• Journal of Institute of Control, Robotics and Systems
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• v.22 no.6
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• pp.411-416
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• 2016

This paper presents the design methodology of an unknown input observer for Lipschitz nonlinear systems with unknown inputs in the framework of convex optimization. We use an unknown input observer (UIO) to consider both nonlinearity and disturbance. By deriving a sufficient condition for exponential stability in the linear matrix inequality (LMI) form, existence of a stabilizing observer gain matrix of UIO will be assured by checking whether the quadratic stability margin of the error dynamics is greater than the Lipschitz constant or not. If quadratic stability margin is less than a Lipschitz constant, the coordinate transformation may be used to reduce the Lipschitz constant in the new coordinates. Furthermore, to reduce the maximum singular value of the observer gain matrix elements, an object function to minimize it will be optimally designed by modifying its magnitude so that amplification of sensor measurement noise is minimized via multi-objective optimization algorithm. The performance of UIO is compared to a nonlinear observer (Luenberger-like) with an application to a flexible joint robot system considering a change of load and disturbance. Finally, it is validated via simulations that the estimated angular position and velocity provide true values even in the presence of unknown inputs.

• Journal of the Society of Naval Architects of Korea
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• v.29 no.4
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• pp.132-145
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• 1992

A series of design, theoretical analysis and model test procedures is presented for the development of an axisymmetric stator-propeller system. A preswirl stator is located in front of a propeller in order to improve the propulsion efficiency by cancellation of the slip stream rotational velocity due to the propeller. Model test results show that propulsion efficiency gain due to the symmetric stator-propeller system is about 3% compared to the single propeller. This efficiency gain would increase for full scale application since the pressure drag coefficient of the stator would decrease due to increasement of turbulent intensity behind the hull wake and increasement of Reynolds number.

• Steel and Composite Structures
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• v.31 no.4
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• pp.387-396
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• 2019

This paper deals with the effect of ply orientation and control gain on tip transverse displacement of functionally graded beam layer for both active constrained layer damping (ACLD) and passive constrained layer damping (PCLD) system. The functionally graded beam is taken as host beam with a bonded viscoelastic layer in ACLD beam system. Piezoelectric fiber reinforced composite (PFRC) laminate is a constraining layer which acts as actuator through the velocity feedback control system. A finite element model has been developed to study actuation of the smart beam system. Fractional order derivative constitutive model is used for the viscoelastic constitutive equation. The control voltage required for ACLD treatment for various symmetric ply stacking sequences is highest in case of longitudinal orientation of fibers of PFRC laminate over other ply stacking sequences. Performance of symmetric and anti-symmetric ply laminates on damping characteristics has been investigated for smart beam system using time and frequency response plots. Symmetric and anti-symmetric ply laminates significantly reduce the amplitude of the vibration over the longitudinal orientation of fibers of PFRC laminate. The analysis reveals that the PFRC laminate can be used effectively for developing very light weight smart structures.

• ETRI Journal
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• v.43 no.3
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• pp.400-413
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• 2021

This paper theoretically and empirically explores the reliability gain that can be obtained by installing multiple antennas in on-vehicle broadcasting receivers. Analytical derivations reveal that maximal-ratio-combining-based diversity allows a multi-antenna receiver (MR) to achieve significantly better coverage probability than a single-antenna receiver (SR). In particular, the notable MR gains for low-power reception and high-throughput services are highlighted. We also discuss various aspects of mobile MRs, including geometric coverage, volume of the users served, and impact of receiver velocity. To examine the feasibility of MRs in the real world, extensive field experiments were conducted, particularly with on-air ATSC 3.0 broadcast transmissions. Relying on the celebrated erroneous second ratio criterion, MRs with two and four antennas were verified to achieve notable reliability gains over SRs in practice. Furthermore, our results also prove that layered-division multiplexing can cope better with receiver mobility than traditional time-division multiplexing when multiple services are intended in the same radio frequency channel.

• Journal of the Korean Society for Precision Engineering
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• v.10 no.2
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• pp.54-65
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• 1993

The paper describes and alternative method based on a new idea to measure the circular movement of machining centers. ISO has employed three testing methods for the acceptance tests of machine tools; the first is a rotating one-dimensional probe method, the second is a two-dimensional probe and a master circular ring, and the third is a kinematic ball bar. The last two methods were proposed and introduced by W. Knapp and J. B. Bryan, respectively. The newly developed method is superior to above two methods; the rotating angle can be detected and the rotating radius is variable. Circular movement errors of machining centers were investigated by the analysis of data measured by R- .THETA. method. Followint observations are obtained 1) The errors which depend on positions, i.e., periodical errors by the pitch of ball screws, errors by compensation of backlash and errors by perpendicularity of X and Y-axis, were analyzed. 2) The errors which depend on NC control system, i.e., errors by the unbalance of position-loop-gaians, errors by velocity-loop-gains and errors by feed speeds, were quantiatively analyzed. 3) The method of extracting error information, which uses moving technique of averaging angle and fourier's analysis data mesured by the R- .THETA. method, was proposed.

