• 대한기계학회논문집
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• 제11권6호
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• pp.923-934
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• 1987

본 연구에서는 유연한 로봇 조각기를 허브가 있는 첨단질량이 부착된 유연한 외팔보로 모델링하고 Hamilton의 원리에 의하여 유도된 운동방정식을 Galerkin의 모우 드 합 방접을 이용하여 유한차원화하여 상태방정식으로 표시하였다. 계를 제어 모우 드부(controlled mode part)와 잔류 모우드부(residual mode part)로 나누어 제어 모 우드부에 대해 최적제어 이론을 도입하여 귀환계수(feedback ccefficient)를 구하였으 며 측정이 불가능한 상태변수(inaccessible state)를 근사적으로 추정하기 위하여 Lu- enberger 관측기가 사용되었다.2차 성능계수(quadratic performance index)내의 입 력에 대한 가중치의 변화에 따른 제어효과 및 계의 여러 모우드중 중요 모우드만 제어 하는 제어기를 사용함에 따른 Spillover 효과가 계의 제어효과에 미치는 영향을 시뮬 레이션을 통하여 고찰하였으며, 또한 실험을 통하여 이론의 타당성을 검토하였다.

• 로봇학회논문지
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• 제15권2호
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• pp.107-114
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• 2020

In robotic harvesting, a gripper to manipulate the fruits needs to be attached to the robot system. We proposed a flexible robot gripper that can actively respond to the shape of an object such as fruits in the previous work. However, we found that there is a possibility of not being reliably gripped when the object slides during contact with a finger. In this paper, the improved gripper design is proposed to fundamentally solve the problems of the previous gripper. The position of the finger and the maximum closed position are changed, and the design improvement is performed to increase the grip stability by changing the installation angle of the link portion of the finger. Based on the improved design, a modified gripper is fabricated by 3-D printing, and then gripping experiments are performed on spherical object and fruit model object. It is shown that the gripper can stably grip the objects without excessive bending of the finger link of the gripper. The contact pressure between the finger and the surface of the object is measured, and it is verified that it is a sufficiently small pressure that does not cause damage to the fruit. Therefore, the proposed gripper is expected to be successfully applied in harvesting.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 D
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• pp.2357-2360
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• 2002

For the satisfying performance of a oil lubricator, design of a oil controller for the system which meets the required specifications and its supporting hardware that keep their functioning is important. Among the hardware of a control system, oil system are most vulnerable to malfunction. Thus it is necessary to keep track of accurate and reliable oil readings for good fusion oil lubricator performance. In case of oil lubricator, data loss, ssr trigger error faults, they are detected by examining the data system output values and the major values of the system, and then the faults are recognized by the analysis of symptoms of faults. If necessary electronic-sensor values are synthesized according to the types of faults, and then they are used for the controller instead of the raw data. In this paper, a fast-32bit cpu microprocessor applied to the control of flexible link system with the sensor fault problems in the error modulo for exact positioning to show the applicability. It is shown that the fusion oil lubricator can provide a satisfactory loop performance even when the sensor faults occure.

• 한국전기전자재료학회:학술대회논문집
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• 한국전기전자재료학회 2002년도 춘계합동학술대회 논문집
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• pp.137-140
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• 2002

For the satisfying performance of a oil lubricator, design of a oil controller for the system which meets the required specifications and its supporting hardware that keep their functioning is important. Among the hardware of a control system, oil system are most vulnerable to malfunction. Thus it is necessary to keep track of accurate and reliable oil readings for good fusion oil lubricator performance. In case of oil lubricator, data loss, ssr trigger error faults, they are detected by examining the data system output values and the major values of the system, and then the faults are recognized by the analysis of symptoms of faults. If necessary electronic-sensor values are synthesized according to the types of faults, and then they are used for the controller instead of the raw data. In this paper, a fast-32bit cpu micorprocessor applied to the control of flexible link system with the sensor fault problems in the error module for exact positioning to show the applicability. It is shown that the fusion oil lubricator can provide a satisfactory loop performance even when the sensor faults occure

• 한국항행학회논문지
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• 제14권2호
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• pp.253-259
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• 2010

무선 메쉬 네트워크는 Base Station 기반과 더불어 애드혹 네트워크나 블루투스와 같이 유연성을 가진 네트워크이다. 하지만 무선 메쉬 네트워크는 높은 패킷 손실률을 보이고 TCP(Transport Control Protocol) 알고리즘은 무선 메쉬 네트워크의 패킷손실 원인을 네트워크 내의 혼잡으로 인식하기 때문에 TCP 혼잡제어 알고리즘(Congestion Control Algorithm)을 실행하게 된다. 이러한 TCP 동작은 혼잡 손실이 아닌 패킷 손실로 발생 할 경우, 상당한 성능 저하를 초래하게 된다. 본 논문에서는 무선 메쉬 네트워크에서 TCP 혼잡제어 알고리즘의 성능을 개선시키기 위해 혼잡 윈도우를 무선망에서도 적응력 있게 조절하는 연구를 제안하였다.

