• 한국정밀공학회지
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• 제22권1호
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• pp.53-60
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• 2005

The wire rope of container crane is a important component to container transfer system and is used in a myriad of various applications such as elevator, mine hoist, construction machinery, and so on. If it happen wire rope failures in operating, it may lead to the safety accident and economic loss, which is productivity decline, competitive decline of container terminal, etc. To solve this problem, we developed the active and portable wire rope fault detecting system. The developed system consists of three parts that are the fault detecting, signal processing, and remote monitoring part. All detected signal has external noise or disturbance according to circumstances. Therefore we applied to discrete wavelet transform to extract a signal from noisy data that was used filter. As experimental result, we can reduce the expense for container terminal because of extension of exchange period of wire rope for container crane and this system is possible to apply in several fields to use wire rope.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.1199-1205
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• 1993

It has been well known that the assumption of full state availability is one of the most important restrictions to the practical realization of VSCS. And several attempts to alleviate the assumption had been made. However, it is not easy to find a positive scheme among them. Recently, an output feedback variable structure control system(OFVSCS) was proposed and the effectiveness of the scheme was validated for the disturbance free systems. The purpose of this study is to propose a robust OFVSCS that have the robust properties against process parameter variations and external distrubances by extending the basic OFVSCS and to evaluate its control performances through power system stabilizer design example. The ROFVSCS is composed of dynamic switching function and output feedback switching control inputs that are constructed by the use of the unknown vector modeling technique. With the proposed scheme, existence of sliding mode is guaranteed and any nonzero bias can be suppressed in the face of disturbances and process parameter variations as far as well-known matching condition is satisfied. Due to the fact that the ROFVSCS is driven by small number of measured informations, the practical application of VSCS for the systems with unmeasurable states and for high order systems that conventional schemes cannot be applied, is possible with the proposed scheme. It is noticeable that the implementation cost of VSCS can be considerably reduced without sacrifice of control performances by adopting ROFVSCS since there is no need measure the states with high measurement cost.

• 대한치과교정학회지
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• 제25권5호
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• pp.641-654
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• 1995

수직적인 문제는 심한 과개 교합에서 심한 정도의 개교에 이르기까지 다양하다. 구치와 전치의 맹출, 하악지와 하악체의 성장, 기저골과 치조골의 성장, 근육및 습관 활동의 동시적인 상호 작용이 궁극적인 수직 관계를 결정한다. '개교'라 함은 다른 치아가 최대 감합위에 있을 때, 어떤 대합치가 교합되지 않는 것이라 정의할 수 있다. 구치부 개교는 종종 치조골과 치아 맹출과 관련되어 있으며, 대부분 습관과 같은 연조직 장애나 유착등 맹출 과정중의 기계적 장애에 기인한다고 생각되어 왔으나, 때로 맹출 기전 자체의 이상에 의할 수도 있다. 몇 개의 증례 제시와 함께 구치부 개교의 원인과 치료에 대해 생각해 보고자 한다.

• 제어로봇시스템학회논문지
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• 제9권9호
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• pp.679-691
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• 2003

The band-width of disk drive servo system is rapidly increasing for the robustness to external disturbance as the track density is increasing. The increase of the band-width may cause mechanical resonance of an actuator. In disk drive servo system, a notch filter is usually used to suppress the mechanical resonance of the actuator. However, the resonance frequency differs from drive to drive because of manufacturing tolerance and varies with temperature even within a single drive. The variation of resonance frequency degrades the suppression performance of the notch filter. In this paper, we present an adaptive digital notch filter that identifies the resonance frequency of the disk drive servo actutaor precisely and adjusts automatically its center frequency. For this, we design an adaptive FIR digital filter for the estimation of the resonance frequency. The estimation filter identifies the resonance frequency adaptively using the output signal generated from the servo system, which is excited with an excitation signal including all the expected resonance frequency components. We prove mathematically the convergence of the resonance frequency estimation filter. Furthermore, in order to demonstrate the practical use of our work, we present some experimental results using a commercially available disk drive.

• 설비공학논문집
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• 제2권3호
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• pp.243-255
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• 1990

The objective of this study is to present an efficient measurement method of the effective thermal diffusivity for the fibrous insulation material. The non-linear parameter estimation (NPE) method is adapted for this analysis because of its accuracy and its results are compared with those by other direct methods such as CTP, CHP and STD method. A experimental system is constructed with bell-jar vaccum chamber, diffusion pump, tube type furnace, control unit and data acquisition system included with A/D converter and IBM XT/AT personal computer. The typical results obtained from this study are as follows; 1) NPE method can be recommended as an useful and accurate method to measure the effective thermal diffusivity of insuation material because it is shown that the measurement error compared with those by other direct methods is reduced for standard material, NBS-1450b. 2) NPE method can minimize the effects of ill-measured temperature due to external disturbance, because the final value is found by point to point estimating. 3) NPE method dose not depend on the kinds of heat flux, since the surfac temperature are used to estimate the thermal diffusivity. 4) With NPE method, compared with the steady state method, a measuring time and a sample size could be reduced.

