• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.452-455
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• 1995

Various physical limitations which intrinsically exist in the manipulator control system, for example kinematic limits and torque limit, cause some undesirable effects. Specifically, when one or more actuators are saturated the expected control performance can not be anticipated and in some cases it induces instability of the system. The effect of torque limit, especially for redundant manipulators, is studied in this article, and an analytic method to reconstruct the control input using the redundancy is proposed based on the kinematically decomposed modeling of redundant manipulators. It results to no degradation of the output motion closed-loop dynamics at the cost of the least degradation of the null motion closed-loop dynamics. Numerical simulations help to verify the advantages of the proposed scheme.

• Journal of KIISE:Software and Applications
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• v.31 no.11
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• pp.1474-1482
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• 2004

In this paper, we propose an approach for extracting and filtering block motion vectors using an adaptive weight function. We first extract motion vectors from a sequence of images by using size-varibale block matching and then process them by adaptive robust estimation to filter out outliers (motion vectors out of concern). The proposed adaptive robust estimation defines a continuous sigmoid weight function. It then adaptively tunes the sigmoid function to its hard-limit as the residual errors between the model and input data are decreased, so that we can effectively separate non-outliers (motion vectors of concern) from outliers with the finally tuned hard-limit of the weight function. The experimental results show that the suggested approach is very effective in filtering block motion vectors.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.41 no.4
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• pp.339-345
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• 1992

Estimates of maximum amplitudes of conductor galloping are needed in order to determine appropriate phase-to-phase clearances on the overhead lines. One approach to obtaining these estimates is through the use of mathematical models of conductor galloping. Unfortunately, the models that consider both vertical conductor motion (Den Hartog type) and torsional conductor motion are often too complex for practical use. However, the estimates of maximum amplitude obtained from galloping models that assume only vertical (Den Hartog type) conductor motion tend to be too conservative. This paper presents the DF method to obtain the estimates of the amplitude and the frequency of galloping limit cycle, along with the wind pressure at which they occur, from a nonlinear dynamic model that considers both Den Hartog type and torsional conductor motion. From these results, the useful data for the line design guide and further insight into the mechanism of the conductor galloping are obtained.

• 한국정보디스플레이학회:학술대회논문집
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• 2009.10a
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• pp.1164-1167
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• 2009

Motion-image-quality of LCD-TVs is discussed by dynamic spatial frequency response. Smaller temporal aperture or higher frame rate can improve dynamic response, but an increase of motion velocity easily cancels the improvement. A guideline for deciding the desirable temporal aperture and frame rate of LCD-TVs is described, under the condition that camera and display have the same parameters. Two candidates of the desirable parameter sets will be (240 or 300 Hz, 50 to 100% aperture) and (120Hz, 25 to 50% aperture), from the viewpoint of "limit of acceptance" on motion-imagequality-deterioration for critical picture materials.

• Transactions of the Korean Society of Automotive Engineers
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• v.12 no.2
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• pp.160-167
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• 2004

A two degree-of-freedom mathematical model is presented to investigate the friction mechanism of a disc brake system. A contact parameter is introduced to describe the coupling between the in-plane and the out-of-plane motions. The model with the contact parameter is considered under the assumption that the out-of-plane motion depends on the friction force along the in-plane motion. In order to describe the relationship between the friction force and the out-of plane motion, the dynamic friction coefficient is considered as a function of both relative velocity and normal farce. Using this friction law, a contact stiffness matrix along the normal direction can be obtained. The out-of-plane motion is then investigated by both the stability analysis and the numerical analysis for various parametric conditions. The results show that the stiffness parameters of the pad and the disc must be controlled at the same time. Also, the numerical analysis shows the existence of limit cycle caused by the effect of intermittent contact stiffness.

• Korea-Australia Rheology Journal
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• v.14 no.2
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• pp.77-86
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• 2002

A microscopic theoretical study is performed to predict the rheological properties of human blood in the low concentration limit. The shear thinning behavior of blood in the low shear limit is studied by considering the aggregate formation of red blood cells, which is called the rouleaux formation. Then the constitutive equations of blood in the high shear limit are derived for various flow situations by considering the unique features of deformation of blood cells. Specifically, the effects of the surface-area-preserving constraint and the lank-treading motion of blood cells on the rheological properties are studied.

