• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.151.4-151
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• 2001

Chattering-free sliding mode control is derived from the reaching law method and Lyapunov stability theorem. Its control input Is composed of continuous term and discontinuous term. By the combination of these terms, the robustness and tracking performance can be improved and the chattering can be avoided. But in the reaching mode, the sliding mode control is sensitive to the modeling uncertainties, parameter variations and disturbances, also it needs a large control input. These result in poor transient responses. In this paper, to overcome these problems in the reaching mode, a time-varying sliding surface is proposed. And it is applied to a 2-link SCARA robot manipulator, experimental results show that the transient response is improved and its ...

• Journal of Mechanical Science and Technology
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• v.18 no.1
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• pp.37-44
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• 2004

This paper presents an approach to optimally design the air bearing surface (ABS) of the head slider by using the approximation methods. The reduced basis concept is used to reduce the number of design variables. In the numerical calculation, the progressive quadratic response surface modeling (PQRSM) is used to handle the non-smooth and discontinuous cost function. A multi-criteria optimization problem is formulated to enhance the flying performances over the entire recording band during the steady state and track seek operations. The optimal solutions of the sliders, whose target flying heights are 12 nm and 9 nm, are automatically obtained. The flying heights during the steady state operation become closer to the target values and the flying height variations during the track seek operation are smaller than those for the initial one. The pitch and roll angles are also kept within suitable ranges over the recording band.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.23 no.1
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• pp.43-57
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• 1999

The fluid flow and heat transfer in a thin liquid film are investigated numerically. The flow Is assumed to be two-dimensional laminar and surface tension is considered. The most important characteristics of this flow is the existence of a hydraulic jump through which the flow undergoes very sharp and discontinuous change. Arbitrary Lagrangian-Eulerian(ALE) method is used to describe moving free boundary and a modified SIMPLE algorithm based on streamline upwind Petrov-Galerkin(SUPG) finite element method is used for time marching iterative solution. The numerical results obtained by solving unsteady full Navier-Stokes equations are presented for planar and radial flows subject to constant wall temperature or constant wall heat flux, and compared with available experimental data. It Is discussed systematically how the inlet Reynolds and Froude numbers and surface tension affect the formation of a hydraulic jump. In particular, the effect of temperature dependent fluid properties is also discussed.

• Journal of the Korean Society for Heat Treatment
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• v.16 no.5
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• pp.253-259
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• 2003

In this study, to find out the reason of deterioration in surface roughness of steel and cast iron after Tufftride, it has been investigated on the relation between the surface roughness and various factors such as the evolution of compound layer, surface morphology, and surface hardness, and change of pore ratio in the compound layer during Tufftride at $580^{\circ}C$. It is found that the surface roughness was increased with the evolution of compound layer during Tufftride of steel and cast iron. The change of surface roughness after Tufftride was reduced with decreasing tho content of carbon and cementite ($Fe_3C$) in the materials. in the cast irons, the various shaped graphites that was exposed to the surface should induce the discontinuous growth of the compound layer, and this resulted in the incoherent interfaces between matrix and compound layer and the deterioration of surface roughness. In the steels, the existence of cementites in the matrix resulted in the incoherent interfaces between matrix and compound layer. It is considered that during Tufftride the surface roughness must be mainly influenced by the formation of the incoherent interface between compound layer and matrix that is affected by some factors such as the microstructure, the composition, and the hardness of the matrix.

• Korean Journal of Materials Research
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• v.9 no.4
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• pp.335-340
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• 1999

The hot cracking phenomena and phase behaviors during hot working process of Cu-Ni bearing hot rolled steels were investigated by a $90^{\circ}$bending tests, BSE image analysis and EDS analysis. For aNi-free 1.2% Cu bearing steel, the surface hot cracking occurred about $1100^{\circ}C$ due to a liquid state Cu-enriched phase formed continuously at the interface between oxide scale and matrix. The liquid Cu-enriched phase penetrated into austenite grain boundaries and caused surface cracking during the hot working. In case of 0.6% Ni containing 1.2% Cu-Ni bearing steel, solid state Cu-Ni-riched phase existed at the scale/matrix interface as a discontinuous type. But the higher addition of 1.2% Ni, solid state Ni-Cu-riched phase was formed dominantly in the oxide scale. It was found that the addition of Ni suppressed the surface cracking of 1.2% Cu bearing steel by eliminating the liquid state Cu-enriched phase.

