• 한국정밀공학회지
• /
• 제22권6호
• /
• pp.70-75
• /
• 2005

Many researches have been focused on optimal designs of a pole shape in order to reduce cogging torques, which are generated between permanent magnets and slots. In this paper, an adaptive controller is proposed fur reducing the effect of cogging torques in servo motors. The controller stabilizes the control system and shows an excellent trajectory tracking performance compared to the conventional PD controller.

• 한국산업융합학회 논문집
• /
• 제27권2_1호
• /
• pp.249-256
• /
• 2024

Traditional methods for monitoring targets rely heavily on probabilistic data association (PDA) or Kalman filtering. However, achieving optimal performance in a densely congested tracking environment proves challenging due to factors such as the complexities of measurement, mathematical simplification, and combined target detection for the tracking association problem. This article analyzes a target tracking problem through the lens of fuzzy logic theory, identifies the fuzzy rules that a fuzzy tracker employs, and designs the tracker utilizing fuzzy rules and Kalman filtering.

• 한국전자통신학회논문지
• /
• 제7권5호
• /
• pp.1133-1138
• /
• 2012

본 논문은 최적제어에 기초하여 비선형 슬라이딩 평면을 설계하는 것이다. 최적제어입력에 의한 상태 궤적을 Frobenius 정리와 matrix decomposition 방법에 의해 구하였고, 이 궤적을 시스템의 슬라이딩 평면으로 설정하였다. 상태는 초기부터 슬라이딩 평면을 유지하며, 그 결과 초기상태 단계로부터 전 영역까지 시스템의 강인성은 보장 받을 수 있으며, 도달시간 동안 발생 될 수 있는 불확실성과 외란의 영향을 제거되고, 큰 제어 입력의 문제도 해결할 수 있었다. 그리고 최적경로를 슬라이딩 평면으로 설정함으로 추적시간을 줄일 수 있었다. 역진자 시스템을 사용하여 그 타당성을 보인다.

• Nuclear Engineering and Technology
• /
• 제52권8호
• /
• pp.1817-1825
• /
• 2020

Background: Cosmic ray-induced particles can lead to failure of semiconductors packaged for export during air transport. This work performed MCNP 6.2 simulations to optimize shielding against neutrons and protons induced by cosmic radiation Methods and materials: The energy spectra of protons and neutrons by incident angle at the flight altitude were determined using atmospheric cuboid model. Various candidates for the shielding materials and the geometry of the Unit Load Device Container were evaluated to determine the conditions that allow optimal shielding at all sides of the container. Results: It was found that neutrons and protons, at the flight altitude, generally travel with a downward trajectory especially for the particles with high energy. This indicated that the largest number of particles struck the top of the container. Furthermore, the simulation results showed that, among the materials tested, borated polyethylene and stainless steel were the most optimal shielding materials. The optimal shielding structure was also determined with the weight limit of the container in consideration. Conclusions: Under the determined optimal shielding conditions, a significantly reduced number of neutrons and protons reach the contents inside the container, which ultimately reduces the possibility of semiconductor failure during air transport.

• 반도체디스플레이기술학회지
• /
• 제4권2호
• /
• pp.25-32
• /
• 2005

This paper proposes a method for the intelligent load distribution of two cooperating robots(TCRs) using fuzzy logic. The proposed scheme requires the knowledge of the robots' dynamics, which in turn depend upon the characteristics of large flat panel displays(LFPDs) carried by the TCRs. However, the dynamic properties of the LFPD are not known exactly, so that the dynamics of the robots, and hence the required Joint torque, must be calculated for nominal set of the LFPD characteristics. The force of the TCRs is an important factor in carrying the LFPD. It is divided into external force and internal force. In general, the effects of the internal force of the TCRs are not considered in performing the load distribution in terms of optimal time, but they are essential in optimal trajectory planning; if they are not taken into consideration, the optimal scheme is no longer fitting. To alleviate this deficiency, we present an algorithm for finding the internal-force (actors for the TCRs in terms of optimal time. The effectiveness of the proposed system is demonstrated by computer simulations using two three-joint planner robot manipulators.

