• The Bulletin of The Korean Astronomical Society
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• v.42 no.2
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• pp.46.3-46.3
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• 2017

We investigate the changes of galaxy spin orientation in dense environments using hydrodynamical cosmological zoom-in simulations for 17 galaxy clusters. This study reveals that the spin axes of satellite galaxies become more unstable when the satellites have lower initial $V/{\sigma}$, orbits with smaller pericenter distance, and higher merger rates after infall into the model clusters. The satellite galaxies involved in mergers after infall experience twice larger angular changes of spin axes than those without mergers. We also find that perturbation exerted by environments or neighboring galaxies strongly correlates with the stability of spin orientation and final $V/{\sigma}$. On the other hand, the size or stellar mass density of the satellites are not significantly affected by mergers or perturbation in cluster environments.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.20 no.2
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• pp.121-128
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• 2011

As high precision industries such as semiconductor, TFT-LCD manufacturing and MEMS continue to grow, the demand for higher DOF precision stages has been increasing. In general, the stages should accommodate a prescribed range of payloads in order to position various precision manufacturing/inspection instruments. Therefore a nonlinear controller using sliding motion is developed, which bears mass perturbation and makes the upper plate of the stage move in 6 DOF. For the application of the nonlinear control, an observer is also developed based on expected noise covariance. To eliminate the steady state error of step response, integral terms are inserted into the state-space model. The linear term of the controller is designed using optimization scheme in which parameters can be weighted according to their physical significance, whereas the nonlinear term of the controller is designed using trial and error method. A comprehensive simulation study proves that the designed controller is robust against mass perturbation and completely eliminates steady state errors.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.13 no.6
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• pp.88-98
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• 2014

A moving mass on a skewed linear guideway model to analyze the friction-induced stick-slip behavior of ball-screw-driven slides is proposed. To describe the friction force, a friction coefficient function is modelled as a third-order polynomial of the relative velocity between the slide mass and a guideway. A nonlinear differential equation of motion is derived and an approximate solution is obtained using a perturbation method for the amplitudes and base frequencies of both pure-slip and stick-slip oscillations. The results are presented with time responses, phase plots, and amplitude plots, which are compared adequately with those obtained by Runge Kutta 4th-order numerical integration, as long as the difference between the static and kinematic friction coefficients is small. However, errors in the results by the approximate solution increase and are not negligible if the difference between the friction coefficients exceeds approximately 40% of the static friction coefficient.

• The Journal of Korea Robotics Society
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• v.12 no.1
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• pp.1-10
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• 2017

For dismantling heavy structure under special environment in radioactivity, there are many problems which should be tele-operated and feedback a cutting force for cutting a thick structure such as concrete. When operator dismantles a thick heavy concrete structure, it is in sufficient to judge whether robot is contacting or not with environment by using only vision information. To overcome this problem, force feedback and impedance model based bilateral control are introduced. The sliding mode control with sliding perturbation observer (SMCSPO) based bilateral control is applied and surveyed to a single rod hydraulic cylinder in this paper. The sliding mode control is used for robustness against a disturbance. The sliding perturbation observer is used for estimation of a reaction force such as cutting force. The bilateral control is executed using the information of reaction force estimated by SMCSPO. The contribution of this paper is that the estimation method and bilateral control of the single rod hydraulic cylinder are introduced and discussed by experiment.

• Journal of the Society of Naval Architects of Korea
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• v.58 no.6
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• pp.348-357
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• 2021

In this paper, the generalized hydrodynamic force and response of a flexible body are calculated at different reference coordinate systems. We generalize the equation of motion for a flexible body by using the conservation of momentum (Mei et al., 2005). To obtain the equations in the generalized mode, two different reference coordinates are adopted. The first is the body-fixed coordinate system by a rigid body motion. The other is the inertial coordinate system which has been adopted for the analysis. Using the perturbation scheme in the weakly-nonlinear assumption, the equations of motion are expanded up to second-order quantities and several second-order forces are obtained. Numerical tests are conducted for the flexible barge model in head waves and the vertical bending is only considered in the hydroelastic responses. The results show that the linear response does not have the difference between the two formulations. On the other hand, second-order quantities have different values for which the rigid body motion is relatively large. However, the total summation of second-order quantities has not shown a large difference at each reference coordinate system.

• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.221-229
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• 2022

Sliding mode control (SMC) is a robust control method to control a robot arm with nonlinear properties. A high switching gain of SMC causes chattering problems, although the SMC allows the adequate control performance by giving high switching gain, without the exact robot model containing nonlinear and uncertainty terms. In order to solve this problem, SMC with sliding perturbation observer (SMCSPO) has been researched, where the method can reduce the chattering by compensating the perturbation, which is estimated by the observer, and then choosing a lower switching control gain of SMC. However, optimal gain tuning is necessary to get a better tracking performance and reducing a chattering. This paper proposes a method that the Q-learning automatically tunes the control gains of SMCSPO with an iterative operation. In this tuning method, the rewards of reinforcement learning (RL) are set minus tracking errors of states, and the action of RL is a change of control gain to maximize rewards whenever the iteration number of movements increases. The simple motion test for a 7-DOF robot arm was simulated in MATLAB program to prove this RL tuning algorithm. The simulation showed that this method can automatically tune the control gains for SMCSPO.

• Computers and Concrete
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• v.30 no.6
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• pp.433-443
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• 2022

In the current paper, the nonlinear resonance response of functionally graded graphene platelet reinforced (FG-GPLRC) beams by considering different boundary conditions is investigated using the Euler-Bernoulli beam theory. Four different graphene platelets (GPLs) distributions including UD and FG-O, FG-X, and FG-A are considered and the effective material parameters are calculated by Halpin-Tsai model. The nonlinear vibration equations are derived by Euler-Lagrange principle. Then the perturbation method is used to discretize the motion equations, and the loadings and displacement are all expanded, so as to obtain the first to third order perturbation equations, and then the asymptotic solution of the equations can be obtained. Then the nonlinear amplitude-frequency response is obtained with the help of the modified Lindstedt-Poincare method (Chen and Cheung 1996). Finally, the influences of the distribution types of GPLs, total GPLs layers, GPLs weight fraction, elastic foundations and boundary conditions on the resonance problems are comprehensively studied. Results show that the distribution types of GPLs, total GPLs layers, GPLs weight fraction, elastic foundations and boundary conditions have a significant effect on the nonlinear resonance response of FG-GPLRC beams.

• Transactions of Materials Processing
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• v.33 no.1
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• pp.18-35
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• 2024

In the present work, the evolution rules for the internal variables including continuum damage factors are obtained using the thermodynamic framework, which are in turn facilitated to derive the elastic-plastic constitutive relation for the particulate composites. Using the Mori-Tanaka scheme, the homogenization on state and internal variables such as back-stress and damage factors is carried out to procure the rate independent plasticity relations. Moreover, the degradation of mechanical properties of constituents is depicted by the distinctive damages such that the phase and interfacial damages are treated individually accordingly, whereas the kinematic hardening is depicted by combining the Armstrong-Frederick and Phillips' back-stress evolutions. On the other hand, the present constitutive relation for each phase is expressed in terms of the respective damage-free effective quantities, then, followed by transformation into the damage affected overall nominal relations using the aforementioned homogenization concentration factors. An emphasis is placed on the qualitative analyses for strain localization by observing the perturbation growth instead of the conventional bifurcation analyses. It turns out that the proposed constitutive model offers a wide range of strain localization behavior depending on the evolution of various internal variable descriptions.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2654-2659
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• 2003

In this paper, we present biomimetic hopping strategy which is more human-like for legged robot through stiffness modulation. Stiffness value is calculated from the motion of body center of gravity. This method enable to reduce impact force on touch-down, adaption on ground stiffness change and height modulation. Simple selected models will be used to validate this method. For general model, singular perturbation is used for control and simulation using stiffness modulation is presented.

• Coupled systems mechanics
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• v.7 no.5
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• pp.635-647
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• 2018

Dynamic problems arising from the Euler-Bernoulli beam model with inhomogeneous elastic properties are considered. The method of Green's function and perturbation theory are employed to find the deflection in the beam correct to the first-order. Eigenvalue problems appearing from transverse vibrations of inhomogeneous beams in linear and nonlinear cases are also discussed.