• 한국신재생에너지학회:학술대회논문집
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• 2010.11a
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• pp.43.1-43.1
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• 2010

In the crystalline silicon solar cells, the full area aluminum_back surface field(BSF) is routinely achieved through the screen-printing of aluminum paste and rapid firing. It is widely used in the industrial solar cell because of the simple and cost-effective process to suppress the overall recombination at the back surface. However, it still has limitations such as the relatively higher recombination rate and the low-to-moderate reflectance. In addition, it is difficult to apply it to thinner substrate due to wafer bowing. In the recent years, the dielectric back-passivated cell with local back contacts has been developed and implemented to overcome its disadvantages. Although it is successful to gain a lower value of surface recombination velocity(SRV), the series resistance($R_{series}$) becomes even more important than the conventional solar cell. That is, it is a trade off relationship between the SRV and the $R_{series}$ as a function of the contact size, the contact spacing and the geometry of the opening. Therefore it is essential to find the best compromise between them for the high efficiency solar cell. We have investigated the optimal design for the local back contact by using PC1D simulation.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2003.10b
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• pp.47-50
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• 2003

Grain size of the $\alpha$ phase is computed during isothermal forging of the TC6 aerofoil blade, by combining FE with the Yada's model of grain size. The present results illustrate the grain size and distribution of the $\alpha$ phase during isothermal forging of the TC6 aerofoil blade' in detail. The computed results show that height reduction, deformation temperature, hammer velocity and friction have significant effect on distribution of the equivalent strain, and that height reduction, deformation temperature and hammer velocity have more significant effect on grain size of the $\alpha$ phase than friction between billet and die.

• Journal of the Korean earth science society
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• v.36 no.5
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• pp.419-426
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• 2015

We investigated the high dispersion spectra that had been secured at the center of the planetary nebula NGC 7027 with the Bohyunsan Optical Echelle Spectrograph (BOES) on October, 20, 2009. We analyzed the forbidden lines of [OI], [SII], [OII], [NII], [ClIII], [ArIII], [OIII], [ArIV], [NeIII], [ArV], and [CaV] in the $3770-9225{\AA}$ wavelength region. The expansion velocities were derived from double Gaussian line profiles of the emission lines, after eliminating the subsidiary line broadening effects. The radial variations of the expansion velocities were obtained by projecting the derived expansion velocities: $19.56-31.93kms^{-1}$ onto the equatorial shell elements of the inner and the outer boundaries of the main shell of 2.5(2.1)" and 3.8(3.6)", according to the ionization potential of each ion. Analysis of equatorial shell spectra indicated that the equatorial shell generally expands in an accelerated velocity mode, but the expansion pattern deviates from a linear velocity growth with radial distance. NGC 7027, of which age is about 1000 years or less, might be still at its early stage. During the first few hundred years, plausibly in its early stage, the main shell of PN expands very slowly and, later, it gradually gain its normal expansion speed.

• Transactions of the Korean Society of Automotive Engineers
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• v.2 no.5
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• pp.101-109
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• 1994

Recently, four-wheel steering systems have been developed and studied as one of the latest automotive technologies for improving the handling characteristics of a vehicle. In much of the proposed four-wheel steering systems, the side slip angle at the vehicle's center of gravity is maintained at zero. This approach allows the greater maneuverability at low speed by means of counter-phase rear steering and the improved stability at high speed through same-phase rear steering. In this paper, the effects of several four-wheel steering systems are studied and discussed on the responsiveness and stability of the vehicle by using the linear analysis. Especially, the effects of the cornering stiffnesses of both front and rear wheels are investigated on the yaw velocity gain and critical speed of the vehicle.

• Transactions of the Korean Society of Automotive Engineers
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• v.21 no.5
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• pp.40-46
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• 2013

Automatic swing door for an automotive application is considered. The equation of motion for a driver side swing door is introduced and gravity cancellation control scheme is adapted. The control scheme supposed to cancel the moment due to the tilt of the car. A speed control is suggested for door operation automation but the output of the speed control is not suppose to be precise as for the manufacturing system control. In the frame of the velocity control of the door, feedback linearization was applied for collision detection. The collision detection performance is satisfactory. The estimate of the magnitude of disturbance due to the collision is close to the actual magnitude of disturbance. Simulation study has been performed to gain insight into the system behavior. Also real test on the prototype hardware has been performed for verification purpose.