• Journal of Convergence Society for SMB
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• v.4 no.2
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• pp.25-31
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• 2014

Sliding mode design and analysis for nonlinear system was carried out. A designer will determine the parameters to know about the performance and robustness of the system dynamics. To investigate the characteristics of sliding mode control, an inverted pendulum model is applied by the sliding mode control and the state concerned is output. Comparison is made by evaluating different initial conditions, sliding numerical components for sliding surface, and input gain, the dynamic of output will be investigated to conclude the generality. Control approaches have their limitations and sliding mode control is no exception. The chattering problem is its main negative effect to overcome. This effect is displayed and in this project chattering problem is suppressed by a modified discontinuous controller.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.12
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• pp.1067-1071
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• 2013

A 3D visual sensing method using a laser structured beam is presented for robotic tracking applications in a simple and reliable manner. A cylindrical shaped laser structured beam is proposed to measure the pose and position of the target surface. When the proposed laser beam intersects on the surface along the target trajectory, an elliptic pattern is generated. Its ellipse parameters can be induced mathematically by the geometrical relationship of the sensor coordinate and target coordinate. The depth and orientation of the target surface are directly determined by the ellipse parameters. In particular, two discontinuous points on the ellipse pattern, induced by seam trajectory, indicate mathematically the 3D direction for robotic tracking. To investigate the performance of this method, experiments with a 6 axis robot system are conducted on two different types of seam trajectories. The results show that this method is very suitable for robot seam tracking applications due to its excellence in accuracy and efficiency.

• Journal of the korean academy of Pediatric Dentistry
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• v.23 no.4
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• pp.840-858
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• 1996

The main purpose of this study was to evaluate the anticariogenic effect of argon laser. Histological observations on lesion initiation and progression were performed under the polarized microscope. The results from the present study can be summarized as follows; 1. The specimens of laser cured group were shown to have more irregular and discontinuous lesion body in general than visible light cured group with rather continuous positive birefringence. 2. With lesion initiation and progression, almost all the specimens showed deeper body of lesion with shallower intact surface zone in the visible light cured group than the laser cured group(p<0.05). When the comparision was made between the two argon laser cured groups, the single-cure group showed deeper lesion body and the shallower surface layer than double-cure group. 3. Based upon the above mentioned results of this study, it can be assumed that the use of argon laser in the procedure of resin polymerization may provide the child and adolescent patient population with anticariogenic effect as well as efficient polymerization. Further studies using various materials and experimental conditions are being encouraged.

• IEIE Transactions on Smart Processing and Computing
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• v.2 no.3
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• pp.117-129
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• 2013

The increasing demand for monitoring wildfires and their impact on the land surface have prompted studies of burned area extraction and analysis. To differentiate burned and unburned area, the earlier method of the Moderate Resolution Imaging Spectro-radiometer (MODIS) Burned Area Detection Algorithm was proposed to estimate the change in land surface based on the reflectance energy. The energy, whose wavelengths are sensitive to burning, was selected to calculate the change parameter $Z_{score}$. This method was applied using the MODIS images to produce a MODIS Burned Area product. The approach was to simplify this algorithm to make it compatible with the Landsat 7 ETM+ SLC-off images. To extract the refined version of burned regions, post-processing was carried out by applying a median filter, dilation morphology algorithm, and finally a gap filling method. The experimental results showed that the detailed burned areas extracted from the proposed method exhibited more spatial details than those of the MODIS Burned products in the large U.S areas. The results also revealed the discontinuous distribution of burned regions in Vietnam forests.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.12
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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.