• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.19 no.12
• /
• pp.2353-2363
• /
• 1994

This paper is concerned with the design of a robust digital controller using reduced-order observer on a robotic manipulator under the disturbance. In most cases of robotic manipulator since all state vectors are not measurable, the unmeasurable state vectors must be estimated or reconstructed. Other problems are caused by the nonlinear element like as nondifferentiable Coulomb friction, disturbance due to the gravitational pull, and the torsional spring effect of a link between the drive motor and the manipulator arm. The controller is based on feeding back the observable variables and the estimated state variables which are generated by the observer, and augmenting the system by additional discrete integrators. The feedback gain parameters are obtained by first applying the optimal control theory and then readjusting the feedback parameters to eliminate the limit cycle by using describing Function for nonlinear hybrid system.

• Structural Engineering and Mechanics
• /
• v.25 no.4
• /
• pp.383-403
• /
• 2007

The contact problem for an elastic layer resting on an elastic half plane is considered according to the theory of elasticity with integral transformation technique. External loads P and Q are transmitted to the layer by means of two dissimilar rigid flat punches. Widths of punches are different and the thickness of the layer is h. All surfaces are frictionless and it is assumed that the layer is subjected to uniform vertical body force due to effect of gravity. The contact along the interface between elastic layer and half plane will be continuous, if the value of load factor, ${\lambda}$, is less than a critical value, ${\lambda}_{cr}$. However, if tensile tractions are not allowed on the interface, for ${\lambda}$ > ${\lambda}_{cr}$ the layer separates from the interface along a certain finite region. First the continuous contact problem is reduced to singular integral equations and solved numerically using appropriate Gauss-Chebyshev integration formulas. Initial separation loads, ${\lambda}_{cr}$, initial separation points, $x_{cr}$, are determined. Also the required distance between the punches to avoid any separation between the punches and the layer is studied and the limit distance between punches that ends interaction of punches, is investigated. Then discontinuous contact problem is formulated in terms of singular integral equations. The numerical results for initial and end points of the separation region, displacements of the region and the contact stress distribution along the interface between elastic layer and half plane is determined for various dimensionless quantities.

• Publications of The Korean Astronomical Society
• /
• v.30 no.2
• /
• pp.309-313
• /
• 2015

If the present universe is slightly open then pre-inflation curvature would appear as a cosmic dark-flow component of the CMB dipole moment. We summarize current cosmological constraints on this cosmic dark flow and analyze the possible constraints on parameters characterizing the pre-inflating universe in an inflation model with a present-day very slightly open ${\Lambda}CDM$ cosmology. We employ an analytic model to show that for a broad class of inflation-generating effective potentials, the simple requirement that the observed dipole moment represents the pre-inflation curvature as it enters the horizon allows one to set upper and lower limits on the magnitude and wavelength scale of pre-inflation fluctuations in the inflaton field and the curvature parameter of the pre-inflation universe, as a function of the fraction of the total initial energy density in the inflaton field. We estimate that if the current CMB dipole is a universal dark flow (or if it is near the upper limit set by the Planck Collaboration) then the present constraints on ${\Lambda}CDM$ cosmological parameters imply rather small curvature ${\Omega}_k{\sim}0.1$ for the pre-inflating universe for a broad range of the fraction of the total energy in the inflaton field at the onset of inflation. Such small pre-inflation curvature might be indicative of open-inflation models in which there are two epochs of inflation.

• Journal of the Korean Geotechnical Society
• /
• v.19 no.2
• /
• pp.179-187
• /
• 2003

Vertical reinforcement of soft ground using granular column is a very effective ground improvement technique which is being used fur increasing bearing capacity and decreasing settlement. In this study, the theories of elasticity and plasticity including the upper bound theorem of limit analysis were used to derive the equations for obtaining elastic properties and shear strength parameter of equivalent ground of composite foundation. The developed equations were verified using the finite element computer program, SAGE CRISP. For validation, finite element analyses were conducted f3r the various different cases including different type of soil and replacement ratios. The results of the analysis show that the proposed equation could determine the properties of equivalent ground material for practical application effectively.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.13 no.4
• /
• pp.897-902
• /
• 2018

The purpose of this study is to develop a bioinformatic diagnostic system that diagnoses the patient 's health condition by using the output waveform generated by applying the impulse voltage of 13Hz to 7 body parts based on DFM (Diagnose Fure Funktionelle Medizine) theory. It is expected that the data acquired by the diagnostic system will be served as a device for diagnosing the status of the body organ as well as the mesenchymal tissue through inductive reasoning based on artificial intelligence. In this paper, we will limit the system to acquire and manage bio-signals.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.13 no.1
• /
• pp.55-62
• /
• 2008

This paper proposes a feedback linearization control scheme of AC/DC PWM converters with LCL input filters using no damping resisters. This feedback linearization scheme can eliminate the non-linearity of the system. So, the controller of the system can be designed by using linear control theory, which gives a good transient response. The cascade structure of the controller makes the converter current be controlled within a certain limit. To reduce the number of sensors, the source voltage and current is estimated. The validity of the proposed control algorithm is verified by simulation and experimental results.

