• Journal of Institute of Control, Robotics and Systems
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• v.9 no.1
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• pp.82-89
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• 2003

A robust motion control method is proposed fur the point-to-point position control of a XY positioning system which consists of a base cart, elastic ben and moving mass. The horizontal motion controller consists of the feedforward controller to suppress the single mode vibration of the elastic beam and the feedback controller to get the high-accuracy positioning performance of the base cart. Input preshaping vibration suppression method based on system modeling with analytic frequency equation is proposed and integrated into the robust internal-loop compensator(RIC) to increase the robustness of the whole closed-loop system The vertical motion controller is proposed based on the dual RIC structure. Through experiments, it is shown that the proposed method can stabilize the system and suppress the vibration in the presence of uncertainties and disturbances.

• International Journal of Safety
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• v.5 no.2
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• pp.6-11
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• 2006

The time delay in servo control on LonWorks/IP Virtual Device Network (VDN) is highly stochastic in nature. LonWorks/IP VDN induced time delay deteriorates the performance and stability of the real-time distributed control system and hinders an effective preventive and predictive maintenance. Especially in real-time distributed servo applications on the factory floor, timely response is essential for predictive and preventive maintenance. In order to guarantee the stability and performance of the system for effective preventive and predictive maintenance, LonWorks/IP VDN induced time delay needs to be predicted and compensated for. In this paper position control simulation of DC servo motor using Zero Phase Error Tracking Controller (ZPETC) as a feedforward controller, and Internal Model Controllers (IMC) based on Smith predictor with disturbance observer as a feedback controller is performed. The validity of the proposed control scheme is demonstrated by comparing the IMC based on Smith predictor with disturbance observer.

• Journal of Advanced Marine Engineering and Technology
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• v.29 no.8
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• pp.929-937
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• 2005

A lattice BGK model based on a finite difference scheme with an internal degree of freedom is employed and it is shown that a diatomic 9as such as air is successfully simulated In a weak compressive wane problem and Coutte flow, the validity and characteristics of the applied model are examined. With the model. furthermore. we present a 2-dimensional edge tones to predict the frequency characteristics of discrete oscillations of a jet-edge feedback cycle by the FDLB model (I.D.F FDLBM) in which any specific heat ratio $\gamma$ can be chosen freely. The jet is chosen long enough in order to guaranteed the Parabolic velocity profile of a jet at the outlet. and the edges have of an angle of $\alpha$=$23^{0}$ and $20^{0}$. A sinuous instability wane with real frequency resulting from Periodic oscillation of the jet around the edge is propagated on the upper and lower of wedge.

• Journal of Mechanical Science and Technology
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• v.19 no.11
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• pp.2032-2039
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• 2005

The lattice Boltzman method (LBM) and the finite difference-based lattice Boltzmann method (FDLBM) are quite recent approaches for simulating fluid flow, which have been proven as valid and efficient tools in a variety of complex flow problems. They are considered attractive alternatives to conventional finite-difference schemes because they recover the Navier-Stokes equations and are computationally more stable, and easily parallelizable. However, most models of the LBM or FDLBM are for incompressible fluids because of the simplicity of the structure of the model. Although some models for compressible thermal fluids have been introduced, these models are for monatomic gases, and suffer from the instability in calculations. A lattice BGK model based on a finite difference scheme with an internal degree of freedom is employed and it is shown that a diatomic gas such as air is successfully simulated. In this research we present a 2-dimensional edge tone to predict the frequency characteristics of discrete oscillations of a jet-edge feedback cycle by the FDLBM in which any specific heat ratio $\gamma$ can be chosen freely. The jet is chosen long enough in order to guarantee the parabolic velocity profile of a jet at the outlet, and the edge is of an angle of $\alpha$=23$^{o}$. At a stand-off distance w, the edge is inserted along the centerline of the jet, and a sinuous instability wave with real frequency is assumed to be created in the vicinity of the nozzle exit and to propagate towards the downstream. We have succeeded in capturing very small pressure fluctuations resulting from periodic oscillation of the jet around the edge.

• International Journal of Control, Automation, and Systems
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• v.5 no.5
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• pp.547-558
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• 2007

This paper proposes a simpler solution to the stabilization problem of a special class of nonlinear underactuated mechanical systems which includes widely studied benchmark systems like Inertia Wheel Pendulum, TORA and Acrobot. Complex internal dynamics and lack of exact feedback linearizibility of these systems makes design of control law a challenging task. Stabilization of these systems has been achieved using Energy Shaping and damping injection and Backstepping technique. Former results in hybrid or switching architectures that make stability analysis complicated whereas use of backstepping some times requires closed form explicit solutions of highly nonlinear equations resulting from partial feedback linearization. It also exhibits the phenomenon of explosions of terms resulting in a highly complicated control law. Exploiting recently introduced Dynamic Surface Control technique and using control Lyapunov function method, a novel nonlinear controller design is presented as a solution to these problems. The stability of the closed loop system is analyzed by exploiting its two-time scale nature and applying concepts from Singular Perturbation Theory. The design procedure is shown to be simpler and more intuitive than existing designs. Design has been applied to important benchmark systems belonging to the class demonstrating controller design simplicity. Advantages over conventional Energy Shaping and Backstepping controllers are analyzed theoretically and performance is verified using numerical simulations.