• International Journal of Aeronautical and Space Sciences
• /
• 제17권3호
• /
• pp.378-390
• /
• 2016

A concept of the perch landing assisted by thruster (PLAT) for a fixed wind aircraft is proposed in this paper. The proposed concept is applicable to relatively large unmanned aerial vehicles (UAV), hence can overcome the limitation of existing perch landing technologies. A planar rigid body motion of an aircraft with aerodynamic and thruster forces and moments is modeled. An optimal control problem to minimize the fuel consumption by determining the histories of thruster and elevator deflection angle with specified terminal landing condition is formulated and solved. A parametric study for various initial conditions and thruster parameters is conducted to demonstrate the practicability of the proposed concept.

• Journal of Welding and Joining
• /
• 제23권1호
• /
• pp.86-93
• /
• 2005

Abrasive waterjet (AWJ) can provide a more effective means for precision of difficult -to-machining materials such as ceramics and titanium alloys. The present study is focused on the surface roughness of abrasive waterjet cut surfaces. This paper investigated theoretical and experimental surface characteristics associated with abrasive waterjet cutting of titanium alloy Gr2. It is shown that the proper variations of several cutting parameters such as waterjet cutting pressure, cutting speed and cutting depth improve the roughness and characteristics on specimen surfaces produced by AWJ cutting. From the experimental results by AWJ cutting of titanium alloy Gr2, the optimal cutting conditions to improve the surface roughness and precision were proposed and discussed.

• 제어로봇시스템학회논문지
• /
• 제5권3호
• /
• pp.249-256
• /
• 1999

The conventional robot manipulability is decomposed into linear manipulability and angular manipulability so that they may be analysed and visualized in easy way even in the case of 3 dimensional task space with 6 variables. After the Jacobian matrix is decomposed into linear part and angular part, constraint on joint velocities is transformed into linear task velocity and angular task velocity through the decomposed Jacobian matrices. Under the assumption of redundant robot manipulators, several optimization problems which utilize the redundancy are formulated to be solved by linear programming technique or sequential quadratic programming technique. After deriving the solutions of the optimization problems, we give graphical interpretations for the solutions.

• International Journal of Precision Engineering and Manufacturing
• /
• 제3권4호
• /
• pp.43-53
• /
• 2002

Polishing a die that has free-form surfaces is a time-consuming and tedious job, and requires a considerable amount of high-precision skill. In order to reduce the polishing time and cope with the shortage of skilled workers, a user-friendly automatic polishing system was developed. The polishing system is composed of two subsystems, a three-axis machining center and a two-axis polishing robot. The system has five degrees of freedom and is able to keep the polishing tool in a position normal to the die surface during operation. A sliding mode control algorithm with velocity compensation was proposed to reduce tracking errors. Trajectory tracking experiments showed that the tracking error can be reduced prominently by the proposed sliding mode control compared to a PD (proportional derivative) control. To evaluate the polishing performance of the polishing system and to and the optimal polishing conditions, the polishing experiments were conducted.

• International Journal of Automotive Technology
• /
• 제5권3호
• /
• pp.201-208
• /
• 2004

Response characteristics of the CVT system for a parallel hybrid electric vehicle (HEV) are investigated. From the experiment, CVT ratio control algorithm for the optimal engine operation is obtained. To investigate the effect of the CVT system dynamic characteristics on the HEV performance, a hardware in the loop simulation (HILS) is performed. In the HILS, hardwares of the CVT belt-pulley and hydraulic control valves are used. It is found that the engine performance by the open loop CVT ratio control shows some deviation from the OOL in spite of the RCVs open loop control ability. To improve the engine performance, a closed loop control of the CVT ratio is proposed with variable control gains depending on the shift direction and the CVT speed ratio range by considering the nonlinear characteristics of the RCV and CVT belt-pulley dynamics. The HILS results show that the engine performance is improved by the closed loop control showing the operation trajectory close to the OOL.