• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2003.04a
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• pp.39-44
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• 2003

It was shown that the robustness of deterministic observers with respect to modeling errors, measurement bias and round-off errors can be represented by a single performance index the condition number of the observer eigenvector matrix. In this paper, a robust observer for multi-output systems is designed using the left eigenstructure assignment, where the observer gain can not be determined uniquely with respect to the desired observer poles. Utilizing the eigenstructuer assignment for the robustness of the observer, the desired eigenvector matrix is selected to achieve the observer eigenvector matrix with the small condition number. The performance of the designed robust observer is evaluated in a spindle-drive simulation example where the load speed to be estimated based on the measured signals.

• International Journal of Precision Engineering and Manufacturing
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• v.5 no.3
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• pp.77-84
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• 2004

A robust optimal control design is proposed in this study for rigid robotic systems under the unknown loads and the other uncertainties. The uncertainties are reflected in the performance index, where the uncertainties are bounded for the quadratic square of the states with a positive definite weighting matrix. An iterative algorithm is presented for the determination of the weighting matrix required for necessary robustness. Computer simulations have been done for a weight-lifting operation of a two-link manipulator and the simulation results shows that the proposed algorithm is very effective for a robust control of robotic systems.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.9
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• pp.3304-3310
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• 2010

This study solves the decision making problems for TFT-LCD manufacturing supply chain with demand and price uncertainties by establishing robust production and distribution strategies. In order to control the decisions regarding production graded by quality, inventory level and distribution, this study develop scenario model based stochastic mixed integer linear programs (SMILPs) that consider demand and price uncertainties as well as realistic constraints such as capacities etc. The performance of the solution obtained from the SMILPs using robust algorithms will be evaluated through various scenarios.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.2
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• pp.137-146
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• 2019

This study proposed a new technique to control of mobile robot based on voice command for (Human-Robot Cooperative operation in manufacturing precess). High performance voice recognition and control system was designed In this paper for smart factory. robust voice recognition is essential for a robot to communicate with people. One of the main problems with voice recognition robots is that robots inevitably effects real environment including with noises. The noise is captured with strong power by the microphones, because the noise sources are closed to the microphones. The signal-to-noise ratio of input voice becomes quite low. However, it is possible to estimate the noise by using information on the robot's own motions and postures, because a type of motion/gesture produces almost the same pattern of noise every time it is performed. In this paper, we describe an robust voice recognition system which can robustly recognize voice by adults and students in noisy environments. It is illustrated by experiments the voice recognition performance of mobile robot placed in a real noisy environment.

• Journal of Power Electronics
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• v.19 no.2
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• pp.549-559
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• 2019

This paper proposes an adaptive sliding mode control (ASMC) strategy with an enhanced optimal reaching law (EORL) for the robust current tracking control of the boost converter based hybrid power source (HPS) in an electric vehicle (EV). A conventional ASMC strategy based on state observers and the hysteresis control method is used to realize the current tracking control for the boost converter based HPS. Then a novel enhanced exponential reaching law is proposed to improve the ASMC. Moreover, an enhanced exponential reaching law is optimized by particle swarm optimization. Finally, the adaptive control factor is redesigned based on the EORL. Simulations and experiments are established to validate the ASMC strategy with the EORL. Results show that the ASMC strategy with the EORL has an excellent current tracking control effect for the boost converter based HPS. When compared with the conventional ASMC strategy, the convergence time of the ASMC strategy with the EORL can be effectively improved. In EV applications, the ASMC strategy with the EORL can achieve robust current tracking control of the boost converter based HPS. It can guarantee the active and stable power distribution for boost converter based HPS.

• Journal of Korean Society for Quality Management
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• v.43 no.4
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• pp.589-606
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• 2015

Purpose: In developing new products, reducing performance variation is important for competitiveness factors such as quality, cost, and delivery. This paper aims at evaluating three performance variations; measurement, performance evaluation, and manufacturing variations, and then improving product and process design, focused on paper helicopter making case study. Methods: For measurement system analysis, gage R&R (repeatability and reproducibility), linearity, stability are evaluated. Since gage R&R are not satisfactory, the measurement system is improved by adopting voice memos application of iPhone and providing standard measurement procedure. To evaluate performance variation, product deterioration and environment factor (wind speed) is considered. Since the existing design is sensitive to these noise factors, a new product design is developed, which is proven to be robust to the noise factors. Finally, manufacturing variations are evaluated with five factors which can cause variation in flight time. To reduce the impact of three significant factors, three improvement methods are applied. Results: Three performance variations are evaluated and robust paper helicopter design is presented. Conclusion: To reduce measurement and process variations, improved measurement method and paper helicopter making procedure are proposed. A new product design is also presented which is robust to deterioration and environmental variation. This paper is expected to benefit students and practitioners who want to have hands-on knowledge on new product quality improvement.

