• Journal of KSNVE
• /
• v.11 no.1
• /
• pp.49-56
• /
• 2001

In this paper, two plant models, of which one is newly developed and the other one is the conventional one, of the focus servo system of DVD drive are presented and a two-degree-of freedom controller consisted of Inverse dynamics feedforward and LQG/LTR feedback controller is designed. The newly developed plant model is used to design the feedforward controller and the conventional model is used for the design of feedback controller. The output of newly developed model is the displacement of objective lens and the output of conventional model is the focus error of the DVD focus servo system. The displacement of the objective lens is estimated by the dynamics model of the DVD focus servo system. The disturbance rejection performance of the two-degree-of freedom controller is compared with that of an LQG/LTR one.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.12 no.1
• /
• pp.33-38
• /
• 2002

In this paper, a Two-Degree-of-Freedom-Controller(TDFC) for DC motors based on inverse dynamics and the fuzzy technique is presented. The proposed controller includes the inverse dynamic model of a DC motor system, a prefilter and a fuzzy compensator. The model of the system is characterized by a nonlinear equation with coulomb friction. The prefilter eliminates high frequency effects occurring when the inverse dynamic model is implemented. The fuzzy compensator is designed for tracking the change of the reference input and simultaneously regulating the error between the reference input and the system output which can be caused by disturbances. The optimal parameters of both the model and the compensator are identified by a real-coded genetic algorithm. An experimental work on a DC motor system is carried out to verify the performance of the proposed controller.

• Journal of the Korean Society of Industry Convergence
• /
• v.19 no.4
• /
• pp.206-215
• /
• 2016

Delta parallel robots are now widely used for high-speed applications. However, typical Delta robots, such as ABB Flexpicker suffer from rotating axis with passive prismatic joint subjected to critical speed and so requiring careful maintenance. In this paper, a novel 4-DOF high-speed parallel robot with four legs is presented, which consists of three legs with 90 degree arrangement for translational motions and one remaining leg with rack & pinion gears for rotational motion. The inverse kinematics, velocity, acceleration, statics, and inverse dynamics have been analyzed. From the workspace analysis and inverse dynamics simulation for 0.43 sec cycle time, the 4-axis parallel robot prototype with 12kg payload has been designed. In the future research, computed torque control methods will be developed for the prototype.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.18 no.6
• /
• pp.1421-1429
• /
• 1994

An algorithm is developed for solving the inverse kinematic problem of a 6-degree-of-freedom robot with a wrist offset for which the closed form inverse solutions are not obtainable, but knowledge of one joint variable allows closed form solutions of the remaining joint variables. The algorithm does not require Forward Kinematics nor Jacobian but uses the implicit kinematic relationships between joint variables and the given hand position. An iterative back substitution method is used to solve the inversion and the optimal conditions of the convergence are incoporated. An example is given to illustrate the concepts, the solution procedure and its convergency.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.10 no.3
• /
• pp.161-172
• /
• 2007

This article suggests an inverse kinematics analysis of a two degree of freedom spatial parallel motion simulator and design methodology of the robust PID controller. The parallel motion simulator consists of a fixed base and a moving frame connected by two serial chains, with each serial chain containing one revolute joint and two passive spherical joint. First, an inverse kinematics problems are solved in order to find the joint variable necessary to bring the end effector to track the desired trajectory. Second, an inverse optimal PID controller is proposed to track trajectories in the face of uncertainty. And the $H_{\infty}$ optimality and robust stability of the closed-loop system is acquired through the PID controller. Finally numerical results show the effectiveness of the PID controller that is designed by square/linear tuning laws.

• Journal of the Korean Society for Precision Engineering
• /
• v.18 no.12
• /
• pp.66-72
• /
• 2001

In this paper, by using pseudo-inverse matrix of the spatial redundant flexible manipulators, a position control method and its effect in vibration suppression was presented. Vibration suppression control was developed using lumped mass spring model of the flexible manipulators. With 2 elastic links and 7 rotory joint manipulator ADAM, (1)position control for no redundancy, and (2)position control for one redundant DOF(degree of freedom) were tested. The objective of this experiment is to show the effect of position control, using pseudo-inverse matrix. toward the improvement of operation, and at the same time, to reduce the vibration of the link and the magnitude of the joint torque.

• Journal of the Korean Society of Radiology
• /
• v.81 no.3
• /
• pp.632-643
• /
• 2020

Purpose To investigate the correlation between magnetic resonance (MR) image-based radiomics features and the genomic features of breast cancer by focusing on biomolecular intrinsic subtypes and gene expression profiles based on risk scores. Materials and Methods We used the publicly available datasets from the Cancer Genome Atlas and the Cancer Imaging Archive to extract the radiomics features of 122 breast cancers on MR images. Furthermore, PAM50 intrinsic subtypes were classified and their risk scores were determined from gene expression profiles. The relationship between radiomics features and biomolecular characteristics was analyzed. A penalized generalized regression analysis was performed to build prediction models. Results The PAM50 subtype demonstrated a statistically significant association with the maximum 2D diameter (p = 0.0189), degree of correlation (p = 0.0386), and inverse difference moment normalized (p = 0.0337). Among risk score systems, GGI and GENE70 shared 8 correlated radiomic features (p = 0.0008-0.0492) that were statistically significant. Although the maximum 2D diameter was most significantly correlated to both score systems (p = 0.0139, and p = 0.0008), the overall degree of correlation of the prediction models was weak with the highest correlation coefficient of GENE70 being 0.2171. Conclusion Maximum 2D diameter, degree of correlation, and inverse difference moment normalized demonstrated significant relationships with the PAM50 intrinsic subtypes along with gene expression profile-based risk scores such as GENE70, despite weak correlations.

• Korean Journal of Mathematics
• /
• v.17 no.2
• /
• pp.219-231
• /
• 2009

We show the existence of at least four solutions for the perturbed parabolic equation with Dirichlet boundary condition and periodic condition when the nonlinear part cross two eigenvalues of the eigenvalue problem of the Laplace operator with boundary condition. We obtain this result by using the Leray-Schauder degree theory, the finite dimensional reduction method and the geometry of the mapping. The main point is that we restrict ourselves to the real Hilbert space instead of the complex space.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.496-499
• /
• 1997

This paper describes the operating software of a motion system developed for a driving simulator, consisting of a six degree of freedom Stewart platform driven hydraulically. The drive logic, consisting of an washout algorithm, inverse kinematic analysis, and a control algorithm, has been developed and applied for creating high fidelity motion cues. The basic environment of the operating software is based on LabVIEW 4.0 and DLL modules compiled by Fortran.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2007.11a
• /
• pp.863-869
• /
• 2007

An improved method based on a normal frequency response function (FRF) is proposed to identify structural parameters such as mass, stiffness and damping matrices directly from the FRFs of a linear mechanical system. The method for estimating structural parameters directly from the measured FRFs of a structure is presented. This paper demonstrates that the characteristic matrices are extracted more accurately by using a weighted equation and eliminating the matrix inverse operation. The method is verified for a four degree-of-freedom lumped parameter system and an eight degree-of-freedom finite element beam. Experimental verification is also performed for a free-free steel beam whose size and physical properties are the same as those of the finite element beam. The results show that the structural parameters, especially the damping matrix, can be estimated more accurately by the proposed method.