• Journal of Advanced Marine Engineering and Technology
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• v.15 no.1
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• pp.85-95
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• 1991

All physical systems are nonlinear to some degree. The examples are relay, backlash, deadzone, saturation element and so on. In the linear control system design, it is useful method to restrict the nonlinearity to the linearity of system over the operation range. It is worth noting that nonlinearities may be intentionally introduced in to a system. A simple of an intentional non-linearity is the Bang-Bang controller which uses the On-Off relay. In this paper, an angular position servosystem made of a DC servomotor controlled by a microcomputer is discribed. Authors use two methods in the design of controller. The one is linear controller designed by the optimal feedback control theory only and the other is nonlinear controller designed by On-Off relay with optimal feedback control theory. To do the real time control, the controller is designed by using 16bit personal computer and A/D.D/A converter(12bit) is used in order to convert the signal. According to this way, the results from real time control are as follows. 2) Under the On-Off controller with hysterisis the influence of disturbance is considerably smaller than the linerar controller. 3) An increase in the sampling period has a destabilizing effect. 4)In the controller performance, the response time of the On-Off controller is longer than that of the linear controller. To close, we note that the On-Off controller with hysterisis is more attractive than the linear controller in the presence of the input limit.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.13 no.4
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• pp.44-55
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• 2004

In order to meet the requirement for higher thickness accuracy in tandem cold rolling processes, it is strongly necessary to have good performance in control units. To meet this requirement, this paper suggested an output regulating control system with a roll-eccentricity estimator for each rolling stand of tandem cold mills. Considering entry thickness variation and roll eccentricity simultaneously as the major disturbances, a synthesis of multivariable control systems was presented based on H$\infty$ control theory, which could reflect the knowledge of input direction and spectrum of disturbance signals on design. Then, to effectively reject roll eccentricity, a weight function having some poles on the imaginary axis was introduced. This lead to a non-standard H$\infty$ control problem, and the design procedures for solving this problem were analytically presented. The effectiveness of the proposed control method was evaluated through computer simulations and compared to that of the conventional linear quardratic control and feedforward control methods for roll eccentricity.

• Journal of Korean Neurosurgical Society
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• v.42 no.6
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• pp.441-445
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• 2007

Objective : The purpose of this study was to investigate the surgical results and prognostic factors for patients with soft cervical disc herniation with myelopathy. Methods : During the last 7 years, 26 patients with cervical discogenic myelopathy were undertaken anterior discectomy and fusion. Clinical and radiographic features were reviewed to evaluate the surgical results and prognostic factors. The clinical outcome was judged using two grading systems (Herkowitz's scale and Nurick's grade). Results : Male were predominant (4:1), and C5-6 was the most frequently involved level. Gait disturbance, variable degree of spasticity, discomfort in chest and abdomen, hand numbness were the most obvious signs. Magnetic resonance(MR) images showed that central disc herniation was revealed in 16 cases, and accompanying cord signal changes in 4. Postoperatively, 23 patients showed favorable results (excellent, good and fair) according to Herkowitz's scale. Conclusion : Anterior cervical discectomy and fusion effectively reduced myelopathic symptoms due to soft cervical disc herniation. The authors assured that the shorter duration of clinical attention, the lesser the degree of myelopathy and better outcome in discogenic myelopathy.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.422-427
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• 1994

In this paper, we propose a new design approach of a two-degrees-of-freedom compensator which assures the robust stability. First of all, we clarify the internal structure of the generalized two-degrees-of-freedom compensator. By adopting this structure, we can make a bridge between the generalized controller and the disturbance observer based controller, Secondly, based on the clarified structure we derive a robust stability condition, and propose a design algorithm of free parameter taking the condition into account. The proposed design algorithm is easy to implement and, as a result, we obtain lower order free parameter then that of the conventional design algorithm.. Thirdly, we show by adopting an appropriate coprime factorization that the clarified structure can also be regarded as an extended version of the conventional PID compensator. Finally, we apply the proposed algorithm to a three-degrees-of freedom direct drive robot, and show some experimental results to verify the effectiveness of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.61-64
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• 1996

This paper presents a new approach to the design of self-tuning adaptive control system that is robust to the changing dynamic configuration as well as to the load variation factors using Digital signal processors for robot manipulators. TMS32OC50 is used in implementing real-time adaptive control algorithms to provide advanced performance for robot manipulator. In this paper, an adaptive control scheme is proposed in order to design the pole-placement self-tuning controller which can reject the offset due to any load disturbance without a detailed description of robot dynamics. Parameters of discrete-time difference model are estimated by the recursive least-square identification algorithm, and controller parameters are determined by the pole-placement method. Performance of self-tuning adaptive controller is illustrated by the simulation and experiment for a SCARA robot.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1141-1145
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• 2005