• Communications for Statistical Applications and Methods
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• v.22 no.3
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• pp.295-304
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• 2015

This paper considers the problem of estimation of the Hurst parameter H ${\in}$ (1/2, 1) from longitudinal data with the error term of a fractional Brownian motion with Hurst parameter H that gives the amount of the long memory of its increment. We provide a new estimator of Hurst parameter H using a two scale sampling method based on $A{\ddot{i}}t$-Sahalia and Jacod (2009). Asymptotic behaviors (consistent and central limit theorem) of the proposed estimator will be investigated. For the proof of a central limit theorem, we use recent results on necessary and sufficient conditions for multi-dimensional vectors of multiple stochastic integrals to converges in distribution to multivariate normal distribution studied by Nourdin et al. (2010), Nualart and Ortiz-Latorre (2008), and Peccati and Tudor (2005).

• Earthquakes and Structures
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• v.16 no.5
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• pp.563-573
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• 2019

When generating spectrum-compatible artificial ground motion in engineering practices, the effect of the variation in fitting parameters on the distribution of the peak ground displacement (PGD) has not yet drawn enough attention. In this study, a method for simulating ground motion matching for multiple targets is developed. In this method, a frequency-dependent amplitude envelope function with statistical parameters is introduced to simulate the nonstationarity of the frequency in earthquake ground motion. Then, several groups of time-history acceleration with different temporal and spectral nonstationarities were generated to analyze the effect of nonstationary parameter variations on the distribution of PGD. The following conclusions are drawn from the results: (1) In the simulation of spectrum-compatible artificial ground motion, if the acceleration time-history is generated with random initial phases, the corresponding PGD distribution is quite discrete and an uncertain number of PGD values lower than the limit value are observed. Nevertheless, the mean values of PGD always meet the requirement in every group. (2) If the nonstationary frequencies of the ground motion are taken into account when fitting the target spectrum, the corresponding PGD values will increase. A correlation analysis shows that the change in the mean and the dispersion values, from before the frequencies are controlled to after, correlates with the modal parameters of the predominant frequencies. (3) Extending the maximum period of the target spectrum will increase the corresponding PGD value and, simultaneously, decrease the PGD dispersion. Finally, in order to control the PGD effectively, the ground motion simulation method suggested in this study was revised to target a specified PGD. This novel method can generate ground motion that satisfies not only the required precision of the target spectrum, peak ground acceleration (PGA), and nonstationarity characteristics of the ground motion but also meets the required limit of the PGD, improving engineering practices.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.1008-1013
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• 1992

본 논문에서는 다중 로보느의 협조제어(Coordinated Control)를 위한 로보트 콘트롤러의 설계에 대해서 연구한다. 첫 부분에서는 다중 로보느의 연구배경 및 연구동기에 대해서 논의하고 이어서 Coordinated Task를 묘사하기 위한 Programming Primiitive Set을 정의하며 구현에 대해서도 논의한다. 특히 Motopn Primitive는 synchronous(Coordinated Motion), Asynchronous Motion, Conditional Motion, 특수 Motion으로 분류하고, 각각의 궤적계획 및 구현에 대해서도 간단히 논의한다. 특히 본 논문에서는 외부의 변화하는 환경에 효과적으로 적응할 수 있게 하기 위하여 Vision센서, Encoder신호와 Limit센서, Force센서 등의 다양한 외부 센서를 융합 처리할수 있는 다중 로보트 제어 시스템을 개발하였다.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.9 no.2
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• pp.93-103
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• 1997

This study presents a way of improving the stability of fixed scroll in scroll compressors. For the scroll compressor whose fixed scroll is designed to move in the axial direction for the axial compliance, the fixed scroll is under the influence of the overturning moment produced by internal gas forces. Unless the overturning moment is properly compensated by the moments of reaction forces at the suspension of the fixed scroll to the compressor frame, the fixed scroll would exhibit wobbling motion, increasing gas leakage through the gap induced by the wobbling of the fixed scroll between the two scroll members. The conditions on which the wobbling motion can be suppressed have been found analytically; The axial position of the fixed scroll suspension should be made within a certain range. The upper limit of this range is the axial location for the o-rings which are inserted between the fixed scroll and the back pressure chamber to promote sealing for the gas in the back pressure chamber. And the lower limit is mainly determined by the magnitude of the axial sealing force. As long as the axial sealing force is not negative over all crank angles, the lower limit is not above the mid-height of the scroll wrap. Larger axial sealing force lower the lower limit.