• International Journal of Fuzzy Logic and Intelligent Systems
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• 제4권1호
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• pp.70-78
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• 2004

This paper proposes non-linear control method using immune algorithm based fuzzy logic. Nonlinear dynamic system exist widely in many types of systems such as chemical processes, biomedical processes, and the main steam temperature control system of the thermal power plant. Up to the present time, PID Controllers have been used to operate these systems. However, it is very difficult to achieve an optimal PID gain with no experience, because gain of the PID controller has to be manually tuned by trial and error. An inverted pendulum control problem is selected to illustrate the efficiency of the proposed method and defines relationship state variables $\chi$, $\chi$, $\theta$, $\theta$ using immune fuzzy.

• Journal of Advanced Marine Engineering and Technology
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• 제22권3호
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• pp.328-336
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• 1998

Marine reduction gears are usually used to increase the propulsion efficiency of propellers for ships powered by medium and small sized high speed diesel engines. Most of shaft systems adopt flexible couplings to absorb the transmitted vibratory torque from the engines to the reduction gears and to prevent the chattering phenomenon of reduction gears. However some elastic couplings show non-linear characteristics due to the variable torque transmitted from the main engines and the change of ambient temperature. In this study dynamic characteristics of flexible couplings sare investigated and their effects upon various vibratory conditions of propulsion systems are clarified. A calculation program of torsional vibration for the propulsion systems are clarified. A calculation program of Results of the program developed are compared with ones of the existing linear method and propulsion systems with the elastic couplings the transfer matrix method is adopted which is found to give satisfied results.

• Structural Engineering and Mechanics
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• 제25권2호
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• pp.201-217
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• 2007

A harmonic type differential quadrature approach for nonlinear dynamic analysis of multi-degree-of-freedom systems has been developed. A series of numerical examples is conducted to assess the performance of the HDQ method in linear and nonlinear dynamic analysis problems. Results are compared with the existing solutions available from other analytical and numerical methods. In all cases, the results obtained are quite accurate.

• 제어로봇시스템학회논문지
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• 제10권10호
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• pp.930-939
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• 2004

In this paper, both dynamic constraints and kinematic constraints are considered for the analysis of manipulability of robotic systems comprised of multiple cooperating arms. Given bounds on the torques of each Joint actuator for every robot, the purpose of this study is to drive the bounds of task-space acceleration of object carried by the system. Bounds on each joint torque, described as a polytope, is transformed to the task-space acceleration through matrices related with robot dynamics, robot kinematics, object dynamics, grasp conditions, and contact conditions. A series of mathematical manipulations including the procedure calculating minimum infinite-norm solution of linear equation is applied to get the reachable acceleration bounds from given actuator dynamic constrains. Several examples including two robot systems as well as three robot system are shown with the assumptions of complete-constraint contact model(or' very soft contact') and insufficient or proper degree of freedom robot.

• Advances in robotics research
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• 제2권2호
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• pp.151-159
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• 2018

The evolution of bipedal robots was the foundation stone for development of Humanoid robots. The highly complex and non-linear dynamic of human walking made it very difficult for researchers to simulate the gait patterns under different conditions. Simple controllers were developed initially using basic mechanics like Linear Inverted Pendulum (LIP) model and later on advanced into complex control systems with dynamic stability with the help of high accuracy feedback systems and efficient real-time optimization algorithms. This paper illustrates a number of significant mathematical models and controllers developed so far in the field of bipeds and humanoids. The key facts and ideas are extracted and categorized in order to describe it in a comprehensible structure.

• KSTLE International Journal
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• 제10권1_2호
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• pp.6-12
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• 2009

In this study, the effect of oil supply conditions on the dynamic performance of a hydrodynamic journal bearing is analyzed numerically. Axial length, circumferential length and location of oil grooves are considered as oil supply conditions. The perturbation equations of the perturbed film contents are obtained by applying Elrod's universal equation implementing JFO film rupture / reformation boundary conditions to Lund's infinitesimal perturbation method. The dynamic coefficients of a hydrodynamic journal bearing are calculated by solving the perturbation equations, and the linear stability analysis is carried out by using those for a variety of oil supply conditions.

