• Journal of Mechanical Science and Technology
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• 제18권7호
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• pp.1131-1139
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• 2004

A new impedance controller is proposed for bilateral teleoperation under a time delay. The proposed controller does not need to measure or estimate the time delay in the communication channel using the force loop-back. In designing a stable impedance controller, absolute stability is used as a stability analysis tool, which results in a less conservative controller than the passivity concept. Moreover, in order to remove the conservatism associated with the assumption of infinite port impedances, the boundaries of human and environment impedance are set to finite values. Based on this, this paper proposes a parameter design procedure for stable impedance controllers. The validity of the proposed control scheme is demonstrated by experiments with a 1-dof master/slave system.

• 한국소음진동공학회논문집
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• 제20권3호
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• pp.279-286
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• 2010

In this paper, we provide a robust track-following controller design method for the stable coarse seek control. Due to the inaccurate velocity control during a coarse seek, the shake of fine actuator is generated and thus a gain-up track-following control is required to complete stably the coarse seek. To this end, a loop gain adjustment algorithm is introduced to estimate accurately the shake of fine actuator. A weighting function can be properly selected from a minimum tracking gain-up open-loop gain, calculated from the estimated shake quantity of fine actuator. A robust tracking gain-up controller is designed by considering a robust $H_{\infty}$ control problem using the weighting function. The proposed design method is applied to the coarse seek control system of an optical rewritable drive and is evaluated through the experimental results.

• 한국수자원학회:학술대회논문집
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• 한국수자원학회 2017년도 학술발표회
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• pp.290-290
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• 2017

본 연구는 안정하도 설계를 위해 대상구간으로 원주천 16 km, 20개 횡단면에 대하여 SCAD(Stable Channel Analysis Design)를 이용한 안정하폭 평가를 실시하였다. 안정하폭은 하폭이 증가와 감소로 20%의 허용범위를 적용하였다. 안정하폭의 설계와 물리서식처의 개선을 위해 저수로 폭의 최적 설계를 제시하기 위해 유전자알고리즘을 이용하였다. 물리서식처 개선은 원주천의 하천환경조사와 어류의 군집특성을 이용하여 수중생태계를 대표 할 수 있는 복원 목표어종으로 참갈겨니를 선택하였다. 참갈겨니의 서식적합지수 (HSI, Habitat Suitability Index)를 사용한 서식 적합도 분석은 River2D 모형을 이용하였다. 그에 따라 안정하도 설계와 물리서식처의 개선을 위한 각 단면의 최적 저수로 폭을 제시하였다. 개선된 하천구조에 대한 물리적 교란개선 평가를 실시하였다. 대산구간을 40개 구간으로 분할하여 각 구간의 물리적 교란개선 평가를 수행하여 안정하도 설계와 물리서식처 개선을 위한 하천구조의 개선에 따른 물리적 교란 양상을 평가 분석하였다.

• 한국실내디자인학회논문집
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• 제21권6호
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• pp.137-146
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• 2012

This study introduced the concept of Primacy Effect for the analysis of the observation characters by time so as to analyze the characters of information which the users observing the lobby in a public space get when they encounter the space. From the viewpoint that the first impression on any space can motivate the judgement of space and continuous activities, the time range with the observation characters which can be regarded as Primacy Effect was analyzed in the aspects of continuity and saccade. First, with the case of alignment by time on three times of continuous observation, the perception attributes of subjects were shown to be very different among one another depending on which time range was applied for alignment. Second, the subjects with low average value of continuous observation times were found to be relatively stable in "ii~iii time ranges" and the time range of "0~5.10 seconds" was known to be the time range of relatively stable analysis for the characters of subjects' primacy effect to be analyzed. Third, the change of the amount of acquired information could be examined concretely through the analysis of observation attributes by time range, and the time range of "iii time range" showed more stable changing characters than other time ranges. Fourth, in the "iii time range" set up as a proper time range for the analysis of primacy effect had higher average value of 3.9 times of observation frequency compared with 6 times of continuous observation. As a grand average, 6 times(19.3) of average observation value was between 3 times(21.3) and 9 times(16.9), which enabled to set up 6 times of continuous observation as the number of observation times for stable analysis of primacy effect.

