• 한국자원식물학회지
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• 제28권4호
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• pp.400-410
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• 2015

Juniperus chinensis (Cupressaceae) is a valuable woody plant resource, but this rare plant is only distributed in restricted regions in Korea. In this study, we surveyed the geographic distribution regions, variation of sex ratio and the dynamics of natural populations of J. chinensis. in order to establish conservation strategies for the sustainable conservation of this important resource tree. The 17 natural populations of J. chinensis are restrictively distributed in the shore cliffs of (1) Ulleungdo island, (2) Gyeongju-si to Gangneung-si of the eastern coast, the riverside cliff along (3) Donggang-river of Jungsun-gun and Pyeongchang-gun and (4) branch of Nakdonggang-river in Uiseong-gun. The populations in Ulleungdo island showed continuous population distribution of over 200 individuals, but populations in other regions had discontinuous population distribution of under 200. The population of J. chinensis surveyed in Korea was estimated in ca. 3,200 individuals. The sex ratio (male/female) among populations of J. chinensis was diverse with variation from 0.46~1.67 range, but showed no significance. The sex ratio of the total individuals by species level was 0.74, and the percentage of female tree was significantly higher than the male. The results of dynamics analysis within population among regions showed that seedlings and saplings of J. chinensis in three regions surveyed were continuously regenerating. The distribution of DBH class showed a stable population structure of inverse J shape graph, but fragmentation and decrease in populations because of invading broad-leaved shrubs and trees from the surroundings were concerned. Further studies, and in situ and ex situ conservation strategies for the sustainable conservation on natural populations of this rare resources woody plant, J. chinensis in Korea are recommended.

• 드라이브 ㆍ 컨트롤
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• 제17권1호
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• pp.44-50
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• 2020

For the requirement of accurate tracking control and the safety of physical human-robot interaction, torque control is basically desirable for humanoid robots. Because of the complexity of humanoid robot dynamics, the TDC (time-delay control) is practical because it does not require a dynamic model. However, there occurs a considerable error due to discontinuous non-linearities. To solve this problem, the TDC-FLC (fuzzy logic compensator) is applied to humanoid robots. The applied controller contains three factors: a TDE (time-delay estimation) factor, a desired error dynamic factor, and FLC to suppress the TDE error. The TDC-FLC is easy to execute because it does not require complicated humanoid dynamic calculations and the heuristic fuzzy control rules are intuitive. TDC-FLC is implemented on the whole body of a humanoid, not on biped legs even though it is performed by a virtual humanoid robot. The simulation results show the validity of the TDC-FLC for humanoid robots.

• Journal of Electrical Engineering and Technology
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• 제6권4호
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• pp.519-526
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• 2011

An investigation of the mechanism of period-doubling bifurcation in a voltage mode controlled buck-boost converter operating in discontinuous conduction mode is conducted from the viewpoint of nonlinear dynamical systems. The discrete iterative model describing the dynamics of the close-loop is derived. Period-doubling bifurcation occurs at certain values of the feedback factor. Results from numerical simulations and experiments are provided to verify the evolution of perioddoubling bifurcation, and the results are consistent with the theoretical analysis. These results show that the buck-boost converters exhibit a wide range of nonlinear behavior, and the system exhibits a typical period-doubling bifurcation route to chaos under particular operating conditions.

• 제어로봇시스템학회논문지
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• 제13권1호
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• pp.15-18
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• 2007

We consider the problem of designing a static output feedback sliding mode control law for linear dynamical systems with mismatched uncertainties in the state matrix. We assume that an output dependent sliding surface guaranteeing the quadratic stability of the sliding mode dynamics is given, the reachability condition is not required to be satisfied globally, and the output feedback sliding mode control law complises both linear and discontinuous parts. We reduce the problem of designing the linear part of the sliding mode control law to a simple LMI problem which offers design flexibility for combining various useful convex design specifications. Our approach does not require state transformation and it can be applied to mismatched uncertain systems.

• Smart Structures and Systems
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• 제19권5호
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• pp.577-585
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• 2017

In this paper, an adaptive fuzzy sliding mode controller (AFSMC) is designed to reduce dynamic responses of seismically excited structures. In the conventional sliding mode control (SMC), direct implementation of switching-type control law leads to chattering phenomenon which may excite unmodeled high frequency dynamics and may cause vibration in control force. Attenuation of chattering and its harmful effects are done by using fuzzy controller to approximate discontinuous part of the sliding mode control law. In order to prevent time-consuming obtaining of membership functions and reduce complexity of the fuzzy rule bases, adaptive law based on Lyapunov function is designed. To demonstrate the performance of AFSMC method and to compare with that of SMC and fuzzy control, a linear three-story scaled building is investigated for numerical simulation based on the proposed method. The results indicate satisfactory performance of the proposed method superior to those of SMC and fuzzy control.

