• Journal of the Korean Institute of Intelligent Systems
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• v.5 no.4
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• pp.87-100
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• 1995

In order to control systems which contain nonlinearities of uncertainties, control strategies must deal with the effects of them. Since most of control methods based on system mathematical models have been mainly developed focused on stability robustness against nonlinearities or uncertainties under the assumption that controlled systems are linear time invariant, they have certain amount of limitations to smartly improve the transient responses of systems disturbed by nonlinearities or uncertainties. In this paper, a nonlinear fuzzy PID control method is suggested which can stably improve the transient responses of systems disturbed by nonlinearities, as well as systems whose mathematical characteristics are not perfectly known. Although the derivation process is based on the design process similar to general fuzzy logic controller, resultant control law has analytical forms with time varying PID gains rather than linguistic forms, so that implementation using common-used versatile microprocessors cna be achieved easily and effectively in real-time control aspect.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.456-459
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• 1995

The problem of compliant motion control using a redundant manipulator is addressed in this article. Specifically, a hybrid-control type and impedance-control type controllers are extended to general redundant manipulators based on the kinematically decomposed and geometrically compatible modeling of its joint space. In the case of the hybrid controller, it leads to the linear and decoupled closed-loop dynamics in the three motion spaces, that is the motion-controlled, force-controlled, and the null motion-controlled spaces of the redundant manipulator. When the proposed impedance controller is applied, the decoupled impedance models in three motion spaces are obtained. The superiority of the proposed controllers is verified with the numerical experiments.

• Korean Journal of Human Ecology
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• v.2 no.2
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• pp.49-62
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• 1999

The purpose of this study is to evaluate the combination of details on the maternity clothes of one-piece type through visual evaluation which helps compensating pregnant women＇s body defects for their more attractive fashion styles. The data evaluated by a multiple ranking test were analyzed by mean, paired t-test, general linear models procedure and Duncan＇s multiple ranged test. The result are as follows : 1) The pregnant woman wearing the one-piece dress with notched collar, pleats and whole button looks longer in lower part of bodies, smaller in upper body, slimmer, have less appeared bust and abdomen, more balanced as a Whole than when wearing others. And also, it makes a pregnant woman be seen more refined and simple. 2) In case of a pregnant woman, a one-piece dress with notched collar, tuck and whole button makes her look longer in neck, narrower in shoulder, and more active than when wearing others. 3) With roll collar, pleats and whole button, it looks taller and more graceful than when wearing others.

• Journal of Ocean Engineering and Technology
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• v.11 no.4
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• pp.249-261
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• 1997

A basic study on the lifting lug design has performed through the rational and systematic process. In order to evaluate the proper design-load distribution around lug eye investigation of contact force between lifting lug and shackle pin is performed using non-linear parametric analysis idealized by gap element models. Gap element modeling and nonlinear analysis procedures are illustrated and discussed based on MSC/NASTRAN. Some analysis and design guides are suggested through the consideration of several important effects such as stress distribution pattern, circumferential contact force distribution along the lug eye face, loading share rate between lug main plate and doubler, effect of loading direction, relation between applied force and deflection and size effect of shackle pin radius. Additionally optimum design studies are performed and general trends according to the variation of design parameters are suggested.

• ICROS
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• v.2 no.1
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• pp.59-71
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• 1996

In the last decade, the model predictive control methods have enjoyed many industrial applications with successful results. Although the general predictive control methods for nonlinear chemical processes are not yet formulated, the promising features of the model predictive control methods attract attentions of many researchers who are involved with difficult but important nonlinear process control problems. Recently, the class of bilinear model has been introduced as an useful tool for examining many nonlinear phenomena. Since their structural properties are similar to those of linear models, it is not difficult to develop a robust adaptive model predictive control method based on bilinear model. We expect that the model predictive control method based on bilinear model will expand its region in the world of nonlinear systems.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.492-492
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• 2000

This paper proposes LQ optimal controller design method based on the modal decomposition. Here, the design problem of linear time-invariant systems is considered by using pencil model. The mathematical model based on matrix pencil is one of the most general representation of the system. By adding some conditions the model can be reduced to traditional system models. In pencil model, the state feedback is considered as an algebraic constraint between the state variable and the control input variable. The algebraic constraint on pencil model is called purely static mode, and is included in infinite mode. Therefore, the information of the constant gain controller is included in the purely static mode of the augmented system which consists of the plant and the control conditions. We pay attention to the coordinate transformation matrix, and LQ optimal controller is derived from the algebraic constraint of the internal variable. The proposed method is applied to the numerical examples, and the results are verified.

• Journal of Biomedical Engineering Research
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• v.5 no.1
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• pp.19-24
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• 1984

In this study, the general characteristics, and theories of cochlear concerning with hearing are examined. Also the digital method is studied in order to analyze with microcomputer on the model equation of basiliar membrane in the cochlear derived from 3-dimensional rectangular block model which is studied by Boer. The method is illustrated for the amplitude characteristics of basiliar momtrane wave velocity. The results obtained are as follows; 1. In the magnitude characteristics, the velocity gradually increases from the stapes, shows the maximum magnitude, and then rapidly decreases to the Helicotrema. 2. The characteristics of 3-dimensional model is located between 1-and 2- dimensional models in the velocity characteristics coefficients, magnitude characteristics, and the pattern of 2-dimensional model shoves the different features from the 1-dimensional and 3-dimensional rectangular block model. 3. In the 3-dimensional rectangular block model, the characteristics of the waveform and the maximum resonant point are same whether Z(X) is linear or nonlinear.

• Journal of Astronomy and Space Sciences
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• v.20 no.1
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• pp.63-82
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• 2003

Using the Schwarzschild's linear programming technique, we obtained the general solutions of the collisionless Bolzmann equation describing the spherical galaxy in dynamical equilibrium. From this calculation we have confirmed the existence of isotropic spherical galaxies obeying a de Vaucouleurs'law which includes a dark halo. The flattening profile of the velocity dispersion curve seen in the elliptical galaxies can be explained as the increase of mass to light ratio in this dark matter. The space density distribution of this dark matter shows that the core radius of the dark matter is smaller than the effective radius of the galaxy.

• Proceedings of the KIEE Conference
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• 1997.07b
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• pp.414-417
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• 1997

We propose a decentralized $H_{\infty}$ state estimation method in the multisensor state estimation problem. The proposed method bounds the maximum energy gain from unknown external disturbances to the estimation errors in the suboptimal case. And we formulate the decentralized state estimation method in the general case of different global and local models using alternative gain equation of the $H_{\infty}$ state estimator which can calculate global state estimates from the the linear combination of local state estimates. In addition, the proposed update equation between global and local Riccati solutions can reduce unnecessary calculation burden efficiently.

• Journal of Advanced Marine Engineering and Technology
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• v.23 no.4
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• pp.583-592
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• 1999

In order to control systems which contain nonlinearities control strategies must deal with the effects of them. Since most of control methods based on system mathematical models have been mainly developed focused on stability robustness against nonlinearities or uncertainties under the assumption that controlled systems are linear time invariant they have certain amount of limita-tions to smartly improve control perfomances of systems disturbed by nonlinearities or uncertainties. In this paper the fuzzy PID control law is suggested which can improve control performances of the nonlinear heavy load hydraulic systems disturbed by nonlinearities and uncertainties. Although the derivation process is based on the design process similar to general fuzzy logic con-troller resultant control law has analytical forms with time varying PID gains rather than linguis-tic forms so that implementation using commn-used versatile microprocessors can be achieved easily and effectively in real-time control aspect.