• 대한전기학회:학술대회논문집
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• 대한전기학회 1992년도 하계학술대회 논문집 A
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• pp.381-385
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• 1992

In this paper, dynamic modeling and adaptive control problems for a space robot system are discussed. The space robot consist of a robot manipulator mounted on a free-floating base where no attitude control is applied. Using an extended robot model, the entire space robot can be viewed as an under-actuated robot system. Based on nonlinear control theory, the extended space robot model can then be decomposed into two subsystems: one is input-output exactly linearizable, and the other is unlinearizable and represents an internal dynamics. With this decomposition, a normal form-augmentation approach and an augmented state-feedback control are proposed to facilitate the design of adaptive control for the space robot system against parameter uncertainty, unknown dynamics and unmodeled payload in space applications. We demonstrate that under certain conditions, the entire space robot can be represented as a full-actuated robot system to avoid the inclusion of internal dynamics. Based on the dynamic model, we propose an adaptive control scheme using Cartesian space representation and demonstrate its validity and design procedure by a simulation study.

• 한국세라믹학회지
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• 제29권1호
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• pp.65-73
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• 1992

The effect of grain size on the time-dependent piezoelectrice degradation of a poled PZT of MPB composition Pb0.988Sr0.012 (Zr0.52Ti0.48)O3 with 2.4 mol% of Nb2O5 was studied, and the degradation mechanism was discussed. Changes in the internal bias field and the internal stress both responsible for the time-dependent degradation of poled PZT were examined by the polarization reveral technique, XRD and Vickers indentation, respectively. The piezoelectric degradation increased with increasing time and grain size, and the internal bias field due to space charge diffusion decreased with increasing grain size of poled PZT. The internal bias field, however, was almost insensitive to the degradation time regardless of the grain size. On the other hand, both the x-ray diffraction peak intensity ratio of (002) to (200) and the fracture behavior including the crack propagation support that the ferroelectric domain rearrangement of larger grain size showed rapid relaxation of the internal stress compared with smaller one, which is thought the origin of the larger piezoelectric degradation in the former. In conclusion, the contribution of space charge diffusion on the piezoelectric degradation of PZT is strongly dependent on both the grain size and the composition. Thus, the relaxation of internal stress due to the ferroelectric domain rearrangement as well as the amount and time-dependence of the internal bias field due to space charge diffusion should be considered simultaneously in the degradation mechanism of PZT.

• 한국CDE학회논문집
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• 제22권1호
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• pp.59-69
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• 2017

Internal capacity of a refrigerator is an important indicator for design and purchasing criteria. The components facing the internal space may have holes or gaps between parts. In traditional way, design engineers manually remodeled the parts to fill the holes and the gaps for enclosed boundary of the internal space. Then they calculated internal volume by subtracting the assembly of parts from its enclosing volume. However, filling holes and gaps is not an automated process requiring a plenty of labor and time. In this research, we have developed a voxel-based method to estimate the internal volume of a refrigerator automatically. It starts transforming all components facing the interior space into voxels and fills all holes and gaps automatically by the developed hole-filling algorithm to form a completely closed boundary of the assembly. Then, it identifies the boundary voxels that are facing to the internal voxels with any part of the component. After getting the intersection points between the boundary voxels and the surfaces of components, it generates the boundary surface of triangular facets with the intersection points. Finally, it estimates the internal volume by adding volume of each tetrahedron composed of a triangle of boundary surface and an arbitrary point.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.539-542
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• 1996

The forces exerted on an object by the end-effectors of multi-manipulators are decomposed into the motion-inducing force and the internal force. Motion-inducing force effects the motion of an object and internal force can't effect it. The motion of an object can't track exactly the desired motion because of internal force component, therefore internal force component must be considered. In this paper using the resolved acceleration control method and the fact that internal force lies in the null space of jacobian matrix, we construct independently the position, motion-inducing force and internal force controller. Secondly we construct the robust controller to preserve the robustness with respect to the uncertainty of manipulator parameters.

