• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1996.10a
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• pp.156-160
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• 1996

In this study of made Unloader is moving linear transfer system for mainly plastic working or forming of small electronic unit and other at press line. This machine for lading and unloading a workpiece has been installed in a press in order to load and unload a workpiece form a press die. Control method be used PLC. it took data of input from each sensor and send signal of output to actuator today we have a lot of problem at work of press line. most of press work be operated by human so they often hurted terreble accident by press machine. Because press working system in automotive factories are now changing over to a transfer press working system this Unloader will give more easily and speedy production and manpower saving less of pruduction cost high perfomance

• Journal of the Korean Society for Precision Engineering
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• v.26 no.4
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• pp.82-90
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• 2009

Pneumatic cylinder is one of the low cost actuation sources which have been applied in industrial and prosthetic application since it has a high power/weight ratio, a high-tension force and a long durability However, the control problems of pneumatic systems, oscillatory motion and compliance, have prevented their widespread use in advanced robotics. To overcome these shortcomings, a number of newer pneumatic actuators have been developed such as McKibben Muscle, Rubber Actuator and Pneumatic Artificial Muscle (PAM) Manipulators. In this paper, one solution for position control of a robot arm, which is driven by two pneumatic artificial muscles, is presented. However, some limitations still exist, such as a deterioration of the performance of transient response due to the changes in the external load of the robot arm. To overcome this problem, a switching algorithm of the control parameter using a learning vector quantization neural network (LVQNN) is proposed in this paper. This estimates the external load of the pneumatic artificial muscle manipulator. The effectiveness of the proposed control algorithm is demonstrated through experiments with different external working loads.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.12
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• pp.169-175
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• 2000

Stable and comfortable walking supports, which can reduce the body weight load partially, are needed for the recovering patients from neurologic disease and orthopedic procedures. In this paper, the development of a manipulator of rehabilitation robot for the patients with walking disabilities are studied. A force controller using pneumatic actuators is designed and implemented to the human friendly rehabilitation robot considering the safety of patients, reliability of the system, effectiveness of the unloading control and economic maintenance of the system. The mechanism of the unloading manipulator is devised to improve the sensibility for the movement of the patients such as direction and velocity. For the unloading force control, fuzzy control algorithm is adopted to reduce the partial body weight and suppress the unwanted fluctuation of the body weight load to the weak legs due to the unnatural working of the patients with walking disabilities. The effectiveness of the force control is experimentally demonstrated.

• Journal of Power Electronics
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• v.16 no.3
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• pp.915-924
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• 2016

A digital self-sustained phase shift modulation (DSSPSM) strategy that allows for good soft switching and dynamic response performance in the presence of step variations is presented in this paper. The working principle, soft switching characteristics, and voltage gain formulae of a LLC converter with DSSPSM have been provided separately. Furthermore, the method for realizing DSSPSM is proposed. Specifically, some key components of the proposed DSSPSM are carefully investigated, including a parameter variation analysis, the start-up process, and the zero-crossing capture of the resonant current. The simulation and experiment results verify the feasibility of the proposed control method. It is observed that the zero voltage switching of the switches and the zero current switching of the rectifier diodes can be easily realized in presence of step load variations.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.1
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• pp.124-132
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• 2004

A hydraulic system is difficult to keep the performance due to non-linearity, load pressure which changes according to working condition and system parameter variation, the requirement of control algorithm has been risen in order to satisfy them. An adaptive control is a control method which is suggested to achieve a control object though plant characteristics change. In spite of the case that plant characteristics and the degree of variation are difficult to grasp, adaptive control can keep the characteristics of closed-loop system regularly. In this study GMVAC(generalized minimum variance adaptive control) combined with output error feedback is proposed in order to solve problems of non-minimum phase, vibration and overshoot in initial response of the plant. The control performance according to the variation of characteristics of the plant is evaluated by changing the supply pressure only.

• Journal of Drive and Control
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• v.17 no.4
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• pp.125-132
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• 2020

The objective of this study was to analyze the axle load of a rice transplanter when planting rice seedlings at different working load conditions to select a suitable gear stage and a constant planting depth for rice seedlings. In this study, there are four levels of planting distances (26, 35, 43, and 80 cm) and three planting depths (low, medium, and high) with two gear stages (1.3 and 1.7 m/s). Axle loads and required planting pressures were analyzed statistically. It was observed that axle torques were increased with increasing planting depths for both gear stages, meaning that axle torques were directly proportional to planting depths for both gear stages. It was also observed that required planting pressures had a significant difference between planting distances. Planting pressures also showed significant difference according to gear stage and planting depth. These results indicate that planting pressures were directly proportional to both gear stage and planting depth. Results revealed that the automatic depth control system of a rice transplanter could not guarantee a constant planting depth as supplied pressures were variable. This indicates that a control algorithm is needed to ensure a constant planting depth. In the future, a control algorithm will be developed for an automatic depth control system of a rice transplanter to improve its comprehensive performance and efficiency.