• 한국통신학회논문지
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• 제34권10A호
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• pp.746-751
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• 2009

본 논문에서는 부분 중계기 협력 다중화 기술에서 중계기의 위치에 따른 최적의 시스템 용량을 얻기 위한 동적 최적 시간 할당 기법을 제안하였다. 제안된 기법은 중계기 시스템의 전송 조건식을 추가함으로써 중계기의 유동적인 위치에 따라 최대의 시스템 용량을 가지도록 각 시간 구간의 길이를 최적화하였다. 전산 모의실험을 통해 균일하게 고정된 시간 할당을 가지는 기존의 부분 중계기 협력 다중화 기술에 비해 향상된 시스템 용량을 얻을 수 있었다.

• 항공우주기술
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• 제11권1호
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• pp.98-102
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• 2012

비냉각형 열상 시스템에 대한 관심이 국방 및 항공우주 분야에서 증가하고 있다. 특히, 국방분야 무기체계에서는 무인화 및 주야간 적군 탐지를 위한 요소기술로 활용되고 있다. 비냉각형 열상 시스템의 연구 분야 중 저비용, 저전력, 소형화를 위한 비냉각형 TEC(Thermal Electric Cooler)-less 열상 시스템에 대한 연구가 활발히 진행되고 있다. 그러나 TEC-less로 운영하기 위해서는 최적화된 불균일보정 계수의 추출 및 적용이 요구된다. 본 논문에서는 TEC-less로 최적화 된 보정 계수 획득 방법으로 선형 보간법을 이용한 보정 계수 추정 방법인 DCCE-LI(Dynamic Calibration Coefficient Estimation with Linear Interpolation)을 제안하고, 실험을 통해 제안 기법이 기존의 정적 보정 계수를 적용한 것에 비해 IR 영상 품질이 우수하고, 실시간 보정 계수 추정이 가능함을 보인다.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2003년도 춘계학술대회 논문집
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• pp.1643-1646
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• 2003

Drawing is a mechanical operation that attenuates thick material to an appropriate thickness for the next processing or end usage. When the input material has the form of a bundle or bundles made of very thin and long shaped wire or fibers, this attenuation operation is called "bundle drawing" or "drafting" Drafting is being used widely in manufacturing staple yarns. which is indispensable for the textile industry. However, the bundle processed by this operation undertake more or less defects in the evenness of linear density. Such irregularities cause many problems not only for the product quality but also for the efficiency of the next successive processes. Since long there have been many researches tying to find out factors affecting the irregularity of linear desity, to obtain optimal drafting conditions, to develop efficient measuring and analysis methods of linear density of bundle, etc., but there exists yet no fundamental equation describing the dynamic behavior of the flowing bundle during processing. In this research a mathematical model for the dynamic behavior of the bundle fluid is to be set up on the basis of general physical lows representing physical variables, i.e. linear density and velocity as the dynamic state of bundle. The conservation of mass and momentum balance was applied to the fluid field of bundle. while the movement of′ individual material was taken into account. The constitutive model relating the surface force and the deformation of bundle was introduced by considering a representative prodedure that stands for the bundle movement. Then a fundamental equations system could be simplified considering a steady state of the process. On the basis of the simplified model, the simulation was performed and the results could be confirmed by the experiments under various conditions.

• 제어로봇시스템학회논문지
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• 제11권11호
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• pp.907-912
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• 2005

In this paper, we consider the problem of designing sliding surfaces fur a class of dynamic systems with mismatched uncertainties in the state space model. In terms of LMIs, we give necessary and sufficient conditions fir the existence of a linear sliding surface such that the reduced order sliding mode dynamics is asymptotically stable and completely independent of uncertainties. We parameterize all such linear sliding surfaces by using the solution to the given LMI conditions. And, we consider the problem of designing linear sliding surfaces guaranteeing pole placement constraints or $H_2/H_infty$ performances. Finally, we give a design example in order to show the effectiveness of our method.