• Journal of information and communication convergence engineering
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• 제8권2호
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• pp.197-200
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• 2010

The FLL(frequency locked loop) circuit is used to generate an output signal that tracks an input reference signal. The locking time of FLL is short compared to PLL(phase locked loop) circuit because the output signal of FLL is synchronized only in frequency. Also the FLL is designed to allow the circuit to be fully integrated. In this paper, the temperature stable FLL circuit is designed by using full CMOS transistors. When the temperature is varied from $-20^{\circ}C$ to $70^{\circ}C$, the variation of output frequency is about from -2% to 1.6% from HSPICE simulation results.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1998년도 추계종합학술대회 논문집
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• pp.703-706
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• 1998

This paper presents an efficient substrate-bias generator(SBG)for low-power, high-density DRAM's The proposed SBG can supply stable voltage with switching the supply voltage of driving circuit, and it can substitude the small capacitance for the large capacitance. The charge pumping circuit of the SBG suffere no VT loss and is to be applicable to low-voltage DRAM's. Also it can reduce the power consumption to make VBB because of it's high pumping efficiency. Using biasing voltage with positive temperature coefficient, VBB level detecting circuit can detect constant value of VBB against temperature variation. VBB level during VBB maintaining period varies 0.19% and the power dissipation during this period is 0.16mw. Charge pumping circuit can make VBB level up to -1.47V using VCC-1.5V, and do charge pumping operation one and half faster than the conventional ones. The temperature dependency of the VBB level detecting circuit is 0.34%. Therefore the proposed SBG is expected to supply a stable VBB with less power consumption when it is used in low power DRAM's.

• 대한전기학회논문지:시스템및제어부문D
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• 제50권3호
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• pp.130-135
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• 2001

In this paper, an observer-based adaptive controller is proposed to control the longitudinal motion of vehicles. The standard gradient method will be used to estimate the vehicle parameters, mass, time constant, etc. The nonlinear model between the driving force and the vehicle acceleration will be chosen to design the state observer for the vehicle velocity and acceleration. It will be shown that the proposed observer is exponentially stable, and that the adaptive controller proposed on this paper is stable. It will be proved that the errors of the relative distance, velocity and acceleration converge to zero asymptotically fast, and that the overall system is also asymptotically stable. The simulation results are presented to investigate the effectiveness of the proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.62.2-62
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• 2001

In this paper, we present a new time-varying sliding mode system that guarantees stable error convergence. The previous papers have dealt with stability of the time-varying sliding mode system by point-wisely investigating the stability of time-invariant system every time. However, it may be unstable even though it guarantees time-invariant stability every time, We designed the time-varying sliding surface so that the resultant time-varying system on sliding mode may be Stable. The initial sliding surface is obtained so that shifting distance of the surface may be minimized with respect to an initial error, and the intercept is produced so that the surface may pass the initial error.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2010년도 하계학술대회 논문집
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• pp.9-10
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• 2010

The lighting control power circuits should be designed in stable region according to the environment. A stable circuit is analyzed using ac equivalent circuits. The flyback converter with wide input voltage ranges is suitable for lighting control system. It is designed optimally for stability. The specifications are that the input voltage is 90V-230V, the output power is 12V/2.5A. The stability analysis is established using PSM(Phase Sensitive Multimeter) in experiment. As a result, it is confirmed that the gain margin and the phase margin are in stable area. The validity of the experimental measurement is verified.

• 대한물리치료과학회지
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• 제5권4호
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• pp.851-860
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• 1998

The purpose of this study was to quantitatively observe changes in postural stability of double leg support and single limb stance. Thirty-six healthy subjects participated in the study. Postural stability were examined using Dynamic Balance System. Each trial was 25 sec in duration. Each of 6 conditions{double leg support and single limb stance ; eyes open in stable platform, eyes closed in stable platform, eyes open in dynamic platform) evaluated effect of visual, vestibular, proprioceptive system. Center of balance found for displacement to the left along the X axis in double leg support and to the forward on left toe in single limb stance. Sway index was the lowest in double leg support with eyes open in stable platform and the higher in single limb stance with eyes closed in stance platform. We believe that reliable and valid measures should be used to determine the contributing factors of our client's postural problems so that we can design the most effective treatment possible.