• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.600-605
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• 1989

A theoretical study is presented for the end-point holding control of a one-link flexible arm, whose base is subjected to a lateral fluctuation. The arm is clamped on a rigid hub mounted directly on the shaft of d.c. servomoter. The tip position is measured by a gap sensor fixed in space isolated from the system vibration. The arm is controlled so as to make the end point stay precisely at its initial position even if the base is fluctuated.

• Journal of Mechanical Science and Technology
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• v.20 no.5
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• pp.643-651
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• 2006

The theory for a novel fault-tolerant 4-active-pole homopolar magnetic bearing is developed. If any one coil of the four coils in the bearing actuator fail, the remaining three coil currents change via an optimal distribution matrix such that the same opposing pole, C-core type, control fluxes as those of the un-failed bearing are produced. The hompolar magnetic bearing thus provides unaltered magnetic forces without any loss of the bearing load capacity even if any one coil suddenly fails. Numerical examples are provided to illustrate the novel fault-tolerant, 4-active pole homopolar magnetic bearings.

• International Journal of Aeronautical and Space Sciences
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• v.5 no.1
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• pp.19-29
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• 2004

• The Transactions of the Korean Institute of Electrical Engineers
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• v.45 no.1
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• pp.123-130
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• 1996

Due to high payload capacity and high length-to -cross-section ratio requirements, long-reach manipulator systems are expected to exhibit significant structural flexibility. To avoid structural vibrations during operations, various types of input shaping filtering methods have been investigated. A robust notch filtering method and an impulse shaping filtering method were investigated and implemented. In addition, two very different approaches have been developed and compared. One new approach, referred to as a

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.280-284
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• 1997

In this paper, Nonlinear VSS control based on bang-bang control concept is derived under the assumption that the control input is bounded. We try to derive control algorithm which has almost same performance as the time optimal control. We focus this control scheme on the real implementation of DC motor position controller of flexible link, i.e. we obtain the switching curves from the real data of DC motor system operating under the full maximum and minimum applied voltages. State space is separated into several regions and we set different switching surfaces in each region to reduce chattering problem. The efficiency of the proposed controller is compared with PID controller and it is shown that the controller converges fast than PID controller without chattering. The hybrid controller scheme is also proposed not only to control the position of hub but also to reduce the vibration of end tip of flexible link.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.6 no.2
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• pp.121-126
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• 2006

In the recent years, the development of computer-controlled suspension dampers and actuators has improved the trade-off between the vehicle handling and ride comfort, and has led to the development of various damper control policies. The skyhook control is an effective control strategy for suppressing vehicle vibration. In this study, a fuzzy skyhook control is proposed and tuned by a genetic algorithm to improve ride comfort. The proposed fuzzy skyhook control is applied to a quarter-car model in order to compare its performance with continuous skyhook suspensions. To obtain optimized fuzzy skyhook control, scale factors and in-out membership functions are tuned by a genetic algorithm. The simulation results show that the fuzzy skyhook control offers more effective suspension performance over the continuous skyhook control.

• Structural Engineering and Mechanics
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• v.33 no.1
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• pp.79-93
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• 2009

This paper investigates the possibility of controlling the response of typical portal frame structures to blast loading using a combination of semi-active and passive control devices. A one storey reinforced concrete portal frame is modelled using non-linear finite elements with each column discretised into multiple elements to capture the higher frequency modes of column vibration response that are typical features of blast responses. The model structure is subjected to blast loads of varying duration, magnitude and shape, and the critical aspects of the response are investigated over a range of structural periods in the form of blast load response spectra. It is found that the shape or length of the blast load is not a factor in the response, as long as the period is less than 25% of the fundamental structural period. Thus, blast load response can be expressed strictly as a function of the momentum applied to the structure by a blast load. The optimal device arrangements are found to be those that reduce the first peak of the structural displacement and also reduce the subsequent free vibration of the structure. Semi-active devices that do not increase base shear demands on the foundations in combination with a passive yielding tendon are found to provide the most effective control, particularly if base shear demand is an important consideration, as with older structures. The overall results are summarised as response spectra for eventual potential use within standard structural design paradigms.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.1
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• pp.31-37
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• 2011

Recently gantry-type robot with 3 axes rectangular coordinates have been studied in the many industrial production equipment and machinery fields. To acquire a good handling and motion performance of this robot, reducing the settling-time and securing the accurate-transfer positioning under high-speed conditions should be required. However when robot is moved in high-speed, the large inertia of robot can lead to serious vibration of robot's head. The time-delayed control characteristics of this robot can also lead to tracking error. In this research, the analysis of the effects of higher order positional-profile is carried out to assure high-speed performance and stiffness specifications. To remove the residual vibration caused by kinematic coupling effect of dual-servo gantry, we develop a dual-servo gantry of rotary type that moving frame of x-axis rotates about z-axis. In order to decrease the tracking error, the 3 type lead-filter through system identification was applied respectively. From the experimental results, it was shown that zero-order series leader-filter has the best performance about tracking error and settling time.

• Physical Therapy Rehabilitation Science
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• v.5 no.4
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• pp.163-169
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• 2016

Objective: The purpose of this study was to investigate the effects of vibration resistance exercise (VRE) in patients with tennis elbow on strength, range of motion (ROM), function, pain and quality of life (QOL). Design: Randomized controlled trial. Methods: Twenty-seven participants were randomly assigned to either the VRE group (n=9), weight resistance exercise (WRE) group (n=9) or control group (n=9). Each group underwent hot compress for 15 minutes and electrotherapy for 15 minutes. The VRE group underwent exercises using a vibrating ball for 5 minutes. The WRE group underwent exercises using dumbbells for 5 minutes. All participants were evaluated on wrist extension strength using a hand-held dynamometer, grip strength level through an electric dynamometer, and ROM through a smartphone goniometer application before and after intervention. Patient-rated tennis elbow evaluation, Visual Analogue Scale and Short Form 8 were measured by questionnaires. Results: There were showed significant differences among the VRE, WRE and control group in wrist extensor muscle and hand grip strength, ROM, elbow function, pain and QOL after intervention (p<0.05). The VRE group showed a greater significant improvement in wrist extensor muscle strength and elbow function compared with the others (p<0.05). The VRE and the WRE groups had a more significant improvement in wrist extensor muscle and hand grip strength, ROM and pain compared with the control group (p<0.05). However, there were no significant differences in QOL among the three groups. Conclusions: Combining VRE with thermotherapy and electrotherapy appears to be more effective in improving wrist extension strength, ROM, elbow function, QOL in tennis elbow patients.

• Journal of the Korea institute for structural maintenance and inspection
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• v.19 no.2
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• pp.52-59
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• 2015

In this paper, the vibration control effect of the isotropic damping devices (so-called Kagome dampers) was investigated by applying the Kagome dampers to a 20-story frame structure apartment. A new Kagome Damper System (KGDS) composed of the dampers and supporting column was proposed and numerical analyses were performed to investigate the effects of stiffness ratio between controlled structure and supporting column, the damper size and the number of the dampers. The numerical analysis results of a structure with KGDS up to the third story showed that the stiffness ratio should be higher than 6.4 and the damper size be at least $700{\times}700mm$ to effectively reduce the base shear and the maximum drift of the uppermost story. When the KGDS was installed up to the fifth story, the stiffness ratio should be higher than 7.0 and damper size needs to be at least $500{\times}500mm$ for obtaining the target performance.