• 한국우주과학회:학술대회논문집(한국우주과학회보)
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• 한국우주과학회 2004년도 한국우주과학회보 제13권1호
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• pp.95-95
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• 2004

The objectives of this study are to perform extensive analysis on internal mass motion for a wider parameter space and to provide suitable design criteria for a broader applicability for the class of spinning spacecraft. In order to examine the stability criterion determined by an analytical method, some numerical simulations will be performed and compared at various parameter points. (omitted)

• 한국주거학회논문집
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• 제10권4호
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• pp.31-40
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• 1999

This study examines changes of internal structure and the ratios of room sizes of flat-type apartment housing and residents' demand of housing alteration. The main results are follows: First, the auxiliary space, such as multi-purpose room, storage ＆ receiving space, becomes an important component of flat-type apartment housing. Second, apartment housings should be supplied to residents focusing on functions of space rather than the number of rooms. Third, the ratios of living room and storage space sizes have been increased as living space increases. Since the current apartment housings do not meet residents' needs, we suggest that residents' age, number of family, and economic status must be considered when apartment space are planned.

• 전력전자학회논문지
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• 제25권4호
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• pp.303-310
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• 2020

Estimating the accurate internal state of lithium ion batteries to increase their safety and efficiency is crucial. Various algorithms are used to estimate the internal state of a lithium ion battery, such as the extended Kalman filter and sliding mode observer. A state-space model is essential in using algorithms to estimate the internal state of a battery. Two principal methods are used to express the state-space model, namely, continuous time and discrete time. In this work, the extended Kalman filter is employed to estimate the internal state of a battery. Moreover, this work presents and analyzes the estimation performance of algorithms consisting of a continuous time state-space model and a discrete time state-space model through static and dynamic profiles.

• 한국대기환경학회:학술대회논문집
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• 한국대기환경학회 2000년도 춘계학술대회 논문집
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• pp.155-157
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• 2000

In modem buildings, the concept of open-space plan gets more acceptance as it supports more flexibility for the internal space design. This open-space can be easily subdivided by internal partitioning to provide each individual working zone. Although the partitioning forms each physical working zone, its indoor environment could be different Iron what the occupants require. Especially the air movement and contaminant spread in each working zone could be blocked or distorted by the partitioning, which may produce unexpected change in ventilation performance designed. (omitted)

• 한국군사과학기술학회지
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• 제14권3호
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• pp.524-531
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• 2011

The cryogenic vessel, storing a liquified solutions as LOX and $LN_2$, consists of a external vessel, internal vessel, thermal insulator and internal support. The internal support should be satisfied with mechanical strength not only to support weight of internal tank but also to maintain uniform space between external and internal tank in spite of external mechanical shock. However, excessive structure design of internal supports is able to increase the amount of heat conduction and the rate of vaporization. The thermal insulator, filled with space between a external and internal vessel, reduces the rate of heat transfer and guarantees the standing time of cryogenic vessel. Especially powder type of insulator has low thermal conductivity and reduce the specification of structure design. In order to evaluate the effect of insulator on structure design, the experiment set-up simulated cryogenic vessel was tested in shock environment according to thermal insulator. As a result, the behavior of internal support under external shock was understood and the design criteria was able to be suggested.

• Journal of Astronomy and Space Sciences
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• 제30권2호
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• pp.113-121
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• 2013

Heumgyeonggaknu is a water-hammering type automatic water clock which was made by Jang Yeong-Sil in 1438. The water clock that is located in Heumgyeonggaknu consists of Suho which is equipped with 2-stage overflow. Constant water wheel power is generated by supplying a fixed amount of water of Suho to Sususang, and this power is transferred to each floor at the same time. The 1st floor rotation wheel of Gasan consists of the operation structure which has the shape of umbrella ribs. The 2nd floor rotation wheel is made so that the 12 hour signal, Gyeong-Jeom signal, and Jujeon constitute a systematic configuration. The 3rd floor rotation wheel is made so that the signal and rotation of Ongnyeo and four gods can be accomplished. Based on the above conceptual design, this paper analyzed the internal signal generation and power transmission of Heumgyeonggaknu.