• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.7
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• pp.875-880
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• 2007

Scientific challenges in the field of MR(magnetorheological) fluids and devices consist in the development of MR devices, the mathematical modeling and simulation of MR devices, and the development of (optimal) control algorithm for MR device systems. To take a maximum advantage of MR fluids in control applications a reliable mathematical model, which predicts their nonlinear characteristics, is needed. A inverse model of the MR device is required to calculate current(or voltage) input of MR damper, which generates required damping force. In this paper, we implemented test a bench for shear mode rotary MR damper and laboratory tests were performed to study the characteristics of the prototype shear-mode rotary MR damper. The direct identification and inverse dynamics modeling for shear mode rotary MR dampers using multi-layer neural networks are studied.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.31B no.10
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• pp.44-52
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• 1994

In this paper, we assume that the dynamics of DC motor and nonlinear load are unknown. We propose an inverse dynamic model of DC motor and nonlinear load using the artificial neural network and construck speed control system based on the proposed dynamic model. We also propose another dynamic model with speed prediction scheme using the artificial neural network that removes the undesirable time delay effect caused by the computation time during the real-time control. We suggest a dynamic model which has arbitrary number of speed arguments and is especially effective when the motor and load has large moment of inertia. Next, we suggest a controller that combine the neurocontrol and PID control with constant gain. We show that the proposed neurocontrol systems have capabilities of noise rejection and generalization to have good velocity tracking through computer simulations and experiments.

• Nuclear Engineering and Technology
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• v.29 no.1
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• pp.15-24
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• 1997

The design and evaluation of a digital U-tube steam generator level controller of nuclear power plants, which uses model-based compensators to offset the inverse response behavior of water level, is described. Included is a review of steam generator level dynamics, a simulation model that replicates the effects of feedwater and steam flowrate as well as temperature on steam generator level, the design of both the compensators and the overall controller, and the results of simulation studies in which the performances of this model-based controller and existing analog ones were compared. The proposed digital steam generator level controller is stable and its use significantly improves the controllability of steam generator level.

• Composites Research
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• v.30 no.4
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• pp.247-253
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• 2017

In this study, the mechanical behavior and interface properties of boron nitride nanotube-poly(methyl methacrylate) nanocomposites are predicted using the molecular dynamics simulations and the double inclusion model. After modeling nanocomposite unit cell embedding single-walled nanotube and polymer, the stiffness matrix is determined from uniaxial tension and shear tests. Through the orientation average of the transversely isotropic stiffness matrix, the effective isotropic elastic constants of randomly dispersed microstructure of nanocomposites. Compared with the double inclusion model solution with a perfect interfacial condition, it is found that the interface between boron nitride nanotube and polymer matrix is weak in nature. To characterize the interphase surrounding the nanotube, the two step domain decomposition method incorporating a linear spring model at the interface is adopted. As a result, various combinations of the interfacial compliance and the interphase elastic constants are successfully determined from an inverse analysis.

• Proceedings of the KSME Conference
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• 2000.04a
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• pp.261-267
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• 2000

A mathematical model was developed to calculate the muscle force of lower extremity during the gait. We constructed a model of human locomotion, which includes a muscle-skeletal system with 7 segments and 16 lower limb muscles. Using a optimization technique, muscle forces variation of the lower extremity during the gait were generated and its result was verified by comparing a experimental results of EMG analysis. Moreover. the walking movement of the model could be compared quantitatively with those of experimental studies in human by inverse dynamics.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.122-127
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• 2003

In this paper, an adaptive predistortion scheme is proposed to compensate nonlinear distortions caused by high power amplifiers (HPA) in OFDM systems. A complex Wiener-Hammerstein model (WHM) is used to describe input-output relationship of HPA with linear dynamics. The predistorter is directly identified by complex power series model with memory, which is an approximate inverse of the HPA expressed by the WHM. The effectiveness of the proposed adaptive compensation scheme is validated by numerical simulation for 64QAM-OFDM systems.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.398-403
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• 2002

We developed a Off-Line Graphic Simulator which can simulate a robot model in 3D graphics space in Windows 95 version. 4 axes SCARA robot was adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the off-line program system in the Windows 95's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by Silicon Graphics, Inc. were utilized for 3D graphics.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.10 no.3
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• pp.19-25
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• 2001

In this paper, we developed a Windows 98 version Off-Line Programming System which can simulate a Robot model in 3D Graphics space. 4 axes SCARA Robot (especially FARA SM5) was adopted as an objective model. Forward kinemat-ics, inverse kinematics and robot dynamics modeling were included in the developed program. The interface between users and the OLP system in the Windows 98s GUI environment was also studied. The developing is Microsoft Visual C++. Graphic libraries, OpernGL, by silicon Graphics, Inc. were utilized for 3D Graphics.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.698-701
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• 1996

A novel neural network control scheme is proposed to identify the inverse dynamic model of robot manipulator and to compensate for uncertainties in robot dynamics. The proposed controller is called reference compensation technique(RCT) by compensating at reference input trajectory. The proposed RCT scheme has many benefits due to the differences in compensating position and learning algorithm. Since the compensation is done outside the plant it can be applied to many control systems without modifying the inside controller. It performs well with low controller gain because the operating range of input values is small and the output of the neural network controller is amplified through the controller gain. The back-propagation algorithm is used to train and simulations of three link robot manipulator are carried out to prove the proposed controller's performances.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1731-1734
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• 2003

We propose a unmaned integrating control system based-on Windows XP version Off-Line Programming System which can simulate a Robot model in 3D Graphics space in this paper. The robot with 4 and 6 axes modeled SM5 and AM1 respectively were adopted as an objective model. Forward kinematics, inverse kinematics and robot dynamics modeling were included in the developed off-line program. The interface between users and the off-line programming system in the Windows XP's graphic user interface environment was also studied. The developing language is Microsoft Visual C++. Graphic libraries, OpenGL, by silicon Graphics, Inc. were utilized for 3D Graphics.