• Smart Structures and Systems
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• v.7 no.2
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• pp.103-116
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• 2011

This paper is concerned with the trajectory tracking and vibration suppression of a single-link flexible arm by using piezoelectric materials. The dynamics of a single flexible arm with PZT patches as sensor and actuator is derived using extended Hamilton's principle. Resulting equations show that the coupled beam dynamics including beam vibration and its rigid in-plane rotation takes place in two different time scales. By using singular perturbation theory, the system dynamics is divided into two subsystems. Then, a composite control scheme is elaborated that makes the orientation of the arm track a desired trajectory while suppressing its vibration. The proposed controller has two parts: one is a tracking controller designed for the slow (rigid) subsystem, and the other one is a stabilizing controller for the fast (flexible) subsystem. The outputs considered for the system are angular position of the hub and voltage of the sensor mounted on the structure. To avoid requiring further measurements of beam vibration and also angular velocity of the hub for the fast and slow control laws, respectively, two sliding mode observers for estimating the unknown states are also designed.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.5
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• pp.577-584
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• 1999

In this paper, the double inverted pendulum having a single actuator is built and the controller for the system is proposed. The lower link of the target pendulum system is hinged on the plate to free for rotation in the specified range($10^{\cire}$) on the x-z plane. The upper link is connected to the lower link through a DC motor. The double inverted pendulum built can be kept upright posture by controlling the position of the upper link even though it has no actuator in lower hinge. The algorithm to control the inverted pendulum consists of a state feedback controller within a linearizable range and a fuzzy logic controller coupled with a nonlinear feedback compensator for the rest of the range. Conventional state feedback control is employed, and the fuzzy controller is responsible for generating the reference joint angle of the upper link for the nonlinear feedback compensator which drives a DC motor to generate an indirect torque to the lower joint. As a result, we can get the upright posture of the proposed pendulum system. Simulations and experiments are conducted to show the validity of the proposed controller.

• Interaction and multiscale mechanics
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• v.2 no.2
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• pp.153-175
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• 2009

Damage detection methods using structural dynamic responses have received much attention in the past decades. For bridge and offshore structures, these methods are usually based on beam models. To ensure the successful application of these methods, it is necessary to examine the sensitivity of modal properties to structural damages. To this end, an analytic solution is presented of the modal properties of simply-supported Euler-Bernoulli beams that contain a general damage with no additional assumptions. The damage can be a reduction in the bending stiffness or a loss of mass within a beam segment. This solution enables us to thoroughly discuss the sensitivities of different modal properties to various damages. It is observed that the lower natural frequencies and mode shapes do not change so much when a section of the beam is damaged, while the mode of rotation angle and curvature modes show abrupt change near the damaged region. Although similar observations have been reported previously, the analytical solution presented herein for clarifying the mechanism involved is considered a contribution to the literature. It is helpful for developing new damage detection methods for structures of the beam type.

• The Bulletin of The Korean Astronomical Society
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• v.41 no.2
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• pp.61.2-61.2
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• 2016

Nuclear rings at centers of barred galaxies exhibit strong star formation activities. They are thought to undergo gravitational instability when sufficiently massive. We approximate them as rigidly-rotating isothermal objects and investigate their gravitational instability. Using a self-consistent eld method, we first construct their equilibrium sequences specified by two parameters: ${\alpha}$ corresponding to the thermal energy relative to gravitational potential energy, and $R_B$ measuring the ellipticity or ring thickness. The density distributions in the meridional plane are steeper for smaller ${\alpha}$, and well approximated by those of infinite cylinders for slender rings. We also calculate the dispersion relations of nonaxisymmetric modes in rigidly-rotating slender rings with angular frequency ${\Omega}$ and central density ${\rho}_c$. Rings with smaller are found more unstable with a larger unstable range of the azimuthal mode number. The instability is completely suppressed by rotation when ${\Omega}$ exceeds the critical value. The critical angular frequency is found to be almost constant at $0.7(G{\rho}_c)^{1/2}$ for ${\alpha}$ > 0.01 and increases rapidly for smaller ${\alpha}$. We apply our results to a sample of observed star-forming rings and confirm that rings without a noticeable azimuthal age gradient of young star clusters are indeed gravitationally unstable.

• Journal of the Korean Academy of Esthetic Dentistry
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• v.10 no.1
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• pp.8-15
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• 2001

The Class III malocclusion classified in two types of Skeletal Class III and Pseudo Class III. In the case of the maxillary deficiency, the protraction H-G(facemask) with Bonded RPE can be used. For children with A-P and vertical maxillary deficiency, the preferred treatment is to move the maxilla into a more anterior and inferior position, which also increases its size as bone is added at the posterior and superior sutures. Successful forward repositioning of the maxilla can be accomplished before age 8. To resist tooth movement as much as possible, the maxillary teeth should be splinted together as a single unit. The maxillary appliance must have hooks for attachment to the facemask that are located in the canine-primary molar area above the occlusal plane. The facemask usually worn until a positive overjet of 2-5mm is achieved interincisally. Occipital chin cup is successful in those patients who can bring their incisors close to an edge-to-edge position when in centric relation. This treatment is particularly useful in patients who begin treatment with a short lower anterior facial height, as this type of treatment can lead to an increase in lower anterior facial height. If the pull of the chin cup is directed below the condyle, the force of the appliance may lead to a downward and backward rotation of the mandible.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.9
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• pp.1147-1153
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• 1999