• Industrial Engineering and Management Systems
• /
• v.13 no.2
• /
• pp.129-147
• /
• 2014

This study proposes an optimal operational policy for a green supply chain (GSC) where a retailer pays an incentive for collection of used products from customers and determines the optimal order quantity of a single product under uncertainty in product demand. A manufacturer produces the optimal order quantity of product using recyclable parts with acceptable quality levels and covers a part of the retailer's incentive from the recycled parts. Here, two scenarios for the product demand are assumed as: the distribution of product demand is known, and only both mean and variance are known. This paper develops mathematical models to find how order quantity, collection incentive of used products and lower limit of quality level for recycling affect the expected profits of each member and the whole supply chain under both a decentralized GSC (DGSC) and an integrated GSC (IGSC). The analysis numerically compares the results under DGSC with those under IGSC for each scenario of product demand. Also, the effect of the quality of the recyclable parts on the optimal decisions is shown. Moreover, supply chain coordination to shift the optimal decisions of IGSC is discussed based on: I) profit ratio, II) Nash bargaining solution, and III) Combination of (I) and (II).

• Proceedings of the Korean Nuclear Society Conference
• /
• 1999.10a
• /
• pp.355.2-355
• /
• 1999

The spnng back phenomena occurring in the coiling process of a steam generator tube induces the dimensional inaccuracy and makes the coiling procedure difficult. In this research, an analytical model was developed to evaluate the amount of the spring back for SMART steam generator tubes. The model was developed on the basis of beam theory and elastic-perfectly plastic material property. This model was extended to consider the effect of plastic hardening and the effect of the tensile force on the spring back phenomena. Parametric studies were performed for various design variables of steam generator tubes in order to minimize the spring back in the design stage. A sensitivity analysis has shown that the low yield strength, the high elastic modulus, the small helix diameter, and the large tube diameter result in a small amount of the spring back. The amount of the spring back can be controlled by the selection of adequate design values in the basic design stage and reduced to an allowable limit by the application of the tensile force to the tube during the coiling process.rocess.

• Geomechanics and Engineering
• /
• v.17 no.5
• /
• pp.439-444
• /
• 2019

It is generally known that high strength soil is indicative of well-graded particle size distribution. However, there are some special cases of firm ground despite poor grade distribution, especially a specific gap-graded soil. Based on these discoveries, this study investigated the development of an additive of gap-graded soils designed to increase soil strength. This theoretical concept was used to calculate the mixed ratio required for optimal soil strength of the ground sample. The gap-graded aggregate was added according to Plato's polyhedral theory and subsequently calculated ratio and soil strength characteristics were then compared to characteristics of the original soil sample through various test results. In addition, the underground stress transfer rate was measured according to the test conditions. The test results showed that the ground settlement and stress limit thickness were reduced with the incorporation of gap-graded soil. Further field tests would confirm the reproducibility and reliability of the technology by using gap-graded soil to reinforce soft ground of a new construction site. Gap-graded soil has the potential to reduce the construction cost and time of construction compared to other reinforcing methods.

• Structural Engineering and Mechanics
• /
• v.71 no.4
• /
• pp.351-361
• /
• 2019

Present article deals with the static stability analysis of compositionally graded nanocomposite beams reinforced with graphene oxide powder (GOP) is undertaken once the beam is subjected to an induced force caused by nonuniform magnetic field. The homogenized material properties of the constituent material are approximated through Halpin-Tsai micromechanical scheme. Three distribution types of GOPs are considered, namely uniform, X and O. Also, a higher-order refined beam model is incorporated with the dynamic form of the virtual work's principle to derive the partial differential motion equations of the problem. The governing equations are solved via Galerkin's method. The introduced mathematical model is numerically validated presenting a comparison between the results of present work with responses obtained from previous articles. New results for the buckling load of GOP reinforced nanocomposites are presented regarding for different values of magnetic field intensity. Besides, other investigations are performed to show the impacts of other variants, such as slenderness ratio, boundary condition, distribution type and so on, on the critical stability limit of beams made from nanocomposites.