• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.652-657
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• 1992

This paper presents to accomplish successfully a multi-input real time control by applying control hierarchy for sliding mode of multi-joint manipulators whose nonlinear terms are regarded as disturbances. We- could simplify the dynamic equations of a manipulator and servo system, which are composed of linear elements and nonlinear elements, by assuming that nonlinear terms, which are Inertia term, gravity force term, Coriolis force term and centrifugal force term, are external disturbance. By simplifying that equation, we could easily obtain a control input which satisfy sliding mode of multi-input system. We proposed a new control input algorithm in order to decrease chattering by changing control input according as effect of disturbance if a control response become within allowance error range. In this experiments, we used DSP(Digital Signal Processor) controller to suppress chattering by time delay of calculation and to carry out real time control.

• Journal of the Chungcheong Mathematical Society
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• v.26 no.3
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• pp.501-516
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• 2013

The well-known Vlasov-Poisson equation describes plasma physics as nonlinear first-order partial differential equations. Because of the nonlinear condition from the self consistency of the Vlasov-Poisson equation, many problems occur: the existence, the numerical solution, the convergence of the numerical solution, and so on. To solve the problems, a viscosity term (a second-order partial differential equation) is added. In a viscosity term, the Vlasov-Poisson equation changes into a parabolic equation like the Fokker-Planck equation. Therefore, the Schauder fixed point theorem and the classical results on parabolic equations can be used for analyzing the Vlasov-Poisson equation. The sequence and the convergence results are obtained from linearizing the Vlasove-Poisson equation by using a fixed point theorem and Gronwall's inequality. In numerical experiments, an implicit first-order scheme is used. The numerical results are tested using the changed viscosity terms.

• The Bulletin of The Korean Astronomical Society
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• v.35 no.1
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• pp.72.2-72.2
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• 2010

We use three-dimensional hydrodynamic simulations to investigate nonlinear gravitational responses of gas to, and the resulting drag force on, a massive perturber moving on a circular orbit through a uniform gaseous medium. We assume that the background medium is non-rotating and adiabatic with index 5/3, and represent the perturber using a Plummer potential with softening radius a. This work extends our previous study where we showed that the drag force on a straight-line trajectory is proportional to a0.45 if the perturber is massive enough. This indicates that the orbital decay of supermassive black holes (SMBHs) near galaxy centers may take much longer than the prediction of the linear force formula applicable for low-mass perturbers. For the circular orbits are considered, however, we find that the nonlinear drag force becomes independent of a, but dependent instead on the orbital radius R as $\varpropto$ R0.5. This suggests not only that the choices of large values of a, for resolution issues, in recent numerical experiments for mergers of SMBH, are marginally acceptable, but also that the gaseous drag indeed provides an efficient mean for the orbtial decay of SMBHs.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2000.10a
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• pp.204-209
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• 2000

This paper suggests that post-tensioned and dome-shaped space truss formed by post-tersionong is easy to fabricate in construction process. In particular, a laboratory model is used to show how a flat space truss system can be transformed into a dome-shaped space truss by means of post-tensioning. There are some diserpancy in vertical displacement of the dxperiment and theoretical analysis for space truss. Nonlinear analysis is used to predict the final shape shape of the space truss, the experiments tndicates that this construction method can offer economy over traditional methods. In addition, the analysis indicates that when all the sxisting mechanisms are controlled, the nonlinear finite element method is more reliable way to predict the shape of the dome-shaped space truss than the linear analysis.

• Journal of applied mathematics & informatics
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• v.22 no.1_2
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• pp.373-385
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• 2006

To solve a class of nonlinear parameter estimation problems, a method combining the regularized structured nonlinear total least norm (RSNTLN) method and parameter separation scheme is suggested. The method guarantees the convergence of parameters and has an advantages in reducing the residual norm over the use of RSNTLN only. Numerical experiments for two models appeared in signal processing show that the suggested method is more effective in obtaining solution and parameter with minimum residual norm.

