• Journal of the Korean Society for Precision Engineering
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• v.16 no.10
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• pp.209-216
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• 1999

일반적으로 힘 제어는 힘 센서의 사용 여부에 따라 능동적 힘 제어와 피동적 힘 제어로 분류시킬 수 있다. 능동적 힘 제어는 힘 세서를 이용하여 구속력을 목표한 힘에 근접하도록 제어한다. 유연 매니퓨레이터의 함수(위치, 속도, 가속도)를 이용하여 일정한 힘에 근접하도록 제어한다. 유연 매티퓨레이터에 있어서 링크 선단의 강성 증대는 힘 제어뿐만이 아니라, 링크의 진동을 크게 유발함으로서 위치 제어에 불리하게 작용한다. 주로 사용되고 있는 힘 센서는 많은 변형 게이지(strain gauge)로 구성되어 있다. 유연 매니퓨레이터 또한 링크 선단의 변형을 측정하기 위해 변형 게이지를 사용하고 있다. 본 논문에서는 이점에 착안하여, 유연 매니퓨레이터의 선단의 탄성 변형을 측정하기 위해 장착한 변형 게이지를 이용한 위치/힘 제어를 제안한다. 먼저, 유연 매니퓨레이터의 집중 정수 모델로부터 링크의 탄성 변형과 구속력 관계를 도출한 후 이 관계를 이용하여 3차원 실험 유연 매니퓨레이터를 실시간 위치/힘 제어 실험을 수행하였다. 또한 범용 동력학 해석 소프트웨어인 ADAMS FEM 을 이용하여 해석하였다. 마지막으로, 실험 결과와 해석 결과를 비교 분석하여 본 논문에서 제안한 유연 매니퓨레이터의 위치/힘 제어의 타당성을 입증시켰다.

• Journal of Mechanical Science and Technology
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• v.19 no.8
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• pp.1621-1631
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• 2005

In this paper, making the best use of the features of the electro-rheological (ER) valve, a two-port pressure control valve using ER fluids is proposed and manufactured. The ER-Valve characteristics are evaluated by changing the intensity of the electric field and the number of electrode. As only with electrical signal change to the ER-Valve in which ER fluid flowing, ER fluid flow is controlled, so development of simple ER-Valves have been tried. The ER-Valves and pressure drop check method are considered to be applied to the fluid power industry. Using the manufactured pressure control valve, a one-link manipulator with FHA (Flexible Hydraulic Actuator) is driven. As a result, it is experimentally confirmed that the pressure control valve using ER fluids is applicable to use in driving actuator. If it applies characteristics of the ER fluids, it will be able to apply in the control system for the ER Valve which occurs from industrial controller. After having durability test, shear stress increased regularly because of starch particles crushed by pump and particle size that was almost the same. Moreover, Ra of copper electrode increased about 1.56 times rather than before those of performing durability test, and Rz increased about 2.2 times.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.3
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• pp.451-457
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• 2015

In this paper, we consider the observer design problem that truly reflects the nonlinear stiffness of the manipulators. The two key ideas of our design are that (a) estimation error dynamics of the manipulator equipped with accelerometer dose not dependent on nonlinearities at the link part, when the measured signals are the motor position and the output of the accelerometer and (b) the nonlinear stiffness is indeed a Lipschitz function. In order to effectively compensate the nonlinear stiffness, the gain of the proposed observer is carefully chosen from the ARE(algebraic Riccati equations) which depend on Lipschitz constant. Comparative simulation result verifies the effectiveness of the proposed solution.

