• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 Proceedings of the Korea Automatic Control Conference, 11th (KACC); Pohang, Korea; 24-26 Oct. 1996
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• pp.393-396
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• 1996

This paper studies electrostatically suspended induction motors (ESIM). The ESIM possesses the rotating ability of an ordinary electrostatic induction motor, in addition to providing contactless support by electrostatic suspension. To accomplish these two functions, a feedback control strategy and the operating principle of an ordinary electrostatic induction motor are used. The stator possesses electrodes which exert the electrostatic forces to the rotor and are divided into a part responsible for suspension and one for rotation. Two rotor types are utilized: a polished glass disk without any surface treatment, and a polished glass disk covered with a thin layer of conductive material (ITO layer) on only one side. In this paper, the principle of the ESIM is described, followed by stator electrode design, experimental apparatus, control strategy for stable suspension. Experimental results show that the glass disk has been rotated with a speed of approximately 70 rpm while being suspended stably at a gap length of 0.3 mm.

• 한국복합재료학회:학술대회논문집
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• 한국복합재료학회 2004년도 추계학술발표대회 논문집
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• pp.282-285
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• 2004

The main purpose of this study is the vibration suppression of rotating composite blade containing distributed piezoelectric sensors and actuators. The blade is modeled by thin-walled, single cell composite beam including the warping function, centrifugal force, Coriolis acceleration and piezoelectric effect. Further, the numerical study is performed m ing finite element method. The vibration of composite rotor is suppressed by piezocomposite actuators and PVDF sensors that are embedded between composite layers. A velocity feedback control algorithm coupling the direct and converse piezoelectric effect is used to actively control the' dynamic response of an integrated structure through a closed control loop. Responses of the rotating blade are investigated. Newmark time integration method is used to calculate the time response of the model. In the numerical simulation, the effect of parameters such as rotating speed, fiber orientation of the blade and size of actuators are studied in detail.

• Smart Structures and Systems
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• 제19권5호
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• pp.463-472
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• 2017

In a previous study, the potential of damping suspension bridges with active stay cables has been evaluated on a numerical model of a suspension bridge, and demonstrated experimentally on a laboratory mockup. In this paper, we extend our study to explore two different configurations of the active stay-cables: one classical configuration, corresponding to attaching the active stay-cables between the top of the pylons and the deck (configuration I) and, another configuration, consisting of attaching the stay-cables between the base of the pylons and the catenary (configuration II). The analysis confirmed that both configurations are effective with a slight superiority of the second configuration. The study is conducted numerically and experimentally on a suspension bridge mock-up, by considering two types of active stay-cables. The experimental results confirmed the numerical predictions, and demonstrated the effectiveness of the second configuration.

• 연구논문집
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• 통권26호
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• pp.85-94
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• 1996

The purpose of this study is to bring out the optimal design factors which effect on dynamic characteristics in the design of proportional flow control valve with high response characteristics, and to verify the validity of the design factors. In this study, force feedback type flow control valve with nozzle-flapper is studied. And, the influences which fixed orifice, nozzle diameter, and maximum displacement between nozzle and flapper effect on dynamic characteristics are analyzed. We have done simulations using the optimal design factors and simulink(Matlab) as a simulation tool, and verified the validity of our simulations by means of comparison our simulation results with an experimental results of another similar valve.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 추계학술대회
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• pp.1642-1647
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• 2003

The market of the horizontal axis washing machine (drum washing machine) has been growing drastically in Korea by about 80% annually since 2000. As market grows fast, the customerTs demands concerning quality becomes more strict and various. Imbalance sensing is a key technology to reduce the NVH problem in a washing machine, because the laundry is time-variant and uncontrollable source of imbalance, which can cause more than 200kgf exciting force. In this paper, imbalance-sensing methods are briefly reviewed, new acceleration sensing circuits are examined, and finally the control algorithm of spinning process is proposed and validated.