• Journal of information and communication convergence engineering
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• 제11권1호
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• pp.1-6
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• 2013

Suppressing or mitigating signal distortion due to group velocity dispersion and optical Kerr effects is necessary in ultra-high speed and long-haul wavelength division multiplexing (WDM) transmission systems. Dispersion management (DM), optical phase conjugation (OPC), and the combination of these two are promising techniques to compensate for signal distortion. In this paper, to implement a flexible optical WDM network, a new optical link configuration with a randomly distributed single-mode fiber (SMF) length and fixed residual dispersion per span in the combination of DM and OPC is proposed and investigated. The simulation results show that the best net residual dispersion (NRD) in the proposed optical links is +10 ps/nm, which is independent of pre- and postcompensation. The effective launch power of the WDM channel is increased more in the optical links with NRD = +10 ps/nm controlled by only precompensation. Furthermore, the system performance difference between the proposed optical link configuration with the best NRD and the conventional optical link with uniform distribution of the SMF length had little significance. Consequently, it is confirmed that the proposed optical link configuration with the best NRD is effective and useful for implementing a reconfigurable long-haul WDM network.

• 대한교통학회지
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• 제24권3호
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• pp.177-187
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• 2006

IT 산업이 발달하고, 정보의 양이 넘쳐날수록, 사람들은 획일화되어 제공되는 정보보다는, 스스로 다양한 경로를 통해 정보를 찾아내며, 이를 가공하여 판단하고 반응한다. 그러므로 정보 제공자들은 이러한 개인들의 성향을 만족시키기 위해 서는 획일화된 정보보다는 소비자들이 스스로 판단할 수 있도록 다양한 정보를 제공해 주어야만 할 것이다 이를 위하여 비용의 비교를 통해 경로를 선택하는 기존 알고리즘과 달리 최저비용과의 차이를 통한 알고리즘을 제안한다. 이를 위해 본 연구는 기존의 노드 기반 탐색법에 비해 네트워크 구조의 변화 없이 효율적으로 환승이나 회전제약을 표현할 수 있는 링크 기반 탐색법을 기반으로 운전자들의 다양한 needs를 최대한 반영할 수 있는 즉 유연한 탐색 알고리즘의 개발을 목표로 한다. 이러한 목표를 위해, 기존의 최적 경로와 다경로 탐색 알고리즘을 대상으로 이론적 배경을 고찰하고, 다목적 정보제공을 위한 다경로 탐색기법을 위한 통행원리를 개념화한 후, 이를 알고리즘에 적용하는 방안을 제안하며, 가상의 네트워크에 적용하여 알고리즘 수행과정을 보여주고자 한다

• 한국항행학회논문지
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• 제22권5호
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• pp.462-466
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• 2018

광 위상 공액과 분산 제어 (DM; dispersion management)를 결합한 기술은 단일 모드 광섬유 (SMF; single mode fiber)의 색 분산과 비선형 Kerr 효과에 의한 광 신호 왜곡을 보상하는 대표적인 기술이다. 하지만 일반적으로 사용되는 고정된 각 중계 구간의 SMF 길이는 광전송 링크의 유연한 구성을 방해한다. 본 연구의 목적은 DM 광전송 링크를 구성하는 모든 중계 구간의 SMF 길이의 랜덤 분포를 통한 초고속 장거리 광전송 시스템의 유연한 구성 가능성을 살펴보는 것이다. 랜덤 분포에 의해 평균적으로 갖게 되는 SMF 길이가 짧을수록 파장 분할 다중 (WDM; wavelength division multiplexing) 신호 왜곡 보상에 효과적인 것을 확인하였다. 또한 각 중계 구간의 SMF 길이를 랜덤하게 분포시키는 DM 링크에서 우수한 보상을 위한 전체 잉여 분산의 조절은 postcompensation이 적합하고, 그 전체 잉여 분산(NRD; net residual dispersion) 크기는 -10 ps/nm인 것을 확인하였다.

• 대한기계학회논문집A
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• 제24권6호
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• pp.1633-1642
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• 2000

Like many other mechanical dynamic systems, flexible manipulator systems experience stiction or sticking friction, which may cause input-dependent instabilities. Manipulator performance can be enha nced by identifying friction but it is hard and expensive to measure friction by direct and precise sensing of contact displacements and forces. This study addresses the problem of identifying flexible manipulator joint friction. A dynamic model of a two-link flexible manipulator based upon finite element and Lagrange's method is constructed. The dynamic model includes the effects of joint compliances and actuator dynamics. Friction is also incorporated in the dynamic model to account for stick-slip at the joints. Next, the friction parameters are to be determined. The identification problem is posed as an optimization problem to be solved using nonlinear programming methods. A genetic algorithm is used to increase the convergence rate and the chances of finding the global optimum. The identified friction parameters are experimentally verified and it is expected that the identification technique is applicable to a system parameter identification problem associated with a wide class of nonlinear systems.

• 대한기계학회논문집A
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• 제20권10호
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• pp.3186-3198
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• 1996

When a robot is to have contact with its enviornment, such as a medi-care robot, it would be advantageous for the robot to have a high compliance. For this reason, a robot having not only a flexible link but also an actuator with compliance, is desirable. This paper is concerned with the position and vibration control of 1 degree of freedom flexible robot using a pneumatic artificial muscle actuator. The dynamics of the manipulator assumed to be and Euler-Bernoulli beam are derived on the basis of the linear mathematical modle. Although this pneumatic artifical muscle actuator has many merits for the compliance robot, it is difficult to make an effective control scheme of this system because of ths nonlinearity and uncertainty on the dynamics of the actuator. By designing a controller using .mu.-synthesis, robust performance against measurement noise, various modeling uncertainties on the dynamics of the servo valve, actuator and mainpulator, is achieved. The effectiveness of the proposed control method is illustrated through simulations and experiments.