• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.456-459
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• 1995

The problem of compliant motion control using a redundant manipulator is addressed in this article. Specifically, a hybrid-control type and impedance-control type controllers are extended to general redundant manipulators based on the kinematically decomposed and geometrically compatible modeling of its joint space. In the case of the hybrid controller, it leads to the linear and decoupled closed-loop dynamics in the three motion spaces, that is the motion-controlled, force-controlled, and the null motion-controlled spaces of the redundant manipulator. When the proposed impedance controller is applied, the decoupled impedance models in three motion spaces are obtained. The superiority of the proposed controllers is verified with the numerical experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.10
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• pp.881-889
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• 2002

Mobility analysis for various mobile mechanisms including mechanisms with lack of geometric generality is performed. Joint screws are employed to find the sire of feasible joint motion space or each of independent loops of mobile mechanisms. Particularly, the concept of "representative screws" is introduced to represent the feasible motion spaces for subsets of joints belonging to either a loop or a sub-system consisting of several closed loops. Firstly. simplified joint model for each of low different typical wheels popularly employed in mobile robots is described. Then. mobility analysis fir various types of planar mobile robots and the Mars Rover mobile robot for navigation on the rocky road on Mars arc performed. It is confirmed that the obtained results in this study coincide with the previous ones which were obtained by suing imaginary Joints approach(1)pproach(1)

• Journal of the Korean Mathematical Society
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• v.50 no.4
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• pp.865-877
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• 2013

The disjoint union of mapping class groups of surfaces forms a braided monoidal category $\mathcal{M}$, as the disjoint union of the braid groups $\mathcal{B}$ does. We give a concrete and geometric meaning of the braidings ${\beta}_{r,s}$ in $\mathcal{M}$. Moreover, we find a set of elements in the mapping class groups which correspond to the standard generators of the braid groups. Using this, we can define an obvious map ${\phi}\;:\;B_g{\rightarrow}{\Gamma}_{g,1}$. We show that this map ${\phi}$ is injective and nongeometric in the sense of Wajnryb. Since this map extends to a braided monoidal functor ${\Phi}\;:\;\mathcal{B}{\rightarrow}\mathcal{M}$, the integral homology homomorphism induced by ${\phi}$ is trivial in the stable range.

• Journal of the Korean Mathematical Society
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• v.37 no.3
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• pp.491-502
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• 2000

The disjoint union of mapping class groups g,1 gives us a braided monoidal category so that it gives rise to a double loop space structure. We show that there exists a natural twist in this category, so it gives us a ribbon category. We show that there exists a natural twist in this category, so it gives us a ribbon category. We explicitly express this structure by showing how the twist acts on the fundamental group of the surface Sg,l. We also make an explicit description of this structure in terms of the standard Dehn twists, as well as in terms of Wajnryb's Dehn twists. We show that the inverse of the twist g for the genus g equals the Dehn twist along the fixed boundary of the surface Sg,l.

• The Transactions of the Korean Institute of Electrical Engineers C
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• v.50 no.1
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• pp.24-29
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• 2001

PZT thin films(4000A) have prepared onto 1737 corning glass and ITO coated glass substrates with a RF magnetron sputtering system using Pb_{1.05}(Zr_{0.52},Ti_{0.48})O_3$ceramic target, Electrical properties of PZT thin film deposited after ITO coated glass were P${\gamma}$ was decreased by 25% after 109cycles, respectively. With the RTA treatment duration and temperature increased, the crystallization of PZT thin films were enhanced, however, the leakage current density became higher. The leakage current mechanism was found to be space charge conduction by the defects and oxygen vacancies existing in PZT and PZT/bottom electrode interfaces.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.130-130
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• 2000

This paper presents a robust fault diagnosis and fault tolerant control lot the actuator and sensor faults in the closed-loop systems affected by unknown inputs or disturbances. The fault diagnostic scheme is based on the residual set generation by using robust Parity space approach. Residual set is evaluated through the threshold test and then fault is isolated according to the decision logic table. Once the fault diagnosis module indicates which actuator or sensor is faulty, the fault magnitude is estimated by using the disturbance-decoupled optimal state estimation and a new additive control law is added to the nominal one to override the fault effect on the system. Simulation results show that the method has definite fault diagnosis and fault tolerant control ability against actuator and sensor faults.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 1997.04a
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• pp.308-315
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• 1997

In this study, the effect of modal filter error on the vibration control characteristics of flexible structures is analyzed for IMSC(Independent Modal Space Control), and optimal sensor placement in the structural vibration control with consideration of performance of modal filter has been studied. An Lyapunov asymptotic stability condition has been derived, which depends on the magnitude of the modal filter errors. The extent of the response deviation of the closed-loop system is also derived and evaluated using operator techniques. A sensor placement technique has also been suggested to maximize the performance of the modal filter. It has been found by a series of simulation that the suggested sensor placement technique is very effective on the determination of the number and placement of sensors of modal filter in the structural vibration control.

• Proceedings of the KIEE Conference
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• 1988.07a
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• pp.105-108
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• 1988

In this paper, a control system design method is proposed for DC motor drive. A state space model is used to control sysytem and for closed loop system the technique of pole assignment is applied. The control system is designed with state feedback theory and to improve the response further more feedforward theory is applied to control system. The microprocessor as a controller and the interfaces in the system are proposed. Digital simulation results for step changes in reference velocity and load torque are shown.

• Proceedings of the KIEE Conference
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• 1998.07b
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• pp.549-551
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• 1998

In this paper, we design the optimal satellite-tracking antenna $H_{\infty}$ control system using genetic algorithm(GA). To do this, we give gain and dynamics parameters to the weighting functions and apply GA with reference model to the optimal determination of weighting functions and design parameter ${\gamma}$ that are given by Glover-Doyle algorithm which can design $H_{\infty}$ controller in the state space. These weighting functions and design parameter ${\gamma}$ are simultaneously optimized in tile search domain guaranteeing the robust stability of closed-loop system. The effectiveness of this satellite-tracking antenna $H_{\infty}$ control system is verified by computer simulation.

• Proceedings of the KIEE Conference
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• 1994.07a
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• pp.246-248
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• 1994

This paper describes a bidirectional Voltage Source PWM Converter for an elevator. From the study of boost rectifier, the control circuit desisted by full digital DSP technique. The characteristic of control circuit is that implements of space-vector PWM method and has feedback loop of DC side load current which reduce DC voltage flucturation.