• Advances in robotics research
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• v.2 no.3
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• pp.237-245
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• 2018

This study evaluates the efficacy of a class robust control scheme namely active force control in performing a joint based trajectory tracking of an upper limb exoskeleton in rehabilitating the elbow joint. The plant of the exoskeleton system is obtained via system identification method whilst the PD gains were tuned heuristically. The estimated inertial parameter that enables the AFC disturbance rejection effect is attained by means of a non-nature based metaheuristic optimisation technique known as simulated Kalman filter (SKF). It was demonstrated from the present investigation that the proposed PDAFC scheme outperformed the classical PD algorithm in tracking the prescribed trajectory both in the presence and without the presence of disturbance attributed by the mannequin limb weights (1 kg and 1.5 kg) that mimics the weight of actual human limb weight. Therefore, it is apparent from the results obtained from the present study that the proposed control scheme, i.e., PDAFC is suitable for the application of exoskeleton for stroke rehabilitation.

• Tribology and Lubricants
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• v.18 no.2
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• pp.127-132
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• 2002

The Taguchi method, a robust experimental design, was used to optimize manufacturing parameters of a brake lining during hot pressing and heat treatment. A friction material containing 15 ingredients was employed fur this experiment and friction and wear tests were carried out by using a pad-on-disk type tribotester. Sixteen brake linings with different manufacturing conditions were examined according to a parameter design. From the results of the signal-to-noise (S/N) ratio and the analysis of variance (ANOVA), the cause and effect of the manufacturing parameters on physical properties (hardness and porosity) and friction and wear characteristics of brake linings was obtained.

• Advances in nano research
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• v.13 no.1
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• pp.47-61
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• 2022

The present research investigates the dynamic behavior of a rotating functionally graded (FG) nonlocal cylindrical beam. The cylindrical beam is mathematically modeled via third-order beam theory linked with nonlocal strain gradient theory. The tube structure is made of functionally graded materials composed of Aluminum oxide coated on the Nickel, which the mechanical properties vary in the tube radius direction according to the power law. The bending harmonic force is applied in the tube length middle. The nonlocal spinning equations of the tube are derived via the energy method of the Hamilton principle, and they are solved via a robust numerical procedure for different boundary conditions. The main application of the rotating nanostructures is for the production of small-scale motors and devices and the drug-delivery application, the presented results can help the researcher have a better view regarding the different conditions.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.10
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• pp.3079-3094
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• 1996

Recently, the high-precision vibration attenuation technology becomes the essence fo the seccessful development of high-integrated and ultra-precision industries, and is expected to continue playing a key role in the enhancement of manufacturing technology. Vibration isolation system using an air-spring is widely employed owing to its excellent isolation characteristics in a wide frequency range. It has, however, some drawbacks such as low-stiffness and low-damping features and can be easily excited by exogenous disturbances, and then vibration of table is remained for a long time. Consequently, the need for active vibration control for an air-spring vibration isolation system becomes inevitable. Furthermore, for an air-spring isolation table to be successfully employed in a variety of manufacturing sites, it should have a guaranteed robust performance not only to exogenous disturbances but also to uncertainties due to various equipments which might be put on the table. In this study, an active vibration suppression control system using H.inf. theory is designed and experiments are performed to verify its robust performance. An air-spring vibration isolation table with voice-coil-motors as its actuators is designed and built. The table is modeled as 3 degree-of-freedom system. An active control system is designed based on $H_\infty$control theory using frequency-shaped weighting functions. Analysis on its performance and frequency responce properties are done through numerical simulations. Robust characteristics of$H_\infty$ control on disturbances and model uncertainties are experimentally verified through (i) the transient response to the impact excitation of the table, (ii) the steady-state response to the harmonic excitation, and (iii) the response to the mass change of the table itself. An LQG controller is also designed and its performance is compared with the $H_\infty$ controller.