• Asian-Australasian Journal of Animal Sciences
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• v.13 no.5
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• pp.605-612
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• 2000

Four young swamp buffalo cows of similar age ranging in weight between 280 to 380 kg and trained to do physical work were used in a study to determine energy and protein requirements for draught using a $4{\times}4$ Latin square designed experiment. The experiment consisted of field trials employing 4 levels of work load, e.g. no work as control, and loads amounting 450 to 500 Newton (N) pulled continuously for 1, 2 and 3 h daily for 14 consecutive days. Cows were fed king grass (Penisetum purpuroides) ad libitum and were subjected to materials balance trials. Body composition was estimated in vivo by the body density method and daily energy expenditure (EE) was calculated from ME minus retained energy (RE). The results show that EE while not working ($EE_{resting}$) was $0.42kgW^{0.75}MJ/d$ and maintenance ME ($ME_m$) was $0.37kgW^{0.75}MJ/d$. ME requirement increased to 1.65 times maintenance for the work of 3 hours. The energy expended for doing exercise ($E_{exercise}$) was 9.56, 20.0 and 25.86 MJ/cow for treatments 1, 2 and 3 II, respectively. Fat retention was absent in all groups of working cows, but protein retention was only negative for cows undertaking 3 h work. The relationship between $E_{exercise}$ (MJ), work load (F, kN), work duration (t, h) and body mass (W, kg) was found to be: $E_{exercise}=(0.003F^{1.43}t^{0.93})/W^{0.09}MJ$. The maintenance requirement for digestible protein was $2.51kgW^{0.75}g/d$, whereas digestible protein for growth ($DP_{growth}$) and for work ($DP_{work}$) followed the equations: $DP_{growth}=[(258+1.25W^{0.75}){\Delta}Wkg/d]g$ and $DP_{work}=[12.59e^{0.95t}]g$, respectively The coefficients a, b and c for the calculation of $E_{exercise}$ components according to the Lawrence equation were found to be 2.56 J/kgW.m, 5.2 J/kg load carried.m and 0.29, respectively, thus efficiencies to convert ME into work were 0, 16.09, 27.3 and 32.44% for control, 1, 2 and 3 h/d work, respectively. ME and DP requirements for a 250 to 400 kg working buffalo cow allowing to growth up to 0.5 kg/d are presented.

• Journal of the Korean Society of Safety
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• v.12 no.3
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• pp.23-29
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• 1997

In the control of crane system, the traversing time of the trolley must be reduced as much as possible and the swing must be stopped at the end point. To design the minimum time control system, Pontryagim maximum principle is applied. In order to implement the control algorithm, the dynamic equation is linearlized at an equilibrium point, so that the linear time invariant state equation can be obtained. The overall performance of the closed loop system is evaluated by means of computer simulations and practical experiments in a broad range of working conditions. The effectiveness is proved through the experimental results for the anti-sway control of the load and the position control of trolly. It is expected that the proposed system will make an important contribution to the industrial fields.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.2
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• pp.45-53
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• 2009

Today, reduction of $CO_2$ exhaustion gas for global-warming prevention becomes important issues in all industrial fields. Hydraulic systems have been widely used in industrial applications due to high power density and so on. However hydraulic pump is always being operated by engine or electric motor in the conventional hydraulic system. Therefore most of the conventional hydraulic system is not efficient system. Recently, an electro-hydraulic hybrid system, which combines electric and hydraulic technology in a compact unit, can be adapted to a wide variety of force, speed and torque requirements. In the electro-hydraulic hybrid system, hydraulic pump is operated by electric motor only when hydraulic power is needed. Therefore the electro-hydraulic system can reduce the energy consumption drastically when compared to the conventional hydraulic systems. This paper presents a new kind of hydraulic load simulator which is composed of electro-hydraulic hybrid system. Disturbances in the real working condition make the control performance decrease or go bad. QFT controller is designed to eliminate or reduce the disturbance and improve the control performance of the electro-hydraulic load simulator. Experimental results show that the proposed controller is verified to apply for electro-hydraulic hybrid system with varied external disturbances.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.699-703
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• 2004

The autopilot system targets decreasing labor, working environment, service safety security and elevation of service efficiency. Ultimate purpose is minimizing number of crew for guarantee economical efficiency of shipping service. Recently, being achieving research about Course Keeping Control, Track Keeping Control, Roll-Rudder Stabilization, Dynamic ship Positioning and Automatic Mooring Control etc. which compensate nonlinear characteristic using optimizing control technique. And application research is progressing using real ship on actual field. Relation of Rudder angle which adjusted by Steering Machine and ship-heading angle are non-linear. And, Load Condition of ship acts as non-linear element that influence to Parameter of ship. Also, because the speed of a current and direction of waves, velocity and quantity of wind etc. that id disturbance act in non-linear form, become factor who make service of shipping painfully. Therefore, service system of shipping requires robust control algorithm that can overcome nonlinearity. In this paper, Using GA algorithm,design autopilot system of ship that could overcome the non-linear factor of ship and disturbance and examined result through simulation.