• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.20-27
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• 2014

In this paper, an exact reshaping method for the motor dynamics of a flexible-joint robot is proposed using an integral manifold approach. Obtaining the exact model for both motor-side and link-side dynamics of a flexible-joint robot is difficult due to its under-actuated nature and complex dynamics. Despite the simple structure of the motor-side dynamics, they are difficult to model accurately for a flexible-joint robot due to motor disturbances, especially when speed reducers such as harmonic drives are installed. An integral manifold feedback control (IMFC) is proposed to reshape the motor dynamics. Based on the integral manifold approach, it is theoretically proved that the IMFC reshapes motor dynamics exactly even with bounded disturbances such as motor friction. The performance of the proposed IMFC is verified experimentally using a single degree-of-freedom flexible-joint robot under gravity conditions.

• 한국도로학회:학술대회논문집
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• 2008.10a
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• pp.93-102
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• 2008

An energy based crack growth model is developed in this study to simulate the propagation of top-down cracking in asphalt pavements. A viscoelastic fracture mechanics approach, generalized J integral, is employed to model the crack growth of asphalt concrete. Laboratory fatigue crack propagation tests for three different asphalt mixtures are performed at various load levels, frequencies and temperatures. Disk-shaped specimens with a proper loading fixture and crack growth monitoring system are selected for the tests. It is observed from the tests that the crack propagation model based on the generalized J integral is independent of load levels and frequencies, while the traditional Paris' law model based on stress intensity factor is dependent of loading frequencies. However, both models are unable to take care of the temperature dependence of the mixtures. The fatigue crack propagation model proposed in this study has a good agreement between experimental and predicted crack growth lives, which implies that the energy based J integral could be a better parameter to describe fatigue crack propagation of viscoelastic materials such as asphalt mixtures.

• Journal of Power Electronics
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• v.19 no.5
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• pp.1193-1202
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• 2019

A SMPMSM drive system is a typical nonlinear system with time-varying parameters and unmodeled dynamics. The speed outer loop and current inner loop control structures are coupled and coexist with various disturbances, which makes the speed control of SMPMSM drive systems challenging. First, an ultra-local model of a PMSM driving system is established online based on the algebraic estimation method of model-free control. Second, based on the backstepping control framework, model-free adaptive integral backstepping (MF-AIB) control is proposed. This scheme is applied to the permanent magnet synchronous motor (PMSM) drive system of an electric vehicle for the first time. The validity of the proposed control scheme is verified by system simulations and experimental results obtained from a SMPMSM drive system bench test.

• Proceedings of the KSME Conference
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• 2005.11a
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• pp.60.2-60.2
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• 2005

• Journal of the Korean Statistical Society
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• v.17 no.1
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• pp.24-29
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• 1988

The asymptotic distribution of the sample partial autocorrelation terms after lag p of an AR(p) model has been shown by Dixon(1944). The derivation is based on multivariate analysis and looks tedious. In this paper we present an interesting contour-integral derivation.

• Structural Engineering and Mechanics
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• v.67 no.4
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• pp.417-425
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• 2018

The main aim of this paper is to investigate the bending of Euler-Bernouilli nano-beams made of bi-directional functionally graded materials (BDFGMs) using Eringen's non-local elasticity theory in the integral form with compare the differential form. To the best of the researchers' knowledge, in the literature, there is no study carried out into integral form of Eringen's non-local elasticity theory for bending analysis of BDFGM Euler-Bernoulli nano-beams with arbitrary functions. Material properties of nano-beam are assumed to change along the thickness and length directions according to arbitrary function. The approximate analytical solutions to the bending analysis of the BDFG nano-beam are derived by using the Rayleigh-Ritz method. The differential form of Eringen's non-local elasticity theory reveals with increasing size effect parameter, the flexibility of the nano-beam decreases, that this is unreasonable. This problem has been resolved in the integral form of the Eringen's model. For all boundary conditions, it is clearly seen that the integral form of Eringen's model predicts the softening effect of the non-local parameter as expected. Finally, the effects of changes of some important parameters such as material length scale, BDFG index on the values of deflection of nano-beam are studied.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.9
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• pp.52-57
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• 2010

The analysis of a crack in a bone-like material is performed numerically. The bone-like material is hierarchically structured and each hierarchy is structured by mineral platelets and protein matrix through staggered arrangement. Mechanical behavior of the composite can be analyzed using tension shear chain model. The Dugdale model is adopted to evaluate the fracture energy of Bone-like material. The fracture energy dissipation is assumed to concentrate within a strip near the crack tip along the prospective crack path. Fracture criterion of the bone-like material is estimated by using J integral. Effects of hierarchical level, ratio of elastic modulus of mineral to protein, aspect ratio of mineral platelet and volume fraction on J integral are investigated. It is found that the J integral decreases as elastic modulus ratio and hierarchy level increase. It is also shown that the J integral increases as the volume fraction and aspect ratio decrease.

• Korean Journal of Mathematics
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• v.23 no.3
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• pp.491-502
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• 2015

A martingale is a mathematical model for a fair wager and the modern theory of martingales plays a very important and useful role in the study of the stochastic fields. This paper is devoted to investigate a martingale and a non-martingale on the several stochastic integral or differential equations. Specially, we show that whether the stochastic integral equation involving a standard Wiener process with the associated filtration is or not a martingale.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 1998.10a
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• pp.389-396
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• 1998

One solution to prevent deterioration due to expansion joint and to extend lifetime of short span bridges, is jointless integral abutment bridge. To understand behavior of pile foundation of skewed plate girder bridge with integral abutment, finite element analysis was performed for the model of different skew angle from 90。 to 50。. Comparison of stresses at pile and abutment was made for each case. It is found that effect of temperature change is major factor to influence the behavior of skewed integral abutment bridge.

• Advances in Energy Research
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• v.5 no.1
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• pp.79-90
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• 2017

The main objective of load frequency control (LFC) is to keep the frequency value at nominal value and force deviation of the frequency to zero in case of load change. This paper suggests LFC by using a model predictive control (MPC), based on Integral Square Error (ISE) method designed to optimize the damping of oscillations in a two-area power system. The MPC is designed and simulated with a model system in state space, for robust performance in the system response. The proposed MPC is tuned by ISE to achieve superior efficiency. Moreover, its performance has been assessed and compared with the PI and PID conventional controllers. The settling time and overshoot with MPC are extremely minimized as compared with conventional controllers.