• Archives of Plastic Surgery
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• 제35권6호
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• pp.751-754
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• 2008

Purpose: Delayed rupture of flexor pollicis longus as a sequelae of the plate inserted for distal radius fracture is a very rare. This is the first case reported and published in Korea. Methods: A 48 years old female patient visited hospital, complaining flexor disturbance of interphalangeal joint of left thumb, which suddenly occurred without any external wound. We found that she had received operation of fixing plate for fracture of left distal radius 10 years ago. As operational opinion, we have checked that flexor pollicis longus tendon has been ruptured with oblique ways being stimulated by extended plate to palmar side over long period. Results: Authors performed tenorrhaphy of flexor pollicis longus without tendon graft and presented a successful active flexion of the left thumb interphalangeal joint 1 year after the operation. Conclusion: If the extruded part of the end plate is observed during the operation or follow-up, it is considered to be necessary to get rid of the plate as early as possible after the fracture healing.

• 전력전자학회논문지
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• 제9권1호
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• pp.42-49
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• 2004

본 논문은 데드비트 외란 관측기를 사용한 외부 부하 외란 보상과 파라미터 추정기에 의한 보상 이득의 조정을 나타내고 있다. 결론적으로 PMSM의 응답은 지표 시스템을 따른다. 부하 토크 보상 방법은 데드비트 관측기로 구성된다. 노이즈 영향을 감소시키기 위해 MA 처리에 의해 구현된 후단 필터를 적용하였고, RLSM 파라미터 추정기를 가진 파라미터 보상기가 주어진 실제 시스템의 이득 계산시 사용된 파라미터로 가상 동작하여 이득이 오차가 없는 것처럼 동작하게 한다. 제안된 추정기는 문제를 풀기 위해 고성능 외란 관측기와 조합하여 사용한다. 제안된 제어 시스템은 부하토크와 파라미터 변화에 대해 강인하고 정밀한 시스템이 된다. 이상의 제안된 시스템의 안정성과 유용함이 컴퓨터 시뮬레이션과 실험을 통하여 확인되었다.

• 대한전기학회논문지:시스템및제어부문D
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• 제49권8호
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• pp.473-480
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• 2000

A fuzzy PID controller is proposed for the posture control of a two DOF robot vehicle inspecting the defects of the inner wall of sewage pipes. The main difficulty in controlling these kinds of vehicles lies in that the center of two mobile shafts does not coincide with the weight center of the vehicle due to its long and wide shape. In this case the previous controller, based on the assumption that the gap between these centers are small, can not guarantee satisfactory transient response characteristics. In this paper, this gap is included in the mathematical modelling of the robot kinematics, and in order to compensate the unsatisfactory transient response characteristics, the fuzzy PID controller is proposed. This controller tunes the PID control gains with respect to the current state of the errors between the reference and the current postures. A series of simulations has been performed to investigate the tracking performance of the proposed controller for the lane changing path and the robustness to the external disturbance. The simulation results show that the proposed controller has a satisfactory tracking performance in the transient state as compared with that of the backstepping control given in reference.

• 한국소음진동공학회논문집
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• 제21권2호
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• pp.178-185
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• 2011

Optical image stabilization is a device to compensate the camera movement in the exposure time. The compensation is implemented by movable lens or image sensor that adjusts the optical path to the camera movement. Generally, the camera is moved by a handshake, thus the handshake is considered as an external disturbance. However, there are many other vibrations such as car and train vibration. In this paper, the optical image stabilization system in high frequency region is presented. Notch filter and lead compensator are designed and applied to improve the stability without changing the actuator. To verify the performance of the optical image stabilization system in high frequency region, the experiment equipment with moving object is established. It is confirmed that the opticalimage stabilization system does not diverge at the resonance frequency.

• 로봇학회논문지
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• 제12권4호
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• pp.419-424
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• 2017

Twisted string actuators (TSAs) are tendon-driven actuators that provide high transmission ratios. Twisting a string reduces the length of the string and generates a linear motion of the actuators. In particular, TSAs have characteristic properties (compliance) that are advantageous for operations that need to interact with the external environment. This compliance has the advantage of being robust to disturbance in force control, but it is disadvantageous for precise control because the modeling is inaccurate. In fact, many previous studies have covered the TSA model, but the model is still inadequate to be applied to actual robot control. In this paper, we introduce a modified variable radius model of TASs and experimentally demonstrate that the modified variable radius model is correct compared to the conventional variable radius string model. In addition, the elastic characteristics of the TSAs are discussed along with the experimental results.