• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.109.1-109
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• 2001

This paper deals with the path following problem of car-like intelligent mobile robot. A robust sliding mode control law based on time-varying state feedback is performed via Lyapunov method for path tracking of nonholonomic mobile robot with uncertainties. At first, A sliding control law is designed by combing the natural algebraic structure of the chained form system with ideas from sliding mode theory. Then, a robust control law is proposed to impose robustness against bounded uncertainties in path tracking. The problem of estimating the asymptotic stability region and the sliding domain of uncertain sliding mode system with bounded control input is also discussed. The proposed sliding mode control law can ensure the global reaching condition of the uncertain control system.

• Fourth Industrial Review
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• v.2 no.2
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• pp.39-46
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• 2022

Purpose - This study analyzes the investment environment of South Korea by using the rating scale of Robert B Stobaugh, Jr, and draws conclusion implication. Research design, data, and methodology - The study conducted a survey on according to the political stability, capital repatriation, foreign ownership allowed, discrimination and controls, foreign vs domestic businesses, currency stability, willingness to grant tariff protection, availability of local capital, and annual inflation for last 5 years. The score of these eight aspects will be given based on the current situation in South Korea and the sum of the scores will be calculated. Result - China-Korea economic and trade relations are in a stage of transformation and upgrading, and the level of economic and trade cooperation in various fields is reaching a new level. It is hoped that Chinese enterprises will grasp business opportunities, strengthen research and analysis of the Korea market and achieve mutually beneficial cooperation. Conclusion - The investment environment of South Korea is superior according to the political stability, capital repatriation, foreign ownership allowed, discrimination and controls, foreign vs domestic businesses, currency stability, willingness to grant tariff protection, availability of local capital, and annual inflation for last 5 years.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.4
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• pp.295-301
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• 2012

This paper deals with the design of robust DSMC (Discrete-Time Sliding Mode Control) scheme in order to overcome system uncertainty in steering system with mechanically joined structure. The proposed control scheme is one of robust control schemes based on system dynamics. Therefore, system dynamics required is not obtained from physical law but SCM (Signal Compression Method) through experiment in order to avoid complicate mathematical development and save time. However, SCM has a shortcoming that is the limitation of with $2^{nd}$ order linear model which does not include the dynamic of high-frequency band. Thus, considering system uncertainty, DSMC is designed. In addition, to reduce the chattering problem of DSMC, DSMC is derived from the reaching law and the Lyapunov stability condition. It is found that the proposed control scheme has robustness in spite of the perturbation of system uncertainty through computer simulation.

• Industry Promotion Research
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• v.5 no.3
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• pp.61-71
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• 2020

The purpose of this paper is to reaffirm the logical framework of the saju analysis method by recreating the saju model of old-law to study and organize the theories of frame in old-law Myeongri, and then by organizing and comparing the logic structure of the saju analysis method of new-law and old-law. Some believe that Myeongri Theory first appeared in the world in the Warring States Period when they were active with Gwigokja and Naknokja as origin, while others believe that it was origin that "Okjokyeong" was written by Kwak-Bak of Eastern Jin after a while. Since then, Myeongri Theory, which had been organized by Won-Cheongang and Yi-Heojung, has undergone a major transformation since reaching the Song Dynasty Seo-Japyeong. Based on this point, the Myeongri Theory of the previous generation is called the Old-law, and the subsequent theory is called the New-law. The changes in the logic structure of the old-law and the new-law leave a big difference and disconnect between those. But comparative studies have confirmed that the philosophy and logic structure due to natural laws that have not changed much such as the symbolic system of nature called Yinyang & five elements and Cheongan-jiji, the idea of a heavenly response projected in the Three Wonders of heaven, earth and human, and the concept of generation and time in the position of year-month-day-time.

• Smart Structures and Systems
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• v.11 no.6
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• pp.569-587
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• 2013

This paper evaluates the closed loop performance of the reaching law based discrete sliding mode controller with multisensor data fusion (MSDF) in real time, by controlling the first two vibrating modes of a piezo actuated structure. The vibration is measured using two homogeneous piezo sensors. The states estimated from sensors output are fused. Four fusion algorithms are considered, whose output is used to control the structural vibration. The controller is designed using a model identified through linear Recursive Least Square (RLS) method, based on ARX model. Improved vibration suppression is achieved with fused data as compared to single sensor. The experimental evaluation of the closed loop performance of sliding mode controller with data fusion applied to piezo actuated structure is the contribution in this work.

