• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.76-81
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• 2004

Problems with the control, oscillatory motion and compliance of pneumatic systems have prevented their widespread use in advanced robotics. However, their compactness, power/weight ratio, ease of maintenance and inherent safety are factors that could be potentially exploited in sophisticated dexterous manipulator designs. These advantages have led to the development of novel actuators such as the McKibben Muscle, Rubber Actuator and Pneumatic Artificial Muscle Manipulators. However, some limitations still exist, such as a deterioration of the performance of transient response due to the changes in the external inertia load in the pneumatic artificial muscle manipulator. To overcome this problem, a switching algorithm of the control parameter using a learning vector quantization neural network (LVQNN) is newly proposed. This estimates the external inertia load of the pneumatic artificial muscle manipulator. The effectiveness of the proposed control algorithm is demonstrated through experiments with different external inertia loads.

• Journal of Mechanical Science and Technology
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• v.18 no.8
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• pp.1388-1400
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• 2004

Problems with the control, oscillatory motion and compliance of pneumatic systems have prevented their widespread use in advanced robotics. However, their compactness, power/weight ratio, ease of maintenance and inherent safety are factors that could be potentially exploited in sophisticated dexterous manipulator designs. These advantages have led to the development of novel actuators such as the McKibben Muscle, Rubber Actuator and Pneumatic Artificial Muscle Manipulators. However, some limitations still exist, such as a deterioration of the performance of transient response due to the changes in the external inertia load in the pneumatic artificial muscle manipulator. To overcome this problem, a switching algorithm of the control parameter using a learning vector quantization neural network (LVQNN) is newly proposed. This estimates the external inertia load of the pneumatic artificial muscle manipulator. The effectiveness of the proposed control algorithm is demonstrated through experiments with different external inertia loads.

• Journal of Advanced Marine Engineering and Technology
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• v.28 no.2
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• pp.347-353
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• 2004

Neural oscillator can be applied to oscillator systems such as analysis of image information, voice recognition and etc, Conventional learning algorithms(Neural Network or EBPA(Error Back Propagation Algorithm)) are not proper for oscillatory systems with the complicate input patterns because of its too much complex structure. However, these problems can be easily solved by using a synchrony characteristic of neural oscillator with PLL(phase locked loop) function and a simple Hebbian learning rule, Therefore, in this paper, it will introduce an technique for Recognition of the Korean Character using Phase Synchronization Neural Oscillator and will show the result of simulation.

• Journal of applied mathematics & informatics
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• v.27 no.3_4
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• pp.749-755
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• 2009

In this paper, we investigate the invariant interval, periodic character, semicycle and global attractivity of all positive solutions of the equation $Y_{n+1}\;=\;\frac{p+qy_{n-k}}{1+y_n+ry_{n-k}}$, n = 0, 1, ..., where the parameters p, q, r and the initial conditions $y_{-k}$, ..., $y_{-1}$, $y_0$ are positive real numbers, k $\in$ {1, 2, 3, ...}. It is worth to mention that our results solve the open problem proposed by Kulenvic and Ladas in their monograph [Dynamics of Second Order Rational Difference Equations: with Open Problems and Conjectures, Chapman & Hall/CRC, Boca Raton, 2002]

• Tribology and Lubricants
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• v.24 no.5
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• pp.215-220
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• 2008

An internal friction model was developed to model the frictional behavior of automotive Constant Velocity (CV) joints by using the test data from an instrumented CV joint friction apparatus with actual driveshaft assemblies. Experiments were conduced under different realistic operating conditions of oscillatory speeds, CV joint articulation angles, lubrication, and torque. The experimental data were used to develop a physics-based semi-empirical CV joint internal friction coefficient model as a function of different CV Joint operating parameters. It was found that the proposed friction model captures the experimental results well not only the static behavior of friction coefficient, but also the dynamic friction terms, which is the main source of force that causes vehicle vibration problems.

