• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
• /
• pp.460-463
• /
• 1995

The present paper studies a robot manipulator's contact tasks on the uncertain flexible objects. The flexible object's distributed parameter model is approximated into a lumped "position state-varying" model. By using the well-known nonlinear feedback compensation, the robot's control space is decomposed into the position control subspace and the object's torque control subspace. The optimal state feedback is designed for the position loop, and the robot's contact force is controlled through controlling the resultant torque on the object using model-reference simple adaptive control. Experiments of a PUMA robot interacting with an aluminum plate show the effectiveness of this control approach. approach.

• 제어로봇시스템학회논문지
• /
• 제6권5호
• /
• pp.356-366
• /
• 2000

In this paper, a nonlinear $H_2/H_\infty/LTR$ control for the flexible inverted pendulum of a parallel type with Coulomb friction is presented. The dynamic equation for this system is derived by the Hamilton's principle and assumed-mode method. This hard nonlinear system can be modeled by a the quasi-linear state space model using the REF method. It is shown that the $H_2/H_\infty$ control can be applied to the nonlinear controller design of the system having Coulomb frictions if the proper LTR conditions are satisfied. In order to present the usefulness of the suggested control method, the nonlinear $H_2/H_\infty/LTR$ controller is designed to control the Position of the end point of the flexible inverted pendulum that has Coulomb frictions present in actuator parts. The results are given via computer simulations.

• Structural Engineering and Mechanics
• /
• 제43권2호
• /
• pp.163-177
• /
• 2012

This paper presents a LMI(linear matrix inequality)-based fuzzy approach of modeling and active vibration control of geometrically nonlinear flexible plates with piezoelectric materials as actuators and sensors. The large-amplitude vibration characteristics and dynamic partial differential equation of a piezoelectric flexible rectangular thin plate structure are obtained by using generalized Fourier series and numerical integral. Takagi-Sugeno (T-S) fuzzy model is employed to approximate the nonlinear structural system, which combines the fuzzy inference rule with the local linear state space model. A robust fuzzy dynamic output feedback control law based on the T-S fuzzy model is designed by the parallel distributed compensation (PDC) technique, and stability analysis and disturbance rejection problems are guaranteed by LMI method. The simulation result shows that the fuzzy dynamic output feedback controller based on a two-rule T-S fuzzy model performs well, and the vibration of plate structure with geometrical nonlinearity is suppressed, which is less complex in computation and can be practically implemented.

• Journal of Advanced Marine Engineering and Technology
• /
• 제23권2호
• /
• pp.227-235
• /
• 1999

In this paper a vibration control fo a one-link flexible beam is considered. At first a state-space model for a flexible beam is derived by using the assumed-modes approach. Based on this model the transfer function between the applied torque and the tip deflection fo the beam is presented because it is convenient to apply our method. In general there exist some control difference due to flexibility of the beam so we adop a forward-passive controller to reduce these phenomena. And a complex dual-input describing function compensator is used to control the tip deflection. The stabiltiy and the performance of the closed-loop system are analyzed. Finally the validity of the derived model and the effectiveness of proposed controller are confirmed throuth simula-tions and experiments.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2004년도 추계학술대회논문집
• /
• pp.600-605
• /
• 2004

In many machines handling lightweight and flexible media such as magnetic tape drives, xerographic copiers and sewing machines, the media must transit an open space. It is important to predict the static and dynamic behavior of the sheets with a high degree of reliability. The nonlinear theory of the dynamic elastica has often been used to a nonlinear dynamic deflection model. In this paper, the governing equation is derived and simulated by the finite differential method. The parametric cubic curve is applied for defining the guide shape. The dynamic contact conditions suggested by Klarbring is used to predict the direction of the flexible media according to the initial velocity and the friction coefficient. The analysis is also compared to the conventional model, showing that after contacting a $45^{\circ}$ wall, the directions of flexible media of two models are different.