The attitude control of a double inverted pendulum with a periodical disturbance at link top is dealt in this paper. The proposed system is consisted of the double inverted pendulum and a disturbing link; a triple inverted pendulum with two motors. The lower link is hinged on the plate to free for rotation in the vertical plane. The upper link is connected to the lower link through a DC motor. The DC motor is used to control the posture of the pendulum by adjusting the position of the upper link. The periodical disturbance can be generated by the additional like attached at the end of link 2 through another DC motor, which is the modeling of a posture for a biped supporting with one leg. The motor for the joint simulates the knee joint(or hip joint) and the disturbance for the legs moving in air. The algorithm for controlling the proposed inverted pendulum which is regarded as a virtual double inverted pendulum with a periodic disturbance, is consisted of a state feedback control and a fuzzy logic controller connected in parallel. The fuzzy controller keeps the center of gravity of the biped within the specified range through the nonlinear feedback compensator. The state feedback control takes over the role to maintain a desired posture regardless the disturbance at the link top. Simulations with a mathematical model and experiments are conducted to show the validity of the proposed controller.

• The Bulletin of The Korean Astronomical Society
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• v.42 no.2
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• pp.49.3-50
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• 2017

There have been recent studies which revealed a tendency that thermal inertia decreases with the size of asteroidal bodies, and suggestions that thermal inertias of cometary bodies should be much smaller than those asteroidal counterparts, regardless of comets' nuclear sizes, which hints a way to differentiate cometary candidates from asteroids using thermal inertia information. We thus selected two comet-like objects from AKARI satellite of JAXA, namely, 107P/ (4015) Wilson-Harrington and P/2006 HR30 (Siding Spring), and applied simple thermophysical model to test the idea. Both targets did not show any comet-like activity during the observations. From the model, we found Wilson-Harrington to have size of 3.7-4.4 km, geometric albedo 0.040-0.055 and thermal inertia of 100-250 J m-2 K-1 s-0.5, which coincide with previous works, and HR30 to have size of 24-27 km, geomoetric albedo of 0.035-0.045 with thermal inertia of 250-1000 J m-2 K-1 s-0.5. HR30 is found to have the rotation pole near the ecliptic plane (the latitude between -20 and +60 deg). Based on the results, we conjecture that comet-like objects are not clearly distinguishable from asteroidal counterpart using thermal inertia.

• Journal of the Korean Society for Precision Engineering
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• v.24 no.8 s.197
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• pp.122-129
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• 2007

To evaluate the effect of artificial disc implantation and fusion on the biomechanics of adjacent motion segment, a nonlinear three-dimensional finite element model of whole lumbar spine (L1-S1) was developed. Biomechanical analysis was performed for two different types of artificial disc, ProDisc and SB $Charit{\acute{e}}$ III model, inserted at L4-L5 level and these results were also compared with fusion case. Angular motion of vertebral body, forces on the spinal ligaments and facet joint under sagittal plane loading with a compressive preload of 150 N at a nonlinear three-dimensional finite element model of Ll-S1 were compared. The implant did not significantly alter the kinematics of the motion segment adjacent to the instrumented level. However, $Charit{\acute{e}}$ III model tend to decrease its motion on the adjacent levels, especially in extension motion. Contrast to motion and ligament force changes, facet contact forces were increased in the adjacent levels as well as implanted level for constrained instantaneous center of rotation model, i.e. ProDisc model.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.10
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• pp.120-129
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• 2002

An integrated structure and controller design approach for rotating cantilever beam is presented. An optimization method is developed for improving positioning performance considering the elastic deformations during high speed rotation and adopting the beam shape and the control gains as design variables. For this end, a dynamic model is setup by the finite element method according to the shape of the beam. The mass and stiffness of the beam are distributed in such a way that the closed-loop poles of the control system should be located leftmost in the complex s-plane. For optimization method, the simulated annealing method is employed which has higher probability to find the global minimum than the gradient-based down-hill methods. Sequential design and simultaneous design methods are proposed to obtain the optimal shape and controller. Simulations are performed with new designs by the two methods to verify the effectiveness of the approach and the results show that the settling time is improved for point-to-point position controls.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.1
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• pp.130-136
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• 1998

A procedure of stress and strength analysis has been proposed for the centrifuge rotor of composite materials of quasi-isotropic laminates. The goal in this study is to maximize the allowable rotating speed, that is, to minimize maximum strength ratio with the given path length by changing the geometric parameter-outer radius and ply angles in quasi-isotropic laminates. Optimum values of the geometric parameter-outer radius and ply angles are obtained by multilevel optimization. All the geometric dimensions and stresses are normalized such that the result can be extended to a general case. Two dimensional analysis at each cross section with an elliptic tube hole subjected to internal hydrostatic pressures by samples as well as the centrifugal body forces has been performed along the height to calculate the stress distribution with the plane stress assumption, and Tsai-Wu failure criterion is used to calculate the strength ratio. The maximum allowable rotating speed can be increased by changing the radii of the outer surface along the height with the maximum strength ratio under the unit value : The optimal number of ply angles maximizing the allowable rotating speed in quasi-isotropic laminates is found to be the half number of tube hole, and the optimal laminate rotation angle is the half of $[{\pi}/m]$. A $[{\pi}/3]$ laminate, for instance, is stronger than a $[{\pi}/4]$ laminate for the centrifuge rotor of 6 tube hole number even though they have the same stiffness.