• The Bulletin of The Korean Astronomical Society
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• v.45 no.1
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• pp.55.1-55.1
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• 2020

In an attempt to investigate the nonlinear dynamics such as shock, shear, and turbulence associated with ultra-relativistic jets, we develop a new relativistic hydrodynamics (RHD) code based on the weighted essentially non-oscillatory (WENO) scheme. It is a 5th-order accurate, finite-difference scheme, which has been widely used for solving hyperbolic systems of conservation equations. The code is parallelized with MPI and OpenMP. Through an extensive set of tests, the accuracy and efficiency of different WENO reconstructions, and different time discretizations are assessed. Different implementations of the equation of state (EOS) for relativistic fluid are incorporated, As the fiducial setup for simulations of ultra-relativistic jets, we adopt the EOS in Ryu et al. (2006) to treat arbitrary adiabatic index of relativistic fluid, the WENO-Z reconstructions to minimize numerical dissipation without loss of stability, and the strong stability preserving Runge-Kutta (SSPRK) method to achieve stable time stepping with large CFL numbers. In addition, the code includes a high-order flux averaging along the transverse directions for multi-dimensional problems, and the modified eigenvalues for the acoustic modes to effectively control the carbuncle instability. We find that the new code performs satisfactorily simulations of ultra-relativistic jets.

• Journal of computational fluids engineering
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• v.13 no.4
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• pp.126-134
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• 2008

We developed a three dimensional Navier-Stokes code based on the level set method to simulate two phase flows with high density ratio. The Navier-Stokes equations with consideration of the surface tension effects are solved by using SIMPLE algorithm on a non-staggered grid. The present code is validated by simulating two test problems. First one is to simulate a rising bubble inside a cube. The thickness of the interface of the bubble is shown to affect the pressure distribution around the interface. As the thickness decreases, the pressure field around the interface becomes more oscillatory. As the bubble rises, a ring vortex is shown to form around the interface and the bubble eventually develops into an ellipsoidal shape. Merge of two bubbles inside a container is secondly tested to show the robustness of the present code for two phase flow simulation. Numerical results show stable and reliable behavior during the process of merging of two bubbles. The velocity and pressure fields around the interface of bubbles are shown oscillation free during the merging of two bubbles.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.6
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• pp.1861-1871
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• 1991

In this study, the piping system conveying unsteady flow is considered. The effects of coupling between the pipe motion and the velocity and pressure of fluid are included for the dynamic stability and response analysis of the piping system. The dynamic equations for a piping system are derived by Newtonian dynamics. For the momentum and continuity equations, the concept of moving control volume is applied. Thus, the governing equations derived herein are valid for the applications to the vibration problems occurred when a piping system starts up or shuts down and also when the valves and pumps operate. For a simply supported straight pipe, the stability analysis is conducted for various nondimensional parameters. The dynamic responses, in both stable and unstable region of stability chart, are numerically tested by the use of central difference method.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.64 no.3
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• pp.130-137
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• 2015

This study is about the controller development of the Electric Operating Cell(EOC) which will replace the Mechanical Operated Cell(MOC) of the vacuum circuit breaker which has been used in the power plant and the performance test for the developed controller. The controller developed through this study was manufactured considering the harsh installation environment and electrical condition of the power plant, and the controller performance certification test for confirming the product reliability was taken to know whether or not to withstand fully in various electrical and mechanical problems. Items for performance certification test were AC power frequency voltage withstand test, combined surge immunity test, 1 [MHz] oscillatory SWC test, fast transient SWC test, radiated electromagnetic interference test, vibration test. As a result, all tests has passed an examination without malfunction.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.4
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• pp.82-90
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• 2009

Pneumatic cylinder is one of the low cost actuation sources which have been applied in industrial and prosthetic application since it has a high power/weight ratio, a high-tension force and a long durability However, the control problems of pneumatic systems, oscillatory motion and compliance, have prevented their widespread use in advanced robotics. To overcome these shortcomings, a number of newer pneumatic actuators have been developed such as McKibben Muscle, Rubber Actuator and Pneumatic Artificial Muscle (PAM) Manipulators. In this paper, one solution for position control of a robot arm, which is driven by two pneumatic artificial muscles, is presented. However, some limitations still exist, such as a deterioration of the performance of transient response due to the changes in the external load of the robot arm. To overcome this problem, a switching algorithm of the control parameter using a learning vector quantization neural network (LVQNN) is proposed in this paper. This estimates the external load of the pneumatic artificial muscle manipulator. The effectiveness of the proposed control algorithm is demonstrated through experiments with different external working loads.