• Proceedings of the KIPE Conference
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• 1998.07a
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• pp.123-128
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• 1998

This paper describes the evaluation of a force-reflecting interface with ultrasonic motors(USMs). The force-reflecting interface allows a human to feel object within virtual environment. To effectively display the mechanical impedance of the human hand we need a haptic device with specific characteristics, such as low inertia, almost zero friction and very high stiffness. USMs have attracted considerable attention as the actuator satisfied these conditions. USMs combine features such as high driving torque at low rotational speed, high holding torque and fast response therefore we studied two degree of freedom force-reflecting haptic system.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.319-319
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• 2000

In this paper, A dead-time compensator (DTC) for the processes with long dead-time is proposed. The processes which consist of dead-time, time-constant, gain are estimated by the linear least squares method in the frequency domain. A Smith predictor(SP) modified by including a filter becomes a two degree of freedom DTC. So the proposed DTC can yield the desirable setpoint and load disturbance responses separately. PI controller is used for the primary controller and the filter is tuned to be robust. Simulation examples demonstrate the properties of the proposed DTC.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2645-2647
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• 2000

This paper presents an LMI(Linear Matrix Inequalities) method for designing the optimal decoupling controller. The proposed controller based on the Two-Degree-of-Freedom configuration considers both the performance of controller and decoupling properties. The decoupling controller parameters are obtained from LMI method for computational efficiency.

• Journal of the Korean Society for Precision Engineering
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• v.14 no.4
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• pp.104-109
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• 1997

A robust controller design to corrdinate a robot manipulator under unknown system parameters and bounded disturbance inputs is presented in this paper. Generally, robust controllers require high input torque so that they may face input saturation in actual application due to the power limitation of the actuator. To solve this problem, an improved robust controller with saturated input torque using a fuzzy logic control is proposed. Numerical examples are shown to validate the proposed controller using two degree-of-freedom planar arm.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.82-87
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• 1994

In this study, dynamic optimal design far a two degree-of-freedom anthropomorphic robot module is performed. Several dynamic design indices associated with the inertia matrix and the inertia power array are introduced. Analysis for the relationship between the dynamic parameters and the design indices shows that trade-offs exist between the isotropy and the dynamic design indices related to the actuator size. A composite design index is employed to deal with multi-criteria based design with different weighting factors, in a systematic manner. We demonstrate the fact that dynamic optimization is another significant step to enhance the system performances, followed by kinematic optimization.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.9
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• pp.2744-2751
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• 1996

In case of limited power supply, a rotating shaft system may not reach its operating speed that is greater than its critical speed, but the speed oscillates with small ampllitude near critical speed. As a result, it is considered that the operating mode plays an important role in the smooth start of machines. In order to investigate the dynamic behaviors of the rotating shaft system at the beginning stage, one has derived the equations of motion whose degrees of freedom is three, two translations and one rotation. The simultaneous differential equations are numerically solved by using runge-Kutta method, and thus the small time step length could be required corresponding to the stability of solution. Three types of operating modes dependent upon the driving torque rate have been numerically investigated according to the maximum displacement of shaft center. The first type of relation is linear, the second type is composed of two linear curves recommended by machine manufacturer, and the last one is the proposed torque curve reflecting the frequency response curve of one degree of freedom system. For the second type of modes, it is found that the optimal range of intermediate speed to the critical speed lies between 0.8 and 0.9. In addition to that, the maximum displacement can be reduced more if the third type of mode is utilized.

• International Journal of Control, Automation, and Systems
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• v.5 no.1
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• pp.15-23
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• 2007

In surveillance, monitoring, and target tracking operations, high-resolution images should be obtained even if the target is in a far distance. Frequent movements of vehicles such as boats degrade the image quality of onboard camera systems. Therefore, stabilizer mechanisms are required to stabilize the line of sight of boatboard camera systems against boat movements. This paper addresses design and implementation of a strapdown boatboard camera stabilizer. A two degree of freedom(DOF)(pan/tilt) robot performs the stabilization task. The main problem is divided into two subproblems dealing with attitude estimation and attitude control. It is assumed that exact estimate of the boat movement is available from an attitude estimation system. Estimates obtained in this way are carefully transformed to robot coordinate frame to provide desired trajectories, which should be tracked by the robot to compensate for the boat movements. Such a practical robotic system includes actuators with fast dynamics(electrical dynamics) and has more degrees of freedom than control inputs. Backstepping method is employed to deal with this problem by extending the control effectiveness.

• Journal of Magnetics
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• v.15 no.1
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• pp.7-11
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• 2010

Spin-orbit coupling (SOC) is a source of strong spin dephasing in two- and three-dimensional semiconducting systems. We report that spin dephasing in a two-dimensional electron gas can be suppressed by introducing a quantum point contact. Surprisingly, this suppression was not limited to the vicinity of the contact but extended to the entire two-dimensional electron gas. This facilitates the electrical control of the spin degree of freedom in a two-dimensional electron gas through spin-orbit coupling.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.3
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• pp.190-194
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• 2013

This paper presents experimental results of the attitude control for a two-rotor system with 3-DOF(degree-of-freedom). Two DC motors are equipped at the two ends of a rectangular beam to generate lift force and the relation between motor voltage and lift force is found experimentally. And inertial sensors are mounted at the center of the beam to measure the roll angle and a complementary filter is designed to get the angle during DC motors driving. A controller with nonlinear compensation, integrator and state feedback to achieve asymptotic tracking for a step input and reject input disturbance is designed and experimented.

• Earthquakes and Structures
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• v.1 no.4
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• pp.327-344
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• 2010

This paper summarizes results of a comprehensive analytical study aimed at evaluating the influence of strong ground motion duration on residual displacement demands of single-degree-of-freedom (SDOF) and multi-degree-of-freedom (MDOF) systems. For that purpose, two sets of 20 earthquake ground motions representative of short-duration and long-duration records were considered in this investigation. While the influence of strong ground motion duration was evaluated through constant-strength residual displacement ratios, $C_r$, computed from the nonlinear response of elastoplastic SDOF systems, its effect on the amplitude and height-wise distribution of residual drift demands in MDOF systems was studied from the response of three one-bay two-dimensional generic frame models. In this investigation, an inelastic ground motion intensity measure was employed to scale each record, which allowed reducing the record-to-record variability in the estimation of residual drift demands. From the results obtained in this study, it was found that long strong-motion duration records might trigger larger median $C_r$ ratios for SDOF systems having short-to-medium period of vibration than short strong-motion duration records. However, taking into account the large record-to-record variability of $C_r$, it was found that strong motion duration might not be statistically significant for most of the combinations of period of vibration and levels of lateral strength considered in this study. In addition, strong motion duration does not have a significant influence on the amplitude of peak residual drift demands in MDOF systems, but records having long strong-motion duration tend to increase residual drift demands in the upper stories of long-period generic frames.