• Proceeding of Spring/Autumn Annual Conference of KHA
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• 2011.04a
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• pp.256-260
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• 2011

In 2007, Seoul Metropolitan Government introduced new public rental housing policy called SHift that works as rental deposit base. The purpose of this study is to evaluate the residential satisfaction of SHift. This research has shown conclusively that there is a link between the Location of apartment, Internal Premises, External Premises and satisfaction of SHift residents. The main factors of Residential satisfaction of SHift residents are Location of economical factor. The factor analysis of the 12 factors of variable are confirmed by the internal consistency reliability. This analysis is evaluate on discrimination of the correlation between the dwelling circumstance and the residential satisfaction. The economical factor was the main factor among the Independent variables. It can be concluded that the general overview of the Residential Satisfaction of SHift residents satisfaction is "quite good". But there are maby problems on SHift.

• International Journal of Precision Engineering and Manufacturing
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• v.3 no.4
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• pp.94-100
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• 2002

The conventional sliding mode control (SMC) technique requires a priori knowledge of the upperbounds of disturbances and/or modeling uncertainties to assure robustness. This, however, may not be easy to obtain in practical situation. This paper presents a new methodology, a sliding mode control with disturbance estimator (SMCDE), which offers a robust control performance without a priori knowledge about the disturbance. The proposed technique is featured by an average value of the imposed disturbance over a certain period. A nonlinear spring-mass-damper system and a two-link robot system are adopted as illustrative application examples. Control performances such as estimation error and tracking error are compared between the proposed methodology and conventional scheme.

• Proceeding of Spring/Autumn Annual Conference of KHA
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• 2008.11a
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• pp.448-451
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• 2008

This study is under doing to suggest application manual using assembling reference plane design & standard finish material basis upon material classification code as a tool of a linkage between building design and construction standarization in order to enlarge the applicability of house building material that is produced by the module plant. We can say the goal of building standardization intend not only the improvement of construction productibility but also guarantee of subsequent performance through automatization basis upon informationalization of building design. For a etabilishing of this condition, it is neccessary to link the standardization's result of material--design--construction field. According to this neccessity, we are going to suggest information factor that can make relative business manager easily approach to the standardization practical task.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.4
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• pp.262-267
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• 2001

Jeha Ryu Department of Mechatronics, Kwangju Institute of Science and Technology This paper presents an application of a robust adaptive control strategy to HexaSlide type six degrees-of-freedom parallel manipulators. The HexaSlide type parallel manipulators are characterized as an architecture with constant link lengths that are attached to moving sliders on the ground and to a mobile platform. The proposed control law is developed based on a simplified second order system dynamic equation in joint space with uncertain mass, damper, spring, and Coulomb friction terms. These uncertain parameters are updated by an adaptation law that is derived by Lyapunov stability theorem. A robust adaptive control law by using the boundary layer is designed for the purpose of compensating for the neglected dynamic effects of the mobile platform and the six moving links that are modeled as a disturbance term. Experimental results show good and fast tracking performance.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.1-6
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• 1991

This paper is concerned with the design of a robust tracking controller using a state observer on a robotic manipulator under the disturbance. The controller is designed to follow a step or ramp reference input without steady state error in the presence of a disturbance and a system parameter variation. In most cases, since all the state vectors are not measured, unmeasurable state vectors must be estimated or reconstructed. A reduced order observer is proposed to estimate unmeasurable state vectors of the non-linear system. Some problems are caused by the Coulomb friction, the disturbance, and the spring effect of a link between the drive motor and the manipulator arm. The state variables, directly measured and estimated by the reduced order observer, are fed back to the controller. When the robot system exhibits the 'limit cycle, the feedback gains initially obtained by optimal control theory are changed. As a result, the limit cycle is eliminated by the new controller gains,

• Transactions of the Korean Society of Mechanical Engineers A
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• v.25 no.3
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• pp.362-368
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• 2001

To design a limiting MCCB (Molded Case Circuit Breaker) mechanism, a dynamic modeling of the mechanism in which the electro-magnetic force effects are incorporated needs to be developed. Conventionally, electro-magnetic effects were considered separately for the design of the mechanism. In this paper, an electro-magnetic force that is induced by limited current is identified and included in the dynamic modeling of the mechanism. Thus, the electro-magnetic which is defined as a external force and the mechanical effects are simultaneously considered for the design of the mechanism which is composed of contactor, spring , link, latch and so on.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.149-154
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• 1990

In this paper, simulation results of a robust digital tracking controller on a robotic manipulator are presented. The objective is to follow a ramp reference input with zero steady state error in the presence of a disturbance and system parameter variations. Some of the difficulties are caused by the Coulomb frictions, the disturbance due to the gravitational pull, the spring effect of a link between the drive motor and the manipulator arm. Another difficulty is that, because of the non-differentiable Coulomb friction, the digital control system cannot be represented as a discrete system. It is thus necessary to design the controller based on a discrete-continuous hybrid model. The controller is based on feeding back the state variables and augmenting the system by addition discrete integrators. The feedback gain parameters are obtained by applying the quadratic optimal control theory and then choosing the new weighting matrices to eliminate the limit cycle by using the describing function method for hybrid system.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.307-307
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• 2000

The swing motion of the spreader during and after movement causes an efficiency problem of position control in unmaned gantry crane. The objective of this research is to design implementable stabilizing controllers that minimize the swing motion of spreader in precise position control. The dynamic equations related to trolley, rope, and spreader are derived. For constitute a similar actual system, we introduced a conception of spring and damper in the connector. It is located between the trolley and link that is used in stead of rope. We derived dynamic equation by appliance that friction and external disturbance are occurred to the connector. We constituted of position servo system and velocity servo system for the control of position and velocity of the trolley and constituted of lag compensator system for the control of sway of the spreader. And we will show an effect of the proposed system in this research finally.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.2
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• pp.168-175
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• 2003

In this research, a bridge-type flexure hinge mechanism is developed and optimized to amplify the displacement of a multilayer piezostack. Developed hinge mechanism has three-dimensional structure to reduce link size, so it have high amplification ratio with respect to small size. A flexure hinge is assumed to be 6 degree-of-freedom spring elements and matrix methods are used to model a hinge mechanism. To verify derived matrix model, a displacement and frequency experiments are performed. The analysis result shows that the displacemental error between matrix model and experiments is below 10 percents and the deformation of hinge in parasitic direction should be considered In hinge modeling. Using developed matrix model, an optimal design is performed to maximize the performance of hinge mechanism.

• Proceeding of Spring/Autumn Annual Conference of KHA
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• 2008.04a
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• pp.319-322
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• 2008

Designing of the apartment house in present has been contributing to private unit reflected demands and characteristics of residents. However, common space hasn't been designed in various ways compared to unit. Though the main entrance is place to link inner space and out space, to make resident identity and to communicate with neighbors, It has been produced the same type. The space design in 21st century is focusing on contents of space with the development of techniques, and we need to find applicability of new design related to digital technology in apartment house. The purpose of this study is to find applicability of interaction design at main entrance in apartment house for improvement functions of entrance. The results of this study were as follows; The main entrance is possible more active place through the interaction design that would be satisfied with residents needs and functions.