• Advances in aircraft and spacecraft science
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• 제9권5호
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• pp.463-477
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• 2022

This study compares various ways of calculating flows for the problems with the presence of shock waves by first-order schemes and higher-order DG method on the tests from the Quirk list, namely: Quirk's problem and its modifications, shock wave diffraction at a 90 degree corner, the problem of double Mach reflection. It is shown that the use of HLLC and Godunov's numerical schemes flows in calculations can lead to instability, the Rusanov-Lax-Friedrichs scheme flow can lead to high dissipation of the solution. The most universal in heavy production calculations are hybrid schemes flows, which allow the suppression of the development of instability and conserve the accuracy of the method.

• 한국표면공학회지
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• 제51권5호
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• pp.257-262
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• 2018

Cesium lead halide perovskite quantum dots (QDs) have recently emerged as highly promising opto-electronic materials. Despite the relative facile anion exchange reactions in cesium lead halide perovskite QDs, in depth study of the anion exchange reactions such as reaction kinetics are required that can provide insight into the crystal transformation in the cesium lead halide perovskite QDs. Herein, we investigated the anion exchange reaction from $CsPbI_3$ QDs to $CsPbBr_3$ QDs with varying the particle size of the starting $CsPbI_3$ QDs. By characterizing the PL spectra in the anion exchange reaction process, we observed that discontinuous PL peak shifts during I-to-Br anion exchange reaction in starting $CsPbI_3$ QDs over a critical size. Origin of the discontinuous I-to-Br anion exchange kinetics are mainly due to thermodynamically unstable nature of the $CsPb(Br/I)_3$ alloy QDs.

• 전기학회논문지
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• 제66권12호
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• pp.1759-1771
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• 2017

In this paper, an improved continuous integral variable structure systems(ICIVSS) with the prescribed control performance is designed for simple regulation controls of uncertain general linear systems. An integral sliding surface with an integral state having a special initial condition is adopted for removing the reaching phase and predetermining the ideal sliding trajectory from a given initial state to the origin in the state space. The ideal sliding dynamics of the integral sliding surface is analytically obtained and the solution of the ideal sliding dynamics can predetermine the ideal sliding trajectory(integral sliding surface) from the given initial state to the origin. Provided that the value of the integral sliding surface is bounded by certain value by means of the continuous input, the norm of the state error to the ideal sliding trajectory is analyzed and obtained in Theorem 1. A corresponding discontinuous control input with the exponential stability is proposed to generate the perfect sliding mode on the every point of the pre-selected sliding surface. For practical applications, the discontinuity of the VSS control input is approximated to be continuous based on the proposed modified fixed boundary layer method. The bounded stability by the continuous input is investigated in Theorem 3. With combining the results of Theorem 1 and Theorem 3, as the prescribed control performance, the pre specification on the error to the ideal sliding trajectory is possible by means of the boundary layer continuous input with the integral sliding surface. The suggested algorithm with the continuous input can provide the effective method to increase the control accuracy within the boundary layer by means of the increase of the $G_1$ gain. Through an illustrative design example and simulation study, the usefulness of the main results is verified.

• Interaction and multiscale mechanics
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• 제4권4호
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• pp.291-311
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• 2011

To simulate the self excited torsional vibrations of rotating drill strings (DSs) in vertical bore-holes, the nonlinear wave models of homogeneous and sectional torsional pendulums are formulated. The stated problem is shown to be of singularly perturbed type because the coefficient appearing before the second derivative of the constitutive nonlinear differential equation is small. The diapasons ${\omega}_b\leq{\omega}\leq{\omega}_l$ of angular velocity ${\omega}$ of the DS rotation are found, where the torsional auto-oscillations (of limit cycles) of the DS bit are generated. The variation of the limit cycle states, i.e. birth (${\omega}={\omega}_b$), evolution (${\omega}_b<{\omega}<{\omega}_l$) and loss (${\omega}={\omega}_l$), with the increase in angular velocity ${\omega}$ is analyzed. It is observed that firstly, at birth state of bifurcation of the limit cycle, the auto-oscillation generated proceeds in the regime of fast and slow motions (multiscale motion) with very small amplitude and it has a relaxation mode with nearly discontinuous angular velocities of elastic twisting. The vibration amplitude increases as ${\omega}$ increases, and then it decreases as ${\omega}$ approaches ${\omega}_l$. Sectional drill strings are also considered, and the conditions of the solution at the point of the upper and lower section joints are deduced. Besides, the peculiarities of the auto-oscillations of the sectional DSs are discussed.

• 전자공학회논문지SC
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• 제38권6호
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• pp.28-36
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• 2001

피드-포워드 보상부분과 불연속 제어 부분으로 구성되는 강건한 적응 슬라이딩 모드 로봇제어 알고리즘을 유도하였다. 미지의 매개변수는 실시간으로 추정되는 매개변수를 포함하는 그룹과 실시간으로 추정하지 않는 매개변수를 포함하는 그룹으로 나누어진다. 그런 다음 외란 및 실시간으로 추정하지 않는 매개변수에서의 불확실성 효과를 보상하기 위해 슬라이딩 제어 항이 토크 입력에 포함된다. 또한 매니퓨레이터 동역학 구조의 효율적인 이용으로 인하여 알고리즘은 계산이 간단하다. 매개변수 불확실성과 외부 외란의 존재에도 불구하고 제어기는 대국적 점근적으로 안정하며 추적오차가 영에 수렴함을 보여준다.