• 제어로봇시스템학회논문지
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• 제6권9호
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• pp.768-776
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• 2000

A robust high-speed motion controller is proposed. The proposed controller consists of the proximate time optimal servomechai는 (PTOD) for high-speed motion, disturbance observer (DOB) for robustness, friction compensator, and saturation handling element, In the proposed controller, DOB basically provides the chance to apply PTOS to non-double integrator systems by drastically reducing disturbances as well as unwanted signals due to difference between real system and the double integrator model. But, in DOB-based systems, if control input is saturated due to control input PTOS and/or DOB, overall system stability cannot be guaranteed. To solve this problem, ribust stability, when the control input is saturated. Eventually, a simple saturation handling element is inserted to maintain internal stability of overall system. Also, we explain the our two saturation handling methods, Additional Saturation Element (ASE_ and Self Adjusting Saturation (SAS), are the equivalent solutions of the saturation problem to maintain internal stability. The stability and performance of the proposed controller are verified through numerical simulations and experiments using a precision linear motor system.

• 조명전기설비학회논문지
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• 제13권1호
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• pp.111-118
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• 1999

함반영 촉각장치(Force-Reflecting haptic Interface)는 인간이 컴퓨터에 의해 생성한 가상의 세계에 손의 위치 정보를 제공하고 가상의 손이 가상 환경에 접촉했을 때 인간에게 촉각을 전달하는 장치이다. 본 논문에서는 컴플라이언스 제어가 비교적 용이한 초음파 모터 액츄에이터를 사용하여 직접구동 방식으로 촉각장치를 설계하였다. 렌더링 알고리즘을 이용하여 가상의 벽, 가상 버튼, 가상 구멍 등의 기본적인 역감실험을 한 결과 힘 반영에 의한 역감을 제시받을 수 있었다.

• 한국지능시스템학회논문지
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• 제25권1호
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• pp.7-14
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• 2015

고정밀도와 고속응성의 물류 이송을 위한 자동피킹 시스템 (Automatic Picking System; APS) 구동용 선형 유도 모터 드라이브의 설계 기법 및 고이득 관측기 기반의 강인 속도 제어 기법이 제안된다. APS에 존재하는 외란추력, 질량 및 마찰계수 등의 기계적 파라미터 불확정성은 시스템의 속도 제어 성능에 직접적인 영향을 주며 이러한 불확정성 하에서도 강인한 속도 응답 성능을 보유하는 속도 제어기가 요구된다. 시스템의 불확정성을 효과적으로 추정할 수 있는 고이득 관측기를 통해 외란이 추정되며 시스템의 불확정성을 제거하기 위해 추정된 외란이 제어입력에 전향제어 방식으로 보상된다. 기존의 외란 관측기가 질량 변화에 기인한 시변 외란을 효과적으로 보상하는 데에 한계가 있는 반면 제안된 속도 제어 시스템은 외란추력 및 질량 변화 하에서도 강인한 속도 추종 성능을 제공한다. 선형 유도 모터의 모델을 위한 Simulink 라이브러리가 상태방정식으로부터 개발되며 이를 활용한 Matlab - Simulink 기반의 비교 시뮬레이션을 통해 제안된 방식이 강인한 속도 응답 성능을 가지며 고정밀도와 고속응성을 요구하는 APS에 적합함이 입증된다.

• The Korean Journal of Pain
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• 제36권2호
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• pp.208-215
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• 2023

Background: To evaluate the feasibility, inter-reader reliability, and intra-reader reliability for various morphological features reported to be related to iliotibial band friction syndrome (ITBFS) on knee magnetic resonance imaging (MRI). Methods: A total of 145 patients with a clinical diagnosis and knee MRI findings consistent with ITBFS were included in the "study group" and 232 patients without knee pathology on both physical examination and MRI were included in the "control group". Various morphologic features on knee MRI were assessed including the patella shape, patella height, lateral epicondyle anterior-posterior (AP) width, lateral epicondyle height, ITB diameter (ITB-d), and ITB area (ITB-a). Results: Patients in the study group had significantly higher lateral epicondyle height (13.9 mm vs. 12.92 mm, P = 0.003), ITB-d (2.9 mm vs. 2.0 mm, P = 0.022), and ITB-a (38.5 mm² vs. 23.8 mm², P < 0.001) than the control group. ITB-a showed higher area under the curve index (0.849 with 74.1% sensitivity and 72.4% specificity at a 30.3 mm² cutoff) than ITB-d (0.710 with 70.8% sensitivity and 61.2% specificity at 2.4 mm cutoff) and lateral epicondyle height (0.776 with 72.4% sensitivity and 67.8% specificity at 13.4 mm cutoff). However, only the inter-reader agreement for ITB-a (intraclass correlation coefficient = 0.65) was moderate, while the agreements for other morphologic features were good or excellent. Conclusions: Lateral epicondyle height seems to be a reliable and feasible morphologic feature for diagnosis of ITBFS.