• PNF and Movement
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• v.15 no.3
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• pp.217-226
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• 2017

Purpose: The purpose of this study was to determine the effects of a modified abdominal draw-in maneuver on trunk stability and functional capacity as well as pain in patients with chronic low back pain. Methods: The study included 3 patients with chronic low back pain who volunteered to participate. The modified abdominal draw-in maneuver included a posterior pelvic tilt, a traditional abdominal draw-in maneuver, and a vibration sensory feedback device. Voluntary abdominal contraction using the vibration sensory feedback device was performed by the subjects for more than 1 hour per day, 5 times per week, for 6 weeks along with common low back pain treatment. Electromyographic signals in the rectus abdominis (RA), external oblique (EO), internal oblique (IO), and erector spinae (ES) muscles were measured to compare muscle activation. The degree of pain was measured using the visual analogue scale (VAS), and functional capacity was measured using the Korea Oswestry Disability Index (K-ODI). All results were compared to the means before and after intervention. Results: After the intervention, the RA, EO, and IO showed increased muscle activation and the ES showed decreased muscle activation. The visual analogue scale decreased after intervention and the K-ODI decreased after intervention. Conclusion: Modified abdominal draw-in maneuvers in daily life combined with therapeutic exercises may be effective in relieving pain and dysfunctions in chronic low back pain patients.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.22 no.3
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• pp.248-251
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• 2009

We have investigated the effect of the quality of 1.3 um distributed feed back laser diode (DFB-LD) on the design of anti-reflection (AR) coatings. Optimal condition of AR coating to prevent internal feedback from both facets and reduce the reflection-induced intensity noise of laser diode was simulated with Macleod Simulator. Coating materials used in this work were ${Ti_3}{O_5}$ and $SiO_2$, of which design thickness were 105 nm and 165 nm, respectively. AR coating films were deposited by Ion-Assisted Deposition system. The electrical and optical properties of 1.3 um laser diode were characterized by Bar tester and Chip tester. Threshold current and slop-efficiency of DFB-LD were 27.56 mA 0.302 W/A. Far field pattern and wavelength of DFB-LD were $22.3^{\circ}(Horizontal){\times}24.4^{\circ}$ (Vertical), 1313.8 nm, respectively.

• Korean System Dynamics Review
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• v.2 no.1
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• pp.69-92
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• 2001

The Managing and measuring performance have long been a popular topic in business. Traditions of financially-oriented managing and measuring performance have provided managers with relatively objective and scientific results of measuring performance until now. But today the value of organization is influenced more by intangible assets than tangible assets. Nobody thus believes that the performance and the value of organization can be measured by financial indicators only. In this background, numerous researches have been conducted to find alternatives to measuring the value of organization's intangible assets. One of the remarkable achievements would be "Balanced Score Card (BSC), "which covers three sectors of indicators, each from customer relations, internal process innovations, and learning and human resource development, in addition to traditional financial indicators. Unfortunately, even BSC, let alone others, fails to accomodate all performance indicators as a holistic system. Namely, performance measuring techniques including BCS, at present, fail to reflect the dynamic features in their model - i.e., the casual relations and the interactions between the indicators, and there is no way of taking into account the impact of delayed feedback which flows from introduction of new policy and legislative changes, etc. Therefore, this paper attempts to devise a means for adding dynamic features to BSC, by introducing the system dynamics concept, with a focus on the effect of casual relations and feedback structure.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.10a
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• pp.219-224
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• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot finger which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of area-contact is discussed. Finally, it is shown that even in the simplest case of dual single D.O.F manipulators there exists a sensory feedback from sensing data of the rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that the object is of rectangular shape and motion is confined to a horizontal plane.

• JSTS:Journal of Semiconductor Technology and Science
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• v.15 no.3
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• pp.427-435
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• 2015

This paper presents a high-throughput low-complexity decoder architecture and design technique to implement successive-cancellation (SC) polar decoding. A novel merged processing element with a one's complement scheme, a main frame with optimal internal word length, and optimized feedback part architecture are proposed. Generally, a polar decoder uses a two's complement scheme in merged processing elements, in which a conversion between two's complement and sign-magnitude requires an adder. However, the novel merged processing elements do not require an adder. Moreover, in order to reduce hardware complexity, optimized main frame and feedback part approaches are also presented. A (1024, 512) SC polar decoder was designed and implemented using 40-nm CMOS standard cell technology. Synthesis results show that the proposed SC polar decoder can lead to a 13% reduction in hardware complexity and a higher clock speed compared to conventional decoders.