This paper proposes a robust tension control algorithm for the let-off and take-up system driven by servo motor which is robust to disturbance and tension variation by using SVR(Support Vector Regression). Quality of textile goods in fiber manufacturing process highly depends on control of let-off, take-up and tension which are essential for constant tension control of yarn and textile fabrics and correct length of them. The physical properties of textile fabrics are very sensitive to several factors(temperature, humidity, radius change of warp beam etc.) which result in tension change. Rapid development of fiber manufacture machine for higher productivity requires control system for let-off, take-up and tension for robustness to sharp tension-variation and quick response. The validity and the usefulness of the proposed algorithm are thoroughly verified through numerical simulation.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.580-585
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• 2005

A QRT(Quad-Rotor Type) hovering robot system is developed for quick detection and observation of the circumstances under calamity environment such as indoor fire spots. The UAV(Unmanned Aerial Vehicle) is equipped with four propellers driven by each electric motor, an embedded controller using a DSP, INS(Inertial Navigation System) using 3-axis rate gyros, a CCD camera with wireless communication transmitter for observation, and an ultrasonic range sensor for height control. The developed hovering robot shows stable flying performances under the adoption of RIC(Robust Internal-loop Compensator) based disturbance compensation and the vision based localization method. The UAV can also avoid obstacles using eight IR and four ultrasonic range sensors. The VTOL(Vertical Take-Off and Landing) flying object flies into indoor fire spots and sends the images captured by the CCD camera to the operator. This kind of small-sized UAV can be widely used in various calamity observation fields without danger of human beings under harmful environment.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.720-723
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• 2005

Ship motion is a complex controlled process with several hydrodynamic parameters that vary in wide ranges with respect to ship load condition, speed and surrounding conditions (such as wind, current, tide, etc.). Therefore, to effectively control ships in a designed track is always an important task for ship masters. This paper presents an effective adaptive autopilot ships that ensure the optimal accuracy, economy and stability characteristics. The PID control methodology is modified and parameters of a PID controller is designed to satisfy conditions for an optimal objective function that comprised by heading error, resistance and drift during changing course, and loss of surge velocity or fuel consumption. Designing of the controller for course changing process is based on the Model Reference Adaptive System (MRAS) control theory, while as designing of the automatic course keeping process is based on the Self Tuning Regulator (STR) control theory. Simulation (using MATLAB software) in various disturbance conditions shows that in comparison with conventional PID autopilots, the designed autopilot has several notable advantages: higher course turning speed, lower swing of ship bow even in strong waves and winds, high accuracy of course keeping, shorter time of rudder actions smaller times of changing rudder direction.

• Journal of Korean Academy of Nursing
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• v.36 no.5
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• pp.761-769
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• 2006

Purpose: Even though a number of studies have suggested that appropriate measuring instruments of family stress for working women have to be developed, the validity and reliability of the instruments used have not been consistently examined. The purpose of the present study was to develop a sensitive instrument to measure family stress for married working women, and to test the validity and reliability of the instrument. Method: The items generated for this instrument were drawn from a comprehensive literature review Twenty four items were developed through evaluation by 10 experts and twenty one items were finally confirmed through item analysis. Psychometric testing was preformed and confirmed with a convenient sample of 240 women employed in the industrial sector. Result: Four factors evolved by factor analysis, which explained 50.5% of the total variance. The first factor 'Cooperation' explained 28.1%, 2nd factor 'Satisfaction with relationships' 10.6%, 3rd factor 'Democratic and comfortable environment' 6.3%, and 4th factor 'Disturbance of own living' 5.5%, Cronbach's coefficient of this instrument was 0.86. Conclusion: The study supports the validity and reliability of the instrument.

• Journal of ILASS-Korea
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• v.12 no.1
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• pp.1-10
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• 2007

The low frequency combustion instability phenomena generated by pressure drop oscillation such as propellant shake in feed line are studied. To generate the flowrate oscillation by the pressure pulsation up to 400Hz without flow discontinuities and cavitations, a hydrodynamic mechanical pulsator of rotating disk type was produced. Injection pressure conditions are 5, 7 and 9 bar and pressure fluctuation frequency conditions are 0, 4, 6 and 8 Hz. When the injection pressure was oscillated by a mechanical pulsator, the spray shape was pulsated regularly. During the pulsated state of the spray with a mechanical pulsator, the spray characteristics, such as spray angle and liquid film thickness in orifice exit, were measured and compared with those in steady state without a mechanical pulsator. Though the mean injection pressure was fixed in the steady and fluctuating state, there were some differences in all measured values, i.e. liquid film thickness and spray cone angle, between both states.