• The Journal of Korea Robotics Society
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• v.1 no.2
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• pp.125-134
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• 2006

The problem of establishing the servo system to reach the desired location keeping all features in the field of view and following a straight line is considered. In addition, robustness of camera calibration parameters is considered in this paper. The proposed approach is based on switching from position-based visual servoing (PBVS) to image-based visual servoing (IBVS) and allows the camera path to follow a straight line. To achieve the objective, a pose estimation method is required; the camera's target pose is estimated from the obtained images without the knowledge of the object. A switched control law moves the camera equipped to a robot end-effector near the desired location following a straight line in Cartesian space and then positions it to the desired pose with robustness to camera calibration error. Finally simulation results show the feasibility of the proposed visual servoing technique.

• Journal of information and communication convergence engineering
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• v.4 no.3
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• pp.118-122
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• 2006

In this paper, a sliding mode control method with uncertainty adaptation is proposed by introducing the virtual state. Because upper bound of the uncertainty is very difficult to know, we estimate this by using the simple adaptation law and design the sliding surface which has dynamic of nominal system. An optimal controller is used by nominal controller. And if initial values of the virtual state are chosen properly, the reaching phase is removed.

• Geomechanics and Engineering
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• v.21 no.4
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• pp.357-369
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• 2020

Different from the conventional planar fracture and simplified Newton model, for power-law slurries with a lower water-cement ratio commonly used in grouting engineering, flow model in geological rough fractures is built based on ten standard profiles from Barton (1977) in this study. The numerical algorithm is validated by experimental results. The flow mechanism, grout superiority, and water plugging of pseudo plastic slurry are revealed. The representations of hydraulic grouting properties for JRCs are obtained. The results show that effective plugging is based on the mechanical mechanisms of the fluctuant structural surface and higher viscosity at the middle of the fissure. The formulas of grouting parameters are always variable with the roughness and shear movement, which play a key role in grouting. The roughness can only be neglected after reaching a threshold. Grouting pressure increases with increasing roughness and has variable responses for different apertures within standard profiles. The whole process can be divided into three stationary zones and three transition zones, and there is a mutation region (10 < JRCs < 14) in smaller geological fractures. The fitting equations of different JRCs are obtained of power-law models satisfying the condition of -2 < coefficient < 0. The effects of small apertures and moderate to larger roughness (JRCs > 10.8) on the permeability of surfaces cannot be underestimated. The determination of grouting parameters depends on the slurry groutability in terms of its weakest link with discontinuous streamlines. For grouting water plugging, the water-cement ratio, grouting pressure and grouting additives should be determined by combining the flow conditions and the apparent widths of the main fracture and rough surface. This study provides a calculation method of grouting parameters for variable cement-based slurries. And the findings can help for better understanding of fluid flow and diffusion in geological fractures.

• Computers and Concrete
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• v.33 no.3
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• pp.241-250
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• 2024

This article investigates the thermal and post-buckling problems of graphene platelets reinforced metal foams (GPLRMF) beams with initial geometric imperfection. Three distribution forms of graphene platelet (GPLs) and foam are employed. This article utilizes the mixing law Halpin Tsai model to estimate the physical parameters of materials. Considering three different boundary conditions, we used the Euler beam theory to establish the governing equations. Afterwards, the Galerkin method is applied to discretize these equations. The correctness of this article is verified through data analysis and comparison with the existing articles. The influences of geometric imperfection, GPL distribution modes, boundary conditions, GPLs weight fraction, foam distribution pattern and foam coefficient on thermal post-buckling are analyzed. The results indicate that, perfect GPLRMF beams do not undergo bifurcation buckling before reaching a certain temperature, and the critical buckling temperature is the highest when both ends are fixed. At the same time, the structural stiffness of the beam under the GPL-A model is the highest, and the buckling response of the beam under the Foam-II mode is the lowest, and the presence of GPLs can effectively improve the buckling strength.

• Journal of the Korea Concrete Institute
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• v.20 no.3
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• pp.317-323
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• 2008

In the current study, A model for the flow analysis of fresh and highly flowable concrete has been developed using a particle method, the moving particle semi-implicit (MPS) method. The phenomena on the flow of concrete has been considered as a visco-plastic flow problem, and the basic governing equation of concrete particle dynamics has been based on the Navier-Stokes equation in Lagrangian form and the conservation of mass. In order to formulate a visco-plastic flow constitutive law of fresh concrete, concrete is modeled as a highly viscous material in the state of non-flow and as a visco-plastic material in the state of flow after reaching the yield stress of fresh concrete. A flow test of fresh concrete in the L-box was simulated and the predicted flow was well matched with the experimental result. The developed method was well showed the flow motion of concrete particles because it was formulated to be based on the motion of visco-plastic fluid dynamics.