• Journal of Preventive Medicine and Public Health
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• v.54 no.2
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• pp.110-118
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• 2021

Objectives: A growing number of people depend on flexible employment, characterized by outsider employment status and perceived job insecurity. This study investigated whether there was a synergistic effect of employment status (full-time vs. part-time) and perceived job insecurity on major depressive disorder. Methods: Data were derived from the 2012 Canadian Community Health Survey-Mental Health of 12 640 of Canada's labor force population, aged 20 to 74. By combining employment status with perceived job insecurity, we formed four employment categories: full-time secure, full-time insecure, part-time secure, and part-time insecure. Results: Results showed no synergistic health effect between employment status and perceived job insecurity. Regardless of employment status (full-time vs. part-time), insecure employment was significantly associated with a high risk of major depressive disorder. Analysis of the interaction between gender and four flexible employment status showed a gender-contingent effect on this link in only full-time insecure category. Men workers with full-time insecure jobs were more likely to experience major depressive disorders than their women counterparts. Conclusions: This study's findings imply that perceived job insecurity may be a critical factor for developing major depressive disorder, in both men and women workers.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.1
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• pp.19-29
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• 2000

Because the previous simulation tool for attitude control of satellite was designed for the modeling of rigid body and PD controller, the attitude error can be made more than the limitation value for keeping for communication link, and then the communication link can be lost at moving of satellite. So, for rapid attitude restoration and design of stable and modernized controller, the modelling of rigid body and flexible body structure for moving GEO and LEO satellites were performed. Also the minimum time controller is designed for the rapid restoration of attitude error at communication broken and to minimize the disconnection period from ground communication system during the satellite stationkeeping. The linear regulator is designed using the space state vector that is better than accuracy and stability of PD controller. Firstly the simulation was performed for comparison of the rigid and stability of PD controller. Firstly the simulation was performed for comparison of the rigid and flexible models using PD controller and the case of the pitch angle changing by ground command, and the case of the periodic north-south stationkeeping are performed for the analysis of response characteristics of each controller when the attitude is changed. As a result, the flexible body model represents more sililar results of real situation than the rigid body model. The minimum time controller can restore 7 times rapidly than PD controller for its lost attitude. The linear regulator has several merits for capability of adaptation against the external disturbance, stability and response time. In future, we can check the estimated results using this satellite model and controller for real operation. Futhermore the development of new controller and training can be supported.

• Journal of Advanced Navigation Technology
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• v.22 no.3
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• pp.240-245
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• 2018

A flexible dispersion-managed link configuration is proposed by using single-mode fibers (SMFs) and dispersion-compensating fibers (DCFs) with irregular dispersion coefficients and lengths over all fiber spans for compensating of WDM channels distortion due to the group velocity dispersion and nonlinear effects of optical fibers. The flexibility of link is enabled by artificially distributing of these fibers based on the dispersion coefficients of DCFs in each half transmission section. The simultaneous ascending and descending (AD) distribution of the DCF's coefficients before and after the optical phase conjugator, respectively, best compensates the distorted wavelength division multiplexed signals in the optical link. Therefore, to improve the compensation effect of the distorted WDM channels, AD distribution is needed to choice regardless of fiber lengths and the residual dispersion per span and fiber's dispersion coefficients.

• Journal of Power Electronics
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• v.17 no.6
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• pp.1587-1599
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• 2017

This paper proposes a real-time implementation of an optimal operation of a double stage grid connected wind power system incorporating an active power filter (APF). The system is used to supply the nonlinear loads with harmonics and reactive power compensation. On the generator side, a new adaptive neuro fuzzy inference system (ANFIS) based maximum power point tracking (MPPT) control is proposed to track the maximum wind power point regardless of wind speed fluctuations. Whereas on the grid side, a modified predictive current control (PCC) algorithm is used to control the APF, and allow to ensure both compensating harmonic currents and injecting the generated power into the grid. Also a type 2 fuzzy logic controller is used to control the DC-link capacitor in order to improve the dynamic response of the APF, and to ensure a well-smoothed DC-Link capacitor voltage. The gained benefits from these proposed control algorithms are the main contribution in this work. The proposed control scheme is implemented on a small-scale wind energy conversion system (WECS) controlled by a dSPACE 1104 card. Experimental results show that the proposed T2FLC maintains the DC-Link capacitor voltage within the limit for injecting the power into the grid. In addition, the PCC of the APF guarantees a flexible settlement of real power exchanges from the WECS to the grid with a high power factor operation.