• 한국전기전자재료학회:학술대회논문집
• /
• 한국전기전자재료학회 2004년도 추계학술대회 논문집 Vol.17
• /
• pp.510-513
• /
• 2004

This paper represents the response surface model for the cell gap on the flexible liquid crystal display (LCD) process. Using response surface methodology (RSM). D-optimal design is carried out to build the design space and the cell gap is characterized by the quadratic model. The statistical analysis is used to verify the response surface model. This modeling technique can predict the characteristics of the desired response, cell gap, varying with process conditions.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2013년도 추계학술대회 논문집
• /
• pp.220-225
• /
• 2013

In this study, active control system using sliding mode control method is presented to achieve the gust response alleviation of a three-dimensional flexible wing model. For this purpose, aeroservoelastic model which is composed of aeroelastic plant, control surface actuator model, and gust model depicting the atmospheric turbulence is formulated in the state space. The aerodynamic force generated by the motion of a trailing edge control surface of a flexible wing is made use of as control means. An active control system combining state feedback sliding mode controller and state estimator based on measured responses such as wing tip acceleration and wing root strain is designed for gust response alleviation of a flexible wing aeroservoelastic model. The performance of the controller designed is demonstrated via numerical simulation for the representative flexible wing model under gust loading conditions.

• 한국산업융합학회 논문집
• /
• 제26권1호
• /
• pp.105-112
• /
• 2023

We analyze the global market for flexible electronic circuits, technical considerations, and analyze the market for application areas and regions. In the market analysis of the application field, the display field has the greatest influence in terms of market size and annual growth rate, and the OLE D lighting market size is expected to grow by nearly 50% in 2026. The multilayer flexible electronics, which dependently requires the semiconductor technology, has a larger market size than other structures and its growth rate is relatively large, leading the market and will be further analyzed in depth. The market size of multilayer flexible electronics applied to display field is expected to show an annual growth rate of 21.1% from $2.7 billion in 2017 to $9.8 billion in 2026, and the OLED market is expected to grow by 75.2% during the same periods. Recently, as electronic products have been miniaturized and advanced, and robust installation in a small space is required, companies that preoccupy multilayer structure or rigid flexible electronic circuit technology have an advantage in competitiveness, so many companies are trying to obtain this technology. These efforts are systematically supported by many countries because they can achieve mutual growth by strengthening the competitiveness of the application field and the same industry. In the case of Korea, a support system is established, but it is required to expand and activate it, and to localize manufacturing equipment and materials.

• 폴리머
• /
• 제30권1호
• /
• pp.56-63
• /
• 2006

층상구조의 폴리이미드 제조를 위해 다양한 곁가지 길이를 가지고 있는 두 종류의 디아민 단량체를 합성하였으며, 이를 이용하여 친수성 유연 곁가지와 친유성 유연 곁가지를 가지는 단일 중합 및 공중합 폴리이미드를 합성하였다. 강직한 주사슬의 충간은 유연한 곁가지로 인해 공간이 채워지게 되므로 곁가지의 길이가 특정 길이에 이르게 되면 주사슬과의 반발력으로 인하여 층상구조를 갖는 폴리이미드를 형성하게 된다. 친유성기를 도입한 단일중합체 폴리이미드의 경우 알킬곁가지의 길이가 증가함에 따라 층간거리가 $32.7\~48{\AA}$으로 증가하였고, 친수성기를 곁가지의 길이에 따라 도입한 경우에는 $7\~10.5{\AA}$으로 증가함을 X선 회절을 통해 확인하였다. 친유, 친수성기가 동시에 도입된 공중합체 폴리이미드의 경우에도 서로 다른 성질을 갖는 곁가지의 반발력에 의해 층상구조의 형성이 가능함을 알 수 있었다. 이를 분자모델링을 통한 이론적 구조계산과 비교해 본 결과, 유연한 곁가지의 길이에 따라 층간간격과 몰부피가 증가하는 층상구조의 폴리이미드 형성을 확인하였다.

• 한국멀티미디어학회논문지
• /
• 제24권5호
• /
• pp.629-641
• /
• 2021

Crowd behavior simulations have been studied to further accelerated and refined by parallelism by inducing agent-interacting forces into the image field representing the forces of attraction and repulsion. However, it was difficult to consider rapidly changing environments such as fire situations in buildings because texture images must be generated in advance simulation starts and simulations can only be performed in 2D spaces. In this paper, we propose a crowd agent behavior simulation method based on agent's 3D affordance field for flexible agent behavior in variable geomorphological environments in 3D space. The proposed method generates 3D affordance field related to agents and sensors in 3D space and defines the agent behavior in 3D space for the crowd behavior simulation based on an image-inducing field to a 3D space. Experimental results verified that our method enables the development of large-scale crowd behavior simulations that are flexible to various fire evacuation situations in 3D virtual spaces.