• International Journal of Control, Automation, and Systems
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• 제1권1호
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• pp.68-75
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• 2003

This paper presents an effective trajectory planning algorithm for industrial robot manipulators. Given the end-effector trajectory in Cartesian space, together with the relevant constraints and task specifications, the proposed method is capable of planning the optimum end-effector trajectory. The proposed trajectory planning algorithm considers the joint acceleration limit, end-effector velocity limits, and trajectory allowance. A feedforward compensator is also incorporated in the proposed algorithm to counteract the delay in joint dynamics. The algorithm is carefully designed so that it can be directly adopted with the existing industrial manipulators. The proposed algorithm can be easily programmed for various tasks given the specifications and constraints. A three-dimensional test trajectory was planned with the proposed algorithm and tested with the Performer MK3s industrial manipulator. The results verified effective manipulator performance within the constraints.

• 대한기계학회논문집B
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• 제23권10호
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• pp.1310-1319
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• 1999

High-pressure swirl injectors have usually been employed in Gasoline direct injection engines due to their spray characteristics and the feasibility of their control. Thus the microscopic characteristics of high-pressure swirl spray were investigated by PDA. The correlation between axial and radial velocities and the correlation between droplet size and axial velocity were examined with different axial and radial positions. Two dimensional droplet velocity and its number distribution with size-classified droplets were illustrated. The mean droplet velocity and its SMD were also analyzed at the center of spray, the position having maximum mean axial velocity, and the spray periphery using time dividing method. Finally, the structure of high-pressure swirl spray was presented with the size distribution and velocity profile of droplets.

• 대한기계학회논문집
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• 제18권2호
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• pp.479-491
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• 1994

Discrete vortex method was applied for simulating an active control of turbulent leading- edge separation bubble. The leading-edge separation zone was perturbed by a time-dependent sinusoidal perturbation of different frequencies and levels. In order to describe the local sinusoidal perturbation at the separation point, a source pulsation vortex technique was proposed. The present two-dimensional vortex simulations were qualitatively compared with the experimental results for a blunt circular cylinder, where perturbation was introduced along the square-cut leading edge of the cylinder $(Kiya et al.^{(6,7)}).$ It was found that the reattachment length attained a minimum point at low levels of perturbation and two minima at a moderate higher perturbation frequency. The effects of local perturbation on the evolution of leading-edge separation bubble were scrutinized by comparing the perturbed flow with the natural flow. These comparisons were made for the distributions of mean velocity and its velocity fluctuations, intermittency and wall velocity. The motions of instantaneous reattachment in the space-time domain were demonstrated, which were also compared with the experimental findings. In order to investigate the reduction mehanism of reattachment length in the separation bubble, various cross-correlations for velocity and pressure and the relevant convection velocities were evaluated. It was observed that the convection velocity was closely associated with its corresponding pulsationg frequency.

• 한국추진공학회지
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• 제12권5호
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• pp.60-66
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• 2008

각종 무기체계에서 포구속도는 보다 정확한 사격제원을 산출하기 위한 자동사격통제시스템의 기초 데이터로 활용될 수 있다. 그러나 전장환경의 여러 변수들을 고려한다 해도 동일한 탄약(추진제)에서 발생하는 불규칙적인 성능특성은 정확한 포구속도 데이터를 얻는 것을 곤란하게 한다. 본 논문에서는 강내 압력을 측정하고 약실압력과 탄저압력의 실험적 관계식을 구하여 포구속도를 산출하는 방법에 대하여 연구하였다. 이러한 방법을 통해 추진제의 불규칙적인 성능특성을 보정한 포구속도를 얻음으로써 보다 정확한 데이터를 제공할 수 있으리라 생각한다.

• 제어로봇시스템학회논문지
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• 제8권9호
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• pp.788-794
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• 2002

To improve surgical result of total hip arthroplasty (THA), there has been some approaches using a robotic milling system, which can make a precise cavity in the femur. Usually, to carve a femur, the surgical robot is controlled by a pre-programmed tool-path regardless of a surgeon's experience and Judgment. This paper presents a control method of a surgical robot for THA, which can be used as an advanced surgical tool. With a master/slave combined surgical robot, surgeon can directly control the motion and velocity of a surgical robot. The master/slave-combined robot is controlled to display a specific admittance for a surgeon's force to the surgical robot velocity. To prevent the over-carving of a femur, virtual hard wall is displayed on the surgical boundary. To evaluate the proposed control method of the master/slave-combined surgical robot, 2-DOF master/slave-combined manipulator is used in experiment.

• Journal of Mechanical Science and Technology
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• 제17권10호
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• pp.1466-1474
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• 2003

This paper presents a system modeling, controller design and implementation for a rotational inverted pendulum system (RIPS), which is an under-actuated system and has the problem of unattainable velocity state. Two control strategies are applied to the RIPS. One is a sliding mode control method using the parameterization of both the hyperplane and the compensator for output feedback. The other is the disturbance observer which estimates disturbance and some modeling errors of RIPS with less computational effort. Some simulations and various kinds of experiments are performed in order to verify that the proposed controller has the ability to control RIPS whose velocity is assumed to be unavailable. The results of the simulations and experiments show that the proposed control system has superior performance for disturbance rejection and regulation at certain initial conditions as well as the robustness to model uncertainties.

• 대한의용생체공학회:의공학회지
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• 제13권4호
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• pp.331-338
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• 1992

In this study, Fuzzy control algorithm to generate a change of rocomotion condition according to an outer environment is introduced on a motorized wheelchair control. An optimal control rule for conquesting the less of safety and system Inefficiency in the past are given to this motorized wheelchair. And dynamic analysis Is also adopted to it. Using those rules, a proportional control was possible when the vehicle changed Its moving direction. The proposed method which considers the relationship between a moving velocity and the command from the joystick shows better performance in the change of moving direction.

• 대한의용생체공학회:학술대회논문집
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• 대한의용생체공학회 1992년도 추계학술대회
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• pp.71-76
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• 1992

In this study, Fuzzy control algorithm to generate a change of rocomotion cordition according to an outer environment is introduced on a motorized wheelchair control. An optimal control rules for conquesting the less of safety and system inefficiency in the past are given to this motorized wheelchair. And dynamic analysis is also adopted to it. Using those rules, a proportional control was possible when the vehicle changed its moving direction. The proposed method which considers the relationship between a moving velocity and the command from the joystick shows better performance in the change of moving direction.

• 대한전기학회논문지:시스템및제어부문D
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• 제50권11호
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• pp.514-521
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• 2001

This paper uses the distributed heating thin metal moving at constant velocity which are modeled as distributed parameter systems, and applies the Paley order of Walsh functions to high order partial differential equations and matrix partial differential equations. This thesis presents a new algorithm which usefully exercises the optimal control in the distributed parameter systems. In this paper, the excellent consequences are found without using the existing decentralized control or hierarchical control method.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1997년도 하계학술대회 논문집 B
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• pp.696-698
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• 1997

The marine diesel engine have been widely applied with a mechanical hydraulic governor to control the ship speed for long time. But it was recently very difficult for the mechanical hydraulic governor to control the speed of engine under the condition of low speed and low load because of jiggling by rough fluctuation of rotating torque and hunting by dead time of diesel engine. In order to analyze the speed control system the transfer function was converted from z to w transformation. The author proposed velocity control system with feedback loop by PID controller in order to stabilize for unstable area. The influence of dead time was discussed by Nichols chart and unit step response curve. It was confirmed through computer simulation that the performance improvement of a mechanical hydraulic governor can be obtained by PID controller.