• 한국자동차공학회논문집
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• 제11권3호
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• pp.214-219
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• 2003

This paper includes real-time tractive force estimation method using standard vehicle sensors such as wheel speed, brake pressure, throttle position, engine speed, and transmission carrier speed sensor. Engine map, torque converter lookup table, shaft torque observer, and brake gain adaptation method are used to estimate the tractive force. To verify this estimator, measurement which uses strain-based brake torque sensor and estimation results are presented. All results was performed using a real vehicle in a real-time.

• 반도체디스플레이기술학회지
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• 제6권1호
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• pp.31-36
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• 2007

Effect of coulomb friction and backlash on the single loop position control has been studied for the precision position control. We have showed the limit cycle on the single loop system which used a ball screw that had the backlash. Also, we have made an inner loop with a classical velocity and torque controller which was forcing the current of d axis to be zero by using a permanent-magnet synchronous motor and composed the outer loop with linear encoder for sensing a position of the loader. Also, we have used least squares fit(LSF) observer for reducing noise when we got velocity from position outputs. We have shown a good result by using the dual loop through simulation and experiment.

• Journal of Astronomy and Space Sciences
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• 제26권3호
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• pp.329-344
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• 2009

일광절약시간제는 하절기에 낮 시간을 효율적으로 활용하기 위한 것이다. 한국은 해방이후부터 1988년까지 12번의 일광절약시간제를 시행하였다. 지난 20여년간 이 제도가 실시되지 않았으나, 최근에 일광절약시간제의 시행에 관한 문제가 다시 제기되고 있다. 이 논문에서는 세계 여러 국가의 일광절약시간제 시행경향, 한국의 일광절약시간제 실시의 역사를 살펴보고, 일출 몰시각 변화에 따른 낮의 길이 변화를 계산해 한국에 적합한 일광절약시간제 시행시기를 연구하였다. 한국은 동경 $135^{\circ}$ 표준자오선을 사용하고 있는데, 일출시각과 표준자오선의 지역적 치우침을 고려해 계산한 결과, 5월 두번째 일요일이나 4월 두번째 일요일이 적절한 일광절약시간제의 시작시기임을 알아내었다. 또한 일광절약시간제를 시행할 경우 발생하는 한국표준시에 대한 시간마찰과 이에 파생되는 문제들을 논하였다.

• 영재교육연구
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• 제3_4권1호
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• pp.158-166
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• 1994

The nature of the classroom environment is an important variable to understand when fostering creativity for elementary children. Studies of the classroom climate, structure or interaction commonly depend on behavioral observations or reports from the teacher or other adult-observer. Recent studies have used self-report instruments completed by students regarding their perceptions of various aspects of their class (see Fraser, 1991). The purpose of this study was to determine the developmental differences in the ratings of classroom environment between Korean students who are gifted and their American peers. The My Class Inventory was administered to 141 elementary students in grades three, four, and five. There were 65 Korean students and 76 American students who were identified as gifted by their schools. Reliability coefficients were calculated for all scales (satisfaction = .68: friction, .67; competition = .57; cohesion = .73; difficulty = .22). Results of a multivariate analysis illustrated significant differences between students from Korea and students from America on the MCI. Univariate analysis of variance of cultural group by grade level were conducted for four of the five scales. Significant differences were found by country for the cohesion scale and by country at grade levels for the satisfaction scale. American children expressed greater satisfaction than their Korean counterparts at all grade level, but particularly at grade five. Implications for further research are discussed.

• 제어로봇시스템학회논문지
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• 제22권5호
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• pp.320-325
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• 2016

This paper presents a robust finite-time sliding mode control (SMC) scheme for unknown disturbance and unmodeled nonlinear friction and dynamics in the robotic manipulator. A finite-time SMC (FSMC) surface and finite-time sliding mode controller are constructed to obtain faster error convergence than the conventional infinite-time based SMC. By adding prescribed constraint control term to a finite-time SMC to compensate for unknown disturbance and uncertainties, a robust control scheme can be designed as well as faster convergence control. In addition, simpler controller structure is built by using feed-forwarding upper bound coefficients of each manipulator dynamic parameters instead of model-based control or adaptive observer to estimate unknown manipulator parameters. Simulation and experimental evaluations highlight the efficacy of the proposed control scheme for an articulated robotic manipulator.

• 제어로봇시스템학회논문지
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• 제14권11호
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• pp.1094-1102
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• 2008

Through the motion control experiment using Industrial Emulator(Model 220 by ECP), the performance comparison of three kinds of controllers such as PID, RIC and LQR was carried out. It was shown that RIC has the best performance in the presence of disturbances such as step one, sinusoidal one and Coulomb friction for the rigid body. LQR using feedback state variables has the best tracking performance far the flexible body. The performance of PID controller is low compared to other controllers, but the design process is simple. The most advanced controller is LQR. In order to attenuate disturbance, an additional state observer should be used to estimate it, making more complex control system. RIC lies between PID and LQR in view of complexity of design. Even though RIC is not complicated, it has good disturbance rejection ability and less tracking error. By considering these aspects, the RIC is suggested as high precision controller to be used in motion control system.