• Journal of Advanced Navigation Technology
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• v.27 no.4
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• pp.457-462
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• 2023

We proposed a flexible link configuration in a system combining mid-span spectral inversion (MSSI) and dispersion management used for long-distance transmission of high-capacity optical signals such as wavelength division multiplexing signals, and examined specific methods to increase chromatic dispersion and nonlinear distortion compensation effects. The dispersion map proposed to increase the flexibility of dispersion-managed link configuration has a 'random-inverse' structure. That is, in the proposed dispersion map, the residual dispersion per span (RDPS) of each fiber span in the first half section up to the optical phase conjugator is randomly distributed, and the RDPS distribution in the second half section reverses the distribution pattern of the first section. Although the proposed dispersion map has a random distribution of RDPS, it was confirmed that the distortion compensation effect is improved due to the fact that the dispersion profile is symmetrical with respect to the optical phase conjugator. In the dispersion map of the 'random-inverse' configuration, it was also confirmed that the compensation effect of the distorted wavelength division multiplexing signal becomes improved when the magnitude of the RDPS allocated to each fiber span is large.

• Coupled systems mechanics
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• v.11 no.5
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• pp.439-458
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• 2022

Over-coating is one of the most popular engineering practices to strengthen Reinforced Concrete (RC) structures, due to the relative quickness and ease of construction. It consists of an external coat bonded to the outer surface of the structural RC element, either by the use of chemical adhesives, mechanical anchor bolts or simply mortar injection. In contrast to these constructive advantages, the numerical estimation of the bearing capacity of the strengthened reinforced concrete element is still complicated, not only for the complexity of modelling a flexible membrane or plate attached to a quasi-rigid solid, but also for the difficulties that raise of simulating any potential delamination between both materials. For these reasons, the standard engineering calculations used in the practice remain very approximated and clumsy. In this work, we propose the formulation of a new 2D solid-layer finite element capable to link a solid body with a flexible thin layer, as it were the "skin" of the body, allowing the potential delamination between both materials. In numerical terms, this "skin" element is intended to work as a transitional region between a solid body (modelled with a classical formulation of a standard quadrilateral four-nodes element) and a flexible coat layer (modelled with cubic beam element), dealing with the incompatibility of Degrees-Of-Freedom between them (two DOF for the solid and three DOF for the beam). The aim of the solid-layer element is to simplify the mesh construction of the strengthened RC element being aware of two aspects: a) to prevent the inappropriate use of very small solid elements to simulate the coat; b) to improve the numerical estimation of the real bearing capacity of the strengthened element when the coat is attached or detached from the solid body.

• Coupled systems mechanics
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• v.12 no.6
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• pp.481-501
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• 2023

Over-coating is one of the most popular engineering practices to strengthen Reinforced Concrete (RC) structures, due to the relative quickness and ease of construction. It consists of an external coat bonded to the outer surface of the structural RC element, either by the use of chemical adhesives, mechanical anchor bolts or simply mortar injection. In contrast to these constructive advantages, the numerical estimation of the bearing capacity of the strengthened reinforced concrete element is still complicated, not only for the complexity of modelling a flexible membrane or plate attached to a quasi-rigid solid, but also for the difficulties that raise of simulating any potential delamination between both materials. For these reasons, the standard engineering calculations used in the practice remain very approximated and clumsy. In this work, we propose the formulation of a new 2D solid-layer finite element capable to link a solid body with a flexible thin layer, as it were the "skin" of the body, allowing the potential delamination between both materials. In numerical terms, this "skin" element is intended to work as a transitional region between a solid body (modelled with a classical formulation of a standard quadrilateral four-nodes element) and a flexible coat layer (modelled with cubic beam element), dealing with the incompatibility of Degrees-OfFreedom between them (two DOF for the solid and three DOF for the beam). The aim of the solid-layer element is to simplify the mesh construction of the strengthened RC element being aware of two aspects: a) to prevent the inappropriate use of very small solid elements to simulate the coat; b) to improve the numerical estimation of the real bearing capacity of the strengthened element when the coat is attached or detached from the solid body.