• Journal of the Korean Society for Precision Engineering
• /
• v.25 no.2
• /
• pp.140-147
• /
• 2008

This paper describes a Neural Network based PD control scheme for motion control of pneumatic servo cylinder. Pneumatic systems have inherent nonlinearities such as compressibility of air and nonlinear frictions present in cylinder. The conventional linear controller is limited in some applications where the affection of nonlinear factor is dominant. A self-excited oscillation method is applied to derive the dynamic design parameters of linear model. Based on the parameters thus identified, a PD feedback compensator is designed first and then a neural network is incorporated. The experiments of a trajectory tracking control using the proposed control scheme are performed and a significant reduction in tracking error is achieved by comparing with those of a PD control.

• Smart Structures and Systems
• /
• v.13 no.1
• /
• pp.99-109
• /
• 2014

The goal of any Model Order Reduction (MOR) technique is to build a model of order lower than the one of the real model, so that the computational effort is reduced, and the ability to estimate the input-output mapping of the original system is preserved in an important region of the input space. Actually, since only a subset of the input space is of interest, the matching is required only in this subset of the input space. In this contribution, the consequences on the achieved accuracy of adopting different reduction technique patterns is discussed mainly with reference to a linear case study.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.410-414
• /
• 1996

A visual servoing algorithm is proposed for a robot with a camera in hand. Specifically, novel image features are suggested by employing a viewing model of perspective projection to estimate relative pitching and yawing angles between the object and the camera. To compensate dynamic characteristics of the robot, desired feature trajectories for the learning of visually guided line-of-sight robot motion are obtained by measuring features by the camera in hand not in the entire workspace, but on a single linear path along which the robot moves under the control of a, commercially provided function of linear motion. And then, control actions of the camera are approximately found by fuzzy-neural networks to follow such desired feature trajectories. To show the validity of proposed algorithm, some experimental results are illustrated, where a four axis SCARA robot with a B/W CCD camera is used.

• Ocean Systems Engineering
• /
• v.1 no.3
• /
• pp.223-239
• /
• 2011

In combat operations, naval ships may be subjected to considerable air blast and underwater shock loads capable of causing severe structural damage. As the experimental study imposes great monetary and time cost, the numerical solution may provide a valuable alternative. This study emphasises on numerical analysis for optimization of stiffened and unstiffened plate's structural response subjected to air blast load. Linear and non linear finite element (FE) modeling and analysis was carried out and compared with existing experimental results. The obtained results reveal a good agreement between numerical and experimental observations. The presented FE models can eliminate confusion regarding parameters selection and FE operations processing, using commercial software available currently.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2000.06a
• /
• pp.461-467
• /
• 2000

Mechanical problems are basically three dimensional nonlinear dynamic problems, which makes it difficult to solve. The difficulties are tried to overcome by modeling, i.e., simplifications of the system with the assumptions or negligence of minute effects. However, the correctness or usefulness of the model should be verified through the comparison with experimental results, which is the process of physical understanding of the system. The understanding of physics of the system make it possible to design or operation of the system. The effects of clearance and friction are always difficult problems in mechanical system due to its nonlinearity. The nonlinearity comes from piecewise-linear characteristics of the stiffness and damping of the system. The modeling of piecewise-linearity and the experimental result are discussed in this paper for impact and friction oscillator and rotor rubbing problem, which is the combination of impact and friction problems.

• Journal of the Korean Institute of Telematics and Electronics
• /
• v.24 no.4
• /
• pp.583-589
• /
• 1987

A new approximation method is proposed for the linear model reduction of high order dynamic systems. This mehtod is based upon the denominator table(D-table) and time moment-matching technique. The denominator table(D-table) is used to obtain the denominator polynomial of reduced-order model, and the numerator polynomial is obtained by time moment-matching method. This proposed method does not require the calculation of the alpha-beta expansion and reciprocal transformation which should be calculadted by Routh approximation method. The advantages of the proposed method are that it is computationally every attractive better than Routh approximation method and the reduced model is stable Il the original system is stable.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
• /
• v.3B no.2
• /
• pp.74-78
• /
• 2003

This paper describes the operating characteristic analysis of the PM-type linear oscillatory actuator used as a magnetic circuit breaker for the electromagnetic field, electric circuit, and mechanical motion problems. Transient calculations are based upon a 2D finite element magnetic field solution including non-linearity of materials. Changes of the dynamic characteristics from the eddy current in the plunger are quantified from finite element analysis. A new laminated model is proposed to decrease the eddy current effect.

• Proceedings of the KSRS Conference
• /
• 2007.10a
• /
• pp.3-5
• /
• 2007

Many continuous queries are important to be process efficiently in a data stream environment. It is applied a query index technique that takes linear performance irrespective of the number and width of intervals for processing many continuous queries. Previous researches are not able to support the dynamic insertion and deletion to arrange intervals for constructing an index previously. It shows that the insertion and search performance is slowed by the number and width of interval inserted. Many intervals have to be inserted and searched linearly in a data stream environment. Therefore, we propose Hashed Multiple Lists in order to process continuous queries linearly. Proposed technique shows fast linear search performance. It can be utilized the systems applying a sensor network, and preprocessing technique of spatiotemporal data mining.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 1998.04a
• /
• pp.25-32
• /
• 1998

Most recent seismic design codes include Response Modification Factor(RMF) for determining equivalent lateral forces. The RMF is used to reduce the linear elastic design spectrum to account for the energy dissipation capacity, overstrength and damping of the structure. In this study the RMF is defined as the ratio of the absolute maximum linear elastic base shear to the absolute maximum nonlinear base shear of a structure subject to the same earthquake accelerogram. This study investigates the effect of hysteretic model, as well as target ductility ratio and natural period on duct based RMF using nonlinear dynamic analyses of the SDOF systems. Special emphasis is given to the effects of the hysteretic characteristics such as strength deterioration and stiffness degradation. Results indicate that RMFs are dependent on ductility, period and hysteretic model.

• The Transactions of the Korean Institute of Electrical Engineers
• /
• v.43 no.6
• /
• pp.982-990
• /
• 1994

In this paper, we consider feedback-kinearizing control of brushless dc motors which have been increasingly used in high-performance servo applications, We completely characterize the whole class of the feedback controllers that enable the brushless dc motors to behave like linear systems but without torque ripple. The whole class of the feedback-linearizing controllers is characterized in the explicit form which contains a function to be chosen freely. The previously known controllers correspond to either the particular ones in our whole class of the feedback-Linearzing controllers or their truncated Fourier expansions. This free function can be used to achieve other control objectives as well as linear dynamic characteristics. Furthermore, our feedback-linearizing controllers can be easily determined from the measurement data of back EMF.