical study was conducted to validate the theoretical model. A questionnaire was developed and data were collected from 680 adult women living in Seoul, Korea. Confirmatory factor analysis as well as exploratory factor analysis results showed that theorized price related behaviors were successful classifications.

• Journal of Power Electronics
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• v.7 no.2
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• pp.159-173
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• 2007

In this paper, an intelligent sliding-mode position controller (ISMC) for achieving favorable decoupling control and high precision position tracking performance of permanent-magnet synchronous motor (PMSM) servo drives is proposed. The intelligent position controller consists of a sliding-mode position controller (SMC) in the position feed-back loop in addition to an on-line trained fuzzy-neural-network model-following controller (FNNMFC) in the feedforward loop. The intelligent position controller combines the merits of the SMC with robust characteristics and the FNNMFC with on-line learning ability for periodic command tracking of a PMSM servo drive. The theoretical analyses of the sliding-mode position controller are described with a second order switching surface (PID) which is insensitive to parameter uncertainties and external load disturbances. To realize high dynamic performance in disturbance rejection and tracking characteristics, an on-line trained FNNMFC is proposed. The connective weights and membership functions of the FNNMFC are trained on-line according to the model-following error between the outputs of the reference model and the PMSM servo drive system. The FNNMFC generates an adaptive control signal which is added to the SMC output to attain robust model-following characteristics under different operating conditions regardless of parameter uncertainties and load disturbances. A computer simulation is developed to demonstrate the effectiveness of the proposed intelligent sliding mode position controller. The results confirm that the proposed ISMC grants robust performance and precise response to the reference model regardless of load disturbances and PMSM parameter uncertainties.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1995.10a
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• pp.1169-1172
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• 1995

In this paper, the external force control and hybrid force control algorithms are proposed to apply Deburring process. the purpose of adjust which can be implemented to on unknown environments, adaptive control law(MRAC) is adopted. IF a model system is given, the plant system can be controlled on the way which we will introduce to. We showed the validation and the possibility of Deburring process with multi-dimensional force control through experiments. the experimental result show the validity of Deburring in the robot manipulator.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.2 no.4
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• pp.46-52
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• 2003

For position control of electro-hydraulic servo system, single rod cylinders and double rod cylinders are used. Single rod cylinders have simple structure for manufacturing but different volume ratio of two sides induce to non-linearity in process of then mathematical modeling. So only with conventional PID control method it is difficult to control single rod cylinders precisely. For mole precise position control of single rod cylinders, a controller which is inserted a velocity feedback PID controller and MRAC controller are proposed. With experiment control performances of three control methods are compared. In case of experiment, for external varying load to the system, a hydraulic cylinder and a pressure control valve are used. In conclusion a MRAC is considered a suitable control method for external varying load.

• Journal of the Korean Society for information Management
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• v.12 no.2
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• pp.151-169
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• 1995

The purpose of this research is to investigate the of multimedia university library system theoretical models and to design partial functions of this model using multimedia toolbook 3.0. The theoretical model is constructed based on several operating systems such as JANUS Virtual Library and The Book House. Knowledge base of the designed system is constructed by interviewing reference librarians. The designed system consists of six modules : Reference Expert system. Journal Browsing, Multimedia Database, OPAC, External Database and User' s Guide. Finally, four problems are discussed as several major problems in building up multimedia university library network

• Transactions of the Korean Society of Machine Tool Engineers
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• v.12 no.6
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• pp.77-83
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• 2003

This paper deals with a position control problem of a hydraulic proportional position control system using a nonlinear friction compensation control. As nonlinear friction, stiction and coulomb friction forces are considered and modeled as deadzone and external disturbance respectively. In order to compensate this nonlinearities, we designed the controller which is the adaptive friction compensator using discrete time Model Reference Adaptive Control method in this paper. Digital Signal Processing board is employed for data acquisition and manipulation. The experimental results show that response is slow and steady-state error cannot be compensated properly without friction compensation but this compensator is effective to obtain fast response and good steady-state response.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.330-335
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• 1994

In this paper, adaprive control and sliding mode control are combined to implement the proposed adaptive sliding mode control(ASMC) algorithm which is new approach to the control of industrial robot manipulator with external disturbances and parameter uncertainties. Adaptive control algorithm is designed by using the principle of the model reference adaptive control method based upon the hyperstability theory. The contribution of this method is that the parameters of the sliding surface are replaced by time varying parameters whose are calculated by an adaptation algorithm, which forces the errors to follow the behavior of a reference error model. Simulation results show that the proposed method not only improves the performance of the system but also reduces the chattering problem of sliding mode control. Consequently, it is expected that the new adaptive sliding mode control algorithm will be suited for various practical applications.

• Journal of Drive and Control
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• v.9 no.3
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• pp.1-7
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• 2012

This paper deals with the issue of model reference adaptive control strategy to control the injection molding machine. Prior to controller design, a pair of transfer functions are derived for the injection and dwelling process based on mathematical models of components. As external disturbances to examine the robustness of the proposed controller, nozzle clogging and contraction of molded objects are considered and realized by proportional valve. The overall simulation system, consisting of hydraulic components, controller and sensors, is implemented using the components of commercial software SimulationX. The simulation results confirm the proposed scheme's efficiency and robustness.

• Journal of Korea Multimedia Society
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• v.14 no.5
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• pp.642-649
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• 2011

Among the various aspects of offline handwritten character patterns, it is the great variety of writing styles and variations that renders the task of computer recognition very hard. The immense variety of character shape has been recognized but rarely studied during the past decades of numerous research efforts. This paper tries to address the problem of measuring image distortions and handwritten character patterns with respect to reference patterns. This work is based on mass-spring mesh model with the introduction of simulated electric charge as a source of the external force that can aid decoding the shape distortion. Given an input image and a reference image, the charge is defined, and then the relaxation procedure goes to find the optimum configuration of shape or patterns of least potential. The relaxation process is based on the fourth order Runge-Kutta algorithm, well-known for numerical integration. The proposed method of modeling is rigorous mathematically and leads to interesting results. Additional feature of the method is the global affine transformation that helps analyzing distortion and finding a good match by removing a large scale linear disparity between two images.