• Journal of the Institute of Electronics Engineers of Korea SC
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• v.41 no.1
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• pp.9-16
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• 2004

In this paper, we propose a robust controller for robot manipulators with parametric uncertainties using feature-based visual servo control system. In order to improve trajectory error of the robot manipulators due to the parameter variation, integral action is included in the dynamic control of part in inner subroutine of the control system. This integral action also reduces feature error in the steady state. The stability analysis of the closed-loop system is shown by the Lyapunov method. The effectiveness of the proposed method is shown by simulation and experimental results on the 5 link robot manipulator with two degree of freedom.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.16 no.2
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• pp.1-7
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• 2007

Active magnetic bearing has been adopted to support the rotor by electomagnetic force without mechanical contact and lubrication process. A property of the control system for magnetic bearing is improved in accordance with making higher system gain. If the control system has integral part, an excessive overshoot response is shown by making higher integral gain. Therefore, this paper suggests a PID control system in order to eliminate the overshoot at the first stage and improve response characteristics to an impact disturbance at the status of levitation. The control gain was obtained by LQR design method which has the structure of I-PD control system in the state space. The PID control system containing prefilter has the same structure as the I-PD control system. Therefore, the PID control system adopted is able to be tuned by LQR design method. Finally, this paper shows the effect of the prefilter on the active magnetic bearing system through response experiments for levitation responses.

• Wind and Structures
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• v.39 no.2
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• pp.111-123
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• 2024

The atmospheric turbulence characteristics measured at a meteorological station in northwest part of the Czech Republic are presented for selected time periods in the year 2017. The terrain of this region is influenced by surface coal mining and the related industry. The datasets used in this study were measured using four ultrasonic anemometers installed on an 80 m high meteorological mast at heights of 20, 40, 60 and 80 m, respective. From the primary high-frequency datasets, time intervals in order of hours were selected and integral turbulence characteristics (ITCs), turbulence intensities and turbulence spectra were analyzed. The time intervals were selected with respect to atmospheric stability parameter, known as Obukhov number. We concentrated on the days with higher wind velocity and neutral atmospheric stratification. The wind characteristics investigated in this study include the wind speed, wind direction and its histograms, turbulence intensity, friction velocity and wind power spectra. The ITCs and spectral characteristics were compared with the theoretical models and values from the literature. The resulting ITCs showed the values for urban locations similar to those found in other studies and can be used in practical design. The computed turbulence spectra followed the shape of theoretical spectra of turbulence for both horizontal and vertical velocity components. The computed integral length scales have shown to be unsuitable for further use due to their highly scattered values.

• Journal of Advanced Navigation Technology
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• v.7 no.2
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• pp.162-170
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• 2003

In this paper, we propose a robust controller for trajectory control of n-link robot manipulators using feature based on visual feedback. In order to reduce tracking error of the robot manipulator due to parametric uncertainties, integral action is included in the dynamic control part of the inner control loop. The desired trajectory for tracking is generated from feature extraction by the camera mounted on the end effector. The stability of the robust state feedback control system is shown by the Lyapunov method. Simulation and experimental results on a 5-link robot manipulator with two degree of freedom show that the proposed method has good tracking performance.

• Proceedings of the KOSOMBE Conference
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• v.1997 no.05
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• pp.267-270
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• 1997

Oxygen saturation is an important parameter in clinical fields; fetal monitoring, apnea, emergency medicine etc. Because of monitoring patients continuously, pulse oximeter that measures oxigen saturation non-invasively is regarded attentively. But, though research about accuracy of signal extraction has been developed, it actually plays a supplementary part in hospital for not trusting the principle of measurement by clinicians. In this paper focusing on these things, first we suggested simple mathematical modelling on separating do components, ac components andnoise components in optical signal transmitted from fingertip or earlobe, and then we considered oxygen saturation computing algorithm using integral ratio of pulsating components. Last, we analyzed its effect by comparing received data.

• Proceedings of the Korean Society for Technology of Plasticity Conference
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• 2006.05a
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• pp.369-372
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• 2006

Monolithic forging of cask is required continuously. Body-base monolithic forging of cask has advantage of an economical manufacturing process and better reliability for nuclear applications. Through the finite element analysis and parametric study of design variables, those are die angle, groove length and flange thickness, the optimal dimensions of preform and die sets are determined in order to develop a suitable forging process for body-base monolithic forging. To verify the result of finite element analysis, the physical model of 1/30 scale of actual product using plasticine was carried out. The result of this experiment, deformed shapes were very similar to the finite element analysis. As a result of this work, the special piercing method was developed using blank material consisting of a flange, groove and squared part.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.15 no.6
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• pp.121-126
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• 2006

Snap-fit is being used in manufacture of plastic products. Integral features using snap-fit are classified as locks, locators and enhancements. Locking features complete the process of attachment by providing physical interference to prevent separation. Looking feature pairs consist of two components, i.e., a flexible latch and a rigid catch and require particular care and attention for their selection. We can make several locking feature pairs by selecting latch and catch, but some parts restrict freedom of selection. Therefore, part designers must know the characteristic properties of generic locking feature forms as considering a specific design problem. In this paper, it has been presented about problem of small size products using locking feature and then introduced new locking feature applicable to small parts.

• Journal of Korea Foundry Society
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• v.27 no.4
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• pp.173-178
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• 2007

The bearing bracket, which has produced by the squeeze casting for the high strength in lightweight part of automobile, was developed by the rheocasting process using the H-NCM slurry. Compared with the squeeze casting, the rheocasting process has some merits such as shortening cycle-time, reducing total weight, and increasing productivity. In this study, partial feeding test was carried out by controlling plunger stroke length and compared with semisolid simulation. Optimal casting parameters such as injection speed and stroke variations were established. Sound products with integral microstructure were obtained by the H-NCM slurry and X-ray analysis also showed the integral condition throughout the entire parts.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1997.04a
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• pp.695-700
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• 1997

A direct boundary element method(DBEM) is developed for thin bodies whose surfaces are rigid or compliant. The Helmholtz integral equation and its normal derivative integral equation are adopted simultaneously to calculate the pressure on both sides of the thin body, instead of the jump values across it, to account for the different surface conditions of each side. Unlike the usual assumption, the normal velocity is assumed to be discontinuous across the thin body. In this approach, only the neutral surface of the thin body has to be discretized. The method is validated by comparison with analytic and/or numerical results for acoustic scattering and radiation from several surface conditions of the thin body; the surfaces are rigid when stationary or vibrating, and part of the interior surface is lined with a sound-absorbing material.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1997.04a
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• pp.701-708
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• 1997

A direct boundary element method(DBEM) is developed for thin bodies whose surfaces are rigid or compliant. Th eHelmholtz integral equation and its normal derivative integral equation are adopted simultaneously to calculate the pressure on both sides of the thin body, instead of the jump values across it, to account for the different surface conditions of each side. Unlike the usual assumption, the normal velocity is assumed to be discontinuous across the thin body. In this approach, only the neutral surface of the thin body has to be discontinuous across the thin body. In this approach, only the neural surface of the thin body has to be discretized. The method is validated by comparison with analytic and/or numerical results for acoustic scattering and radiation from several surface conditions of the thin body; the surfaces are rigid when stationary or vibrating, and part of the interior surface is lined with a sound-absorbing material.