• Journal of Mechanical Science and Technology
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• v.15 no.3
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• pp.309-319
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• 2001

This paper demonstrates the development of optical temperature sensor based on the etched silica-based planar waveguide Bragg grating. Topics include design and fabrication of the etched planar waveguide Bragg grating optical temperature sensor. The typical bandwidth and reflectivity of the surface etched grating has been ∼0.2nm and ∼9%, respectively, at a wavelength of ∼1552nm. The temperature-induced wavelength change is found to be slightly non-linear over ∼200$^{\circ}C$ temperature range. Typically, the temperature-induced fractional Bragg wavelength shift measured in this experiment is 0.0132nm/$^{\circ}C$ with linear curve fit. Theoretical models with nonlinear temperature effect for the grating response based on waveguide and plate deformation theories agree with experiments to within acceptable tolerance.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.8
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• pp.889-895
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• 2007

Quantifying dynamic stability is important to assessment of falling risk or functional recovery for leg injured people. Human locomotion is complex and known to exhibit nonlinear dynamical behaviors. The purpose of this study is to quantify major joints of the body using chaos analysis during walking. Time series of the chaotic signals show how gait patterns change over time. The gait experiments were carried out for ten young males walking on a motorized treadmill. Joint motions were captured using eight video cameras, and then three dimensional kinematics of the neck and the upper and lower extremities were computed by KWON 3D motion analysis software. The correlation dimension and the largest Lyapunov exponent were calculated from the time series to quantify stabilities of the joints. This study presents a data set of nonlinear dynamic characteristics for eleven joints engaged in normal level walking.

• International Journal of Automotive Technology
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• v.8 no.1
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• pp.111-117
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• 2007

The nonlinear characteristics of a suspension is directly related to the ride quality of a passenger car. In this study, the nonlinear characteristics of a spring and a damper of a passenger car is analyzed by dynamic experiments using the MTS single-axial testing machine. Also, a mathematical nonlinear dynamic model for the suspension is devised to estimate the ride quality using the K factor. And the effect on the variation of the parameters of the suspension is examined. The results showed that the dynamic viscosity of the oil in a damper was the parameter that most influeced the ride quality of a passenger car for the ride quality of a passenger car.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.23 no.5
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• pp.445-455
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• 2013

A new linearization model for MR dampers is analyzed. The nonlinear hysteretic damping force model of MR damper can be modeled as a hyperbolic tangent function of currents, positions, and velicities, which is an algebraic function with constant parameters. Model parameters can be identified with numerical method using experimental force-velocity-position data obtained from various operating conditions. The nonlinear hysteretic damping force can be linearized with a given slope of damping coefficient if there exist corresponding currents to compensate for the nonlinearity. The corresponding currents can be calculated from the inverse model when the given linear damping force is set equal to the nonlinear hysteretic damping force. The linearization controller is realized in a DSP controller such that the corresponding currents to satisfy a given damping coefficient should be calculated. Experiments show that the current inputs to the MR damper produce linearized damping force with a given slope of the damping coefficient.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.05a
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• pp.460-465
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• 2002

The nonlinear vibration of the CRT shadow mask is analyzed in consideration of the V-shaped tension distribution and the effect of wire impact damping. The reduced order FEM model of the shadow mask is obtained from dynamic condensation for the mass and stiffness matrices. Damping wire is modeled using the lumped parameter method to effectively describe its contact interactions with the shadow mask. The nonlinear contact-impact model is composed of spring and damper elements, of which parameters are determined from the Hertzian contact theory and the restitution coefficient, respectively. The analysis model of the shadow mask with damping wires is experimentally verified through impact tests of shadow masks performed in a vacuum chamber. Using the validated analysis model of the shadow mask with damping wires, the‘design of experiments’technique is applied to search fur the optimal damping wire configuration so that the vibration attenuation of the shadow mask is maximized.