• Journal of Institute of Control, Robotics and Systems
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• v.12 no.10
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• pp.1012-1017
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• 2006

By breaking the symmetry of the velocity profile in the S-curve, we developed a fast starting and smooth ending motion profile, named asymmetric S-curve(AS-curve). The problem for generating motion profile is formulated, and the algorithm for the AS-curve is derived and the flow chart of the AS-curve is illustrated. By various simulations, the derived algorithm is tested and shows the validity. This AS-curve can be applied to the high precision machines where fast and vibrationless motion is required in the near future.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.4
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• pp.308-313
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• 2012

Robust tuning rules of the motion profile are proposed to minimize the residual vibration. For asymmetric S-curve profile, tuning rules are analytically formulated using Laplace-domain approach. When the system modeling is known exactly, by placing a single zero of the motion profile on the pole of the system, the residual vibration can be perfectly eliminated under undamped system. However, if there are some amounts of the modeling errors, the residual vibration significantly increases. To track this issue, the robust tuning rules against modeling error are discussed. One of the proposed robust tuning rules is placing the multiple zeros of the motion profile on the pole of the system, and the other is placing the zeros of the motion profile around the pole of the system. Thanks to the proposed robust tuning rules, motion profile becomes more robust to modeling errors while minimizing the residual vibration. By simulation, the effectiveness of the proposed robust tuning rules is verified.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.12
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• pp.1079-1085
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• 2012

For precise motion control, S-curve velocity profile is generally used but it has disadvantage of relatively long calculation time for floating-point arithmetics. In this paper, we present a new generating method for velocity profile to reduce delay time of profile generation so that it overcomes such disadvantage and enhances the efficiency of precise motion control. In this approach, the velocity profile is designed based on the gamma correction expression that is generally used in image processing to obtain a smoother movement without any critical jerk. The proposed velocity profile is designed to support both T-curve and S-curve velocity profile. It can generate precise profile by adding an offset to the velocity profile with decimals under floating point that are not counted during gamma correction arithmetic operation. As a result, the operation time is saved and the efficiency is improved. The proposed method is compared with the existing method that generates velocity profile using ring buffer on a 8-bit low-cost MCU. The result shows that the proposed method has no delay in generating driving profile with good accuracy of each cycle velocity. The significance of the proposed method lies in reduction of the operation time without degrading the motion accuracy. Generated driving signal also shows to verify effectiveness of the proposed method.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2001.10a
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• pp.369-374
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• 2001

Gear is general mechanical elements that used for power transmission between two shafts that interval is comparatively short. and it delivers big power as accurate ratio of speed. The profile of Spur gear which is the most basic factor is divided into Trochoidal fillet curve and Involute curve. Involute curve is used a lot of a shaped curve of machine parts such as a gear, a scroll compressor and a collar of centrifugal pump. However, it is poor to study the modeling of Trochoidal fillet curve and the three dimensions model shaped mathematical curve. This paper describes a mathematical model of profile shifted involute gear. and this model is based on Camus's theory. We draw three dimensions gear have accurate mathematical function using ADS, VisualLISP. and To check accuracy and perfection, we make a program of checking Interference. and use for this study.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.1008-1012
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• 1997

This study is on a mathematical model of profile shifted involute gear, and this model is based on Camus's theory. Gear is general mechanical elements that used for power transmission between two shafts that interval is comparatively short. and it delivers bit power as accurate ratio of speed. The profile of Spur gear which is the most basic factor is divided into Trochoidal fillet curve and Involute curve. Involute curve is used a lot of a shape curve of machine parts such as a gear, a scroll compressor and a collar of centrifugal pump. However, It is poor to study the modeling of Trochoidal fillet curve and the three dimensions model shaped mathematical curve. So we draw three dimensions gear have accurate mathematical function using ADS(Automatic Drawing system), VisualLISP. To check accuracy and perfection, we make a program of checking Interference. and use for this study.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.11
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• pp.1125-1130
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• 2014

In this paper, we discuss the relation between the motion profile and pre-filter. As previously reported in various literatures [1-3], a tuned motion profile can effectively reduce residual vibration by placing inherent zeros of the motion profile at the vibratory pole of systems similar to the role of the input shaping technique. From the results, we factorize the motion profile into a basis function and an input shaper. In contrast to the previously reported impulse-sequence-based input shapers, the input shaper extracted from the motion profile has unique characteristics. Thanks to the characteristics of the input shaper extracted from the motion profile, it has advantages to reduce the vibrations caused by not only the modeled vibratory mode but also unmodeled dynamics which exist in higher frequency ranges.