• 전기학회논문지
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• 제66권2호
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• pp.402-408
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• 2017

This paper deals with a robust ${\mathfrak{H}}_{\infty}$ controller design problem for waypoints tracking of large displacement unmanned underwater vehicles (LDUUVs) in Takagi-Sugeno fuzzy form. The LDUUV model uses a rudder to control its horizontal motion. We determine the order of waypoints based on their priorities and consider only surge force. A fuzzy controller in state-feedback form is taken and its design condition of is represented in terms of linear matrix inequalities. A numerical simulation is included to show the effectiveness of the theoretical development.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1993년도 하계학술대회 논문집 B
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• pp.770-772
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• 1993

This paper is a study of a reactive-power compensator. It make using Power-MOSFET that be little quantity driving-power, easy to control, and be passible to highspeed wich be capable to achieve a reactive power compensator, to get rid of harmonics. On account of having no particular control circuit, composing not need to energy storage element and feedback control compered the previous power transformer in the system organization. It efficiqntly ueed to be in power factor compensation variable load.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.948-951
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• 1996

High-speed/high-accuracy control of robot manipulator becomes more and more stringent because of the external disturbance and nonlinear characteristics. To meet this ends, lots of control strategies were proposed in the past such as the computed torque control, the nonlinear decoupled feedback control, and adaptive control. These control methods need computations of the inverse dynamics and require much computational effort. Recently, a disturbance observer with unmodeled robot dynamics and simple algorithms to motion control have been widely studied. This paper proposes a motor control strategy based on the disturbance observer which estimate the disturbance of each joint from input-output relationship of the actuator and eliminate the estimated disturbance including the torque due to modeling errors, coupling force, nonlinear friction, and so on. To apply the disturbance observer to closedloop system like velocity servo pack, the modified control structure was constructed and shown that it is equivalent to a disturbance observer in open-loop system. Finally, using the proposed approach, simulation and experiments were carried out for a two-degree-of-freedom SCARA type direct drive robot, and show some results to verify the effectiveness of the proposed algorithms.

• Smart Structures and Systems
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• 제11권3호
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• pp.315-329
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• 2013

The construction of an experimental nonlinear structural model with little cost and unlimited repeatability for vibration control study represents a challenging task, especially for material nonlinearity. This paper reports the design, analysis and vibration control of a nonlinear structural experiment platform with adjustable hinges. In our approach, magnetorheological rotary brakes are substituted for the joints of a frame structure to simulate the nonlinear material behaviors of plastic hinges. For vibration control, a separate magnetorheological damper was employed to provide semi-active damping force to the nonlinear structure. A dynamic neural network was designed as a state observer to enable the feedback based semi-active vibration control. Based on the dynamic neural network observer, an adaptive fuzzy sliding mode based output control was developed for the magnetorheological damper to suppress the vibrations of the structure. The performance of the intelligent control algorithm was studied by subjecting the structure to shake table experiments. Experimental results show that the magnetorheological rotary brake can simulate the nonlinearity of the structural model with good repeatability. Moreover, different nonlinear behaviors can be achieved by controlling the input voltage of magnetorheological rotary damper. Different levels of nonlinearity in the vibration response of the structure can be achieved with the above adaptive fuzzy sliding mode control algorithm using a dynamic neural network observer.

• 대한전기학회논문지:시스템및제어부문D
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• 제53권2호
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• pp.127-134
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• 2004

In this paper, human motor behaving model based sensory motor coordination(SMC) algorithm is implemented on robotic grasping task. Compare to conventional SMC models which connect sensor to motor directly, the proposed method used biologically inspired human behaving system in conjunction with SMC algorithm for fast grasping force control of robot arm. To characterize various grasping objects, pressure sensors on hand gripper were used. Measured sensory data are simultaneously transferred to perceptual mechanism(PM) and long term memory(LTM), and then the sensory information is forwarded to the fastest channel among several information-processing flows in human motor system. In this model, two motor learning routes are proposed. One of the route uses PM and the other uses short term memory(STM) and LTM structure. Through motor learning procedure, successful information is transferred from STM to LTM. Also, LTM data are used for next moor plan as reference information. STM is designed to single layered perception neural network to generate fast motor plan and receive required data which comes from LTM. Experimental results showed that proposed method can control of the grasping force adaptable to various shapes and types of greasing objects, and also it showed quicker grasping-behavior lumining time compare to simple feedback system.