• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1853-1858
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• 2004

This paper presents the development of a full order sliding mode controller for tracking problem of a class of uncertain dynamical system, in particular, the direct drive robot manipulators. By treating the arm as an uncertain system represented by its nominal and bounded parametric uncertainties, a new robust fullorder sliding mode tracking controller is derived such that the actual trajectory tracks the desired trajectory as closely as possible despite the non-linearities and input couplings present in the system. A proportional-integral sliding surface is chosen to ensure the stability of overall dynamics during the entire period i.e. the reaching phase and the sliding phase. Application to a three DOF direct drive robot manipulator is considered.

• 한국전산유체공학회:학술대회논문집
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• 2009.11a
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• pp.193-200
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• 2009

Recently, there have been efforts to construct hybrids among the existing methodologies for multiphase flow such as VOF, Level Set, and Front Tracking with the intention of facilitating simulations of general three-dimensional problems. As one of the hybrid method, we have developed the Level Contour Reconstruction Method (LCRM) for general three-dimensional multiphase flows including phase change. The main idea was focused on simplicity and a robust algorithm especially for the three-dimensional case. It combines characteristics of both Front Tracking and Level Set methods. While retaining an explicitly tracked interface using interfacial elements, the calculation of a vector distance function plays a crucial role in the periodic reconstruction of the interface elements in the LCRM method to maintain excellent mass conservation and interface fidelity. In addition, compact curvature formulation is incorporated for the calculation of the surface tension force thereby reducing parasitic currents to a negligible level.

• Proceedings of the KIEE Conference
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• 2005.05a
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• pp.33-35
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• 2005

We propose an eye gaze tracking system under natural head movements. The system consists of one CCD camera and two front-surface mirrors. The mirrors rotate to follow head movements in order to keep the eye within the view of the camera. However, the mirror controller cannot guarantee the fast head movements, because the frame rate is generally 30Hz. To overcome this problem, we applied Kalman predictor to estimate next eye position from the current eye image. In the results, our system allows the subjects head to move 50cm horizontally and 40cm vertically, with the speed about 10cm/sec and 6cm/sec, respectively. And spatial gaze resolutions are about 4.5 degree and 4.5 degree, respectively, and the gaze estimation accuracy is 92% under natural head movements.

• Journal of the Korean Society for Precision Engineering
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• v.6 no.2
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• pp.65-76
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• 1989

The objective of this paper is to design the variable structure system(VSS) controller for the tracking control of excavator which is driven by electro-hydraulic servomechansim. It is generally agreed that the dynamic characteristics of the robot arm such as excavator are coupled, time varying, and highly nonlinear, and also hydraulic system contains nonlinear characteristics in itself, so performing exact position control and trajectory tracking control need remarkable consideration. To solve this porblem, this system was designed as a variable structure system. The salient feature of VSS is that the sliding mode occur on a switching surface. While in sliding mode, the system remains insensitive to parameter variations and disturbances. This control algorithm was applied to a hydraulic excavator by simulaltion and to a simulator by experiment. And its effectiveness was verified. And the results of VSS for the electro-hydraulic excavator was compared with that of the PID when load disturbances and system parameter variations exist.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2006.06a
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• pp.85-86
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• 2006

In this paper, a nonlinear controller based on adaptive sliding-mode method which has a sliding surface vector including new boundary function is proposed and applied to a two-wheeled voiding mobile robot (WMR). This controller makes the welding point of WMR achieve tracking a reference point which is moving on a smooth curved welding path with a desired constant velocity. The mobile robot is considered in view of a kinematic model and a dynamic model in Cartesian coordinates. The proposed controller can overcome uncertainties and external disturbances by adaptive sliding-mode technique. To design the controller, the tracking error vector is defined, and then the new sliding is proposed to guarantee that the error vector converges to zero asymptotically. The stability of the dynamic system will be shown through the Lyapunov method. The simulations is shown to prove the effectiveness of the proposed controller.

• Nuclear Engineering and Technology
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• v.44 no.8
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• pp.847-854
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• 2012

Despite extensive research efforts, the mechanism of the nucleate boiling phenomena is still not clear. A direct numerical simulation of the boiling phenomena is one of the promising approaches in order to clarify its heat transfer characteristics and discuss their mechanism. Therefore, many DNS procedures have been developed based on recent highly advancing computer technologies. This brief review focuses on the state of the art in direct numerical simulation of the pool boiling phenomena over the past two decades. In this review, the fundamentals of the boiling phenomena and the bubble departure and micro-layer models are briefly introduced, and then the numerical procedures for tracking or capturing interface/surface shape such as the front tracking method, level set method, volume of fluid treatments, and other methods (Lattice Boltzmann method, phase-field method and so on) are briefly reviewed.

• Current Photovoltaic Research
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• v.1 no.2
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• pp.122-125
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• 2013

The Floating Photovoltaic System was installed on the surface of water. There were some researches in this subject. But there was not many studies with experiment on a high waterproof Floating Photovoltaic modules. The aim of this study was to analyze the performance of the Floating Photovoltaic System. For this experiment, a high waterproof Floating Photovoltaic modules were designed and applied to the module capacity of 10 kW Tracking-Type structure. The experiment results indicated the performance of the daily production is 51.6 kW; the production capacity of Floating Photovoltaic System is expected to be 23% higher than that of the ground-mounted photovoltaic system.

• Proceedings of the KIEE Conference
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• 1998.07b
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• pp.598-600
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• 1998

In this paper, a robust controller is proposed to achieve the accurate tracking for uncertain robot manipulators with hydraulic actuator dynamics. The parameter uncertainty can be quantified by the linear parameterization technique. A switching controller is proposed to guarantee the global asymptotic stability of the plant. In order to eliminate the chattering caused by the switching controller, a smoothing controller is proposed using the boundary layer technique around the sliding surface. It is shown that the smoothing controller guarantees the uniform ultimate boundedness of the tracking, error. The proposed controller shows good better tracking performance.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2000.05a
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• pp.82-85
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• 2000

Polymeric composite insulators are used for outdoor insulation. However, our knowledge about their long-term performance in an outdoor environment is still very limited. The electrical stress caused the surface of these insulators to become degradation. In order to evaluate the tracking resistance of polymer insulators, we performed the tracking wheel test which is recommended by CEA LWIWG-01. And the flashover voltage tests were conducted for understanding electrical characteristics after tacking wheel test. Also, these insulators are studied by characterization methods such as contact angle measurement, SEM, etc.

• Proceedings of the Korean Institute of Electrical and Electronic Material Engineers Conference
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• 2010.06a
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• pp.29-29
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• 2010

Engineering plastics have excellent electrical properties, mechanical strength and various characteristic which include chemical resistance, environmental resistance, weatherability at a wide temperature range. It has good characteristic(light weight, good productivity) as compare with epoxy or porcelain insulators. However, engineering plastics not suited to outdoor insulator because it isn't hydrophobic. Therefore, to over come these critical problems, we improve the surface insulation characteristics of engineering plastic by coating micro-, nano- size inorganic fillers added to RTV-SIR(Room temperature vulcanized-silicone rubber) at this plastic surface. The effect is analyzed through salt-fog test, tracking test. In conclusion, the engineering plastic coated RTV with micro-$Al_2O_3$20[phr], nano-Al(OH)3 1 ~ 3[phr] improved much better than the others.