• Proceedings of the KSME Conference
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• 2001.11a
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• pp.834-840
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• 2001

Gear is general mechanical elements that used for power transmission between two shafts that interval is comparatively short. and it delivers big power as accurate ratio of speed. The profile of Spur gear which is the most basic factor is divided into Trochoidal fillet curve and Involute curve. Involute curve is used a lot of a shaped curve of machine parts such as a gear, a scroll compressor and a collar of centrifugal pump. However, It is poor to study the modeling of Trochoidal fillet curve and the three dimensions model shaped mathematical curve. This paper describes a mathematical model of profile shifted involute gear. and this model is based on Camus's theory. We draw three dimensions gear have accurate mathematical function using ADS, VisualLISP. and To check accuracy and perfection, we make a program of checking Interference. and use for this study.

• Journal of the Korea Institute of Military Science and Technology
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• v.22 no.5
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• pp.674-686
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• 2019

In this paper, we will discuss the absolute angular error control mode for the Gun/Turret driving system. The Gun/Turret driving controller receives absolute angular error calculated from the fire control system (FCS). Thus, the Gun/Turret driving controller is subjected to step command to cause residual vibration and system unstable. In order to reduce residual vibration and to ensure the system stability, we propose an error motion profile method with two types of trapezoidal and S-Curve. The validity of the proposed error motion profile method is confirmed via simulation by observing that the resulting position error, driving power, and power density satisfied the control performance.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.1
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• pp.69-77
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• 1996

To design high-effective profile in screw rotor profile using in screw compressor, we design the symmetric type changing the number of lobes and the non-symmetric type changing the neighbourhood of the top point of lobe. Then, we calculated the performance value of profile according to the scale of these non-symmetric's wrap angle. We had the results as follows. 1. About the non-symmetric case, the larger a wrap angle is the shorter seal line is and the smaller blow hole is, thus we know what the large wrap angle profile is better than the small one. 2. We know what the non-symmetric profile is better than the symmetric profile in the result of the compare of seal line's length, blow hole's area, volume curve. 3. About the non-symmetric case, the deformation of the neighbourhood of lobe's top point of the rotor profile has a large effect upon the increase of performance because the length of seal line became short and the area of blow hole is small.

• Wind and Structures
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• v.22 no.1
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• pp.65-87
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• 2016

The wind velocity profile over the height of a structure in high intensity wind (HIW) events, such as downbursts, differs from that associated with atmospheric boundary layer (ABL) winds. Current design codes for lattice transmission structures contain only limited advice on the treatment of HIW effects, and structural design is carried out using wind load profiles and response factors derived for ABL winds. The present study assesses the load-deformation curve (capacity curve) of a transmission tower under modeled downburst wind loading, and compares it with that obtained for an ABL wind loading profile. The analysis considers nonlinear inelastic response under simulated downburst wind fields. The capacity curve is represented using the relationship between the base shear and the maximum tip displacement. The results indicate that the capacity curve remains relatively consistent between different downburst scenarios and an ABL loading profile. The use of the capacity curve avoids the difficulty associated with defining a reference wind speed and corresponding wind profile that are adequate and applicable for downburst and ABL winds, thereby allowing a direct comparison of response under synoptic and downburst events. Uncertainty propagation analysis is carried out to evaluate the tower capacity by considering the uncertainty in material properties and geometric variables. The results indicated the coefficient of variation of the tower capacity is small compared to those associated with extreme wind speeds.