• The Journal of Korea Robotics Society
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• v.6 no.1
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• pp.34-41
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• 2011

This paper presents a frequency-response test performed on an antagonistic actuation system consisting of two Mckibben pneumatic artificial muscles and a pneumatic circuit. A linear model, capable of estimating the dynamic characteristics of the antagonistic system in the operating range of pneumatic artificial muscles, was optimally calculated based on frequency-response results and applied to a multiple simultaneous specification control scheme. Trajectory tracking results showed that the presented multiple simultaneous specification controller, built experimentally by three PD typed sample controllers, satisfied successfully all required control specifications; rising time, maximum overshoot, steady-state error.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.8 s.227
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• pp.1093-1098
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• 2004

This paper presents a close-loop feedback control scheme, which can simultaneously satisfy multiple conflicting control performances, for a high speed positioning system driven by a brushless D.C. motor. With the dynamic model of the motor and proportional-plus-derivative feedback controllers selected as sample controllers, the convex combined feedback controller is formulated for implementing a direct-drive manipulator. Experimental results show that the developed multiple simultaneous specification(MSS) controller can meet desired control performances; maximum overshoot and rise time.

• International Journal of Highway Engineering
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• v.13 no.4
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• pp.123-132
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• 2011

The purpose of this study is to calculate and propose rational multi-lane loading factors for bridge design considering the probability of simultaneous truck passing in adjacent lanes and real truck weights. The probability of simultaneous truck passing is calculated by analyzing video image taken at various locations in highways and national roads. Weigh-In-Motion system data at two locations are used, which is combined with the probability of multiple presence to calculate the multi-lane loading factors for typical 2 lane and 5 lane bridges. Statistical properties of multi-lane loading factors are also calculated assuming that locations for video images and WIM data represent the overall traffic condition in the country. Results are compared with various design codes in the world and they show that the values are between the current Korea Bridge Design Code and AASHTO LRFD specification or Eurocode and are similar to Canadian Code.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.44 no.4
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• pp.24-31
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• 2007

Up to date, a lot of bus protocol and bus architecture are released though most of them are based on the shared bus architecture and inherit the limitation of performance. SNP (SoC Network Protocol), and hence, SNA (SoC Network Architecture) which are high performance on-chip-bus protocol and architecture, respectively, have been proposed to solve the problems of the conventional shared bus. We refine the SNA specification and improve the performance and functionality. The performance of the SNA is improved by supporting simultaneous routing for bus request of multiple masters. The internal routing logic is also improved so that the gate count is decreased. The proposed SNA employs XSNP (extended SNP) that supports almost perfect compatibility with AMBA AHB protocol without performance degradation. The hardware complexity of the improved SNA is not increased much by optimizing the current routing logic. The improved SNA works for IPs with the original SNP at its best performance. In addition, it can also replace the AMBA AHB or interconnect matrix of a system, and it guarantees simultaneous multiple channels. That is, the existing AMBA system can show much improved performance by replacing the AHB or the interconnect matrix with the SNA. Thanks to the small number of interconnection wires, the SNA can be used for the off-chip bus system, too. We verify the performance and function of the proposed SNA and XSNP simulation and emulation.