• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.743-746
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• 1996

A hybrid control scheme to regulate the force and position by dual arms is proposed, where two arms are treated as one arm in a kinematic viewpoint. Our approach is different from other hybrid control approaches which consider robot dynamics, in the sense that we employ a purely kinematic based approach for hybrid control, with regard to the nature of position-controlled industrial robots. The proposed scheme is applied to sawing task. In the sawing task, the trajectory of the saw grasped by dual arms is planned in an offline fashion. When the trajectory of the saw is planned to follow a line in a horizontal plane, 3 position parameters are to be controlled(i.e, two translational positions and one rotational position). And a certain level of contact force has to be controlled along the vertical direction(i.e., minus z-direction) not to loose the contact with the object to be sawn. Typical feature of sawing task is that the contact position where the force control is to be performed is continuously changing. Therefore, the kinematic mapping between the force controlled position and the joint actuators has to be updated continuously. The effectiveness of the proposed control scheme is experimentally demonstrated. The proposed hybrid control scheme can be applied to arbitrary dual arm systems, regardless of their kinematic structure and the number of actuated joints.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.124-129
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• 1992

The goal of the proposed Intelligent Assisting System - IAS is to assist human operators in an intelligent way, while leaving decision and goal planning instances for the human. To realize the IAS the very important issue of manipulation skill identification and analysis has to be solved, which then is stored in a Skill Data Base. Using this data base the IAS is able to perform complex manipulations on the motion control level and to assist the human operator flexibly. We propose a model for manipulation skill based on the dynamics of the grip transformation matrix, which describes the dynamic transformation between object space and finger joint space. Interaction with a virtual world simulator allows the calculation and feedback of appropriate forces through controlled actuators of the sensor glove with 10 degrees-of-freedom. To solve the sensor glove calibration problem, we learn the nonlinear calibration mapping by an artificial neural network(ANN). In this paper we also describe the experimental system setup of the skill acquisition and transfer system as a first approach to the IAS. Some simple manipulation examples and simulation results show the feasibility of the proposed manipulation skill model.

• Journal of Advanced Marine Engineering and Technology
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• v.39 no.10
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• pp.1023-1030
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• 2015

The purpose of this paper is to present the basic mathematical modeling of a hexacopter, which could be used to develop proper methods for stabilization and trajectory control. A hexacopter consists of six rotors with three pairs of counter-rotating fixed-pitch blades. This mechanism is an under-actuated, dynamically unstable, six-degrees-of-freedom system. The whole motion of this object consists of translational and rotational motion in three dimensions, where the translational motion is created by changing the direction and magnitude of the upward propeller thrust. The hexacopter is controlled by adjusting the angular velocities of the rotors, which are spun by electric motors. It is assumed to be a rigid body; thus, the differential equation of the hexacopter dynamics can be derived from the Newton-Euler equation. The Euler-angle parametrization of the three-dimensional rotations contains singular points in the coordinate space that can cause failure of both the dynamical model and control. In order to avoid singularities, the rotations of the hexacopter are parametrized in terms of quaternions. This choice has been made considering the linearity of the quaternion formulation and their stability and efficiency. Further, control simulation of a hexacopter applying cascaded-PID control is also presented in this paper.

• Journal of Power System Engineering
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• v.19 no.6
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• pp.5-11
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• 2015

The 6DOF (degrees of freedom) Parallel Manipulators have some advantages that are high power, high rigidity, high precision for positioning and compact mechanism compared with conventional serial link manipulators. For these Parallel Manipulators, it can be expected to work in the new fields such that the medical operation, high-precision processing technology and so on. For this expectation, it is necessary to control the action reaction pair of forces which act between the Parallel Manipulator and the operated object. In this paper, we analyze the dynamics of the 6DOF Parallel Manipulator and present numerical simulation results.

• The Bulletin of The Korean Astronomical Society
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• v.36 no.2
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• pp.53.2-53.2
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• 2011

We combine the physics of the ellipsoidal collapse model with the excursion set theory to study the shapes of dark matter halos. In particular, we develop an analytic approximation to the nonlinear evolution that is more accurate than the Zeldovich approximation; we introduce a planar representation of halo axis ratios, which allows a concise and intuitive description of the dynamics of collapsing regions and allows one to relate the final shape of a halo to its initial shape; we provide simple physical explanations for some empirical fitting formulae obtained from numerical studies. Comparison with simulations is challenging, as there is no agreement about how to define a non-spherical gravitationally bound object. Nevertheless, we find that our model matches the conditional minor-to-intermediate axis ratio distribution rather well, although it disagrees with the numerical results in reproducing the minor-to-major axis ratio distribution. In particular, the mass dependence of the minor-to-major axis distribution appears to be the opposite to what is found in many previous numerical studies, where low-mass halos are preferentially more spherical than high-mass halos. In our model, the high-mass halos are predicted to be more spherical, consistent with results based on a more recent and elaborate halo finding algorithm, and with observations of the mass dependence of the shapes of early-type galaxies. We suggest that some of the disagreement with some previous numerical studies may be alleviated if we consider only isolated halos.

• 유체기계공업학회:학술대회논문집
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• 2004.12a
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• pp.267-274
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• 2004

The optimum condition is defined as one that best suits the purpose of flocculation; the number of small particles should decrease, while that of large particles should increase. The object of this research was to develop a new impeller and substitute for conventional flocculators. The flow characteristics of turbines and hydrofoil type flocculators in turbulent fluids were observed using a standard k-$\epsilon$ Model and a computational fluid dynamics (CFD) simulation program- FLUENT The experiments were performed to compare PBT(Pitched Blade Turbine) flocculator with twisted hydrofoil type flocculators for velocity distribution, and floc formation at conventional water treatment plants in Korea. As a result of the CFD solution, twisted hydrofoil types are similar to hydrofoil flocculators for flow characteristics without regard to the twisted angle, On the other hand, it was established that turbine flocculators are greater than hydrofoil flocculators with flow unevenness and dead zone formation. Twisted hydrofoil type- II (Angle $15{\~}20^{\circ}$) is the most proper impeller for water flocculation from this point of view with a decreasing the dead zone, maintaining of the equivalent energy distribution and a drawing up of the sedimentation substance from the bottom of the flocculation basin.

• Nuclear Engineering and Technology
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• v.43 no.4
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• pp.375-382
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• 2011

The prospects for growth of the nuclear power industry in Korea have improved remarkably as the demand for energy increases in stride with economic development. Meanwhile, as nuclear energy development is enhanced, nuclear technology has also improved evolutionarily and innovatively in the areas of reactor design and safety measures. As nuclear technology development in Korea advances, more human resources are required. Accordingly, the need for a well-managed program of human resource development (HRD) aimed at assuring needed capacities, skills, and knowledge and maintaining valuable human resources through education and training in various nuclear-related fields has been recognized. A well-defined and object-oriented human resource development and management (HRD&M) is to be developed in order to balance between the dynamics of supply and demand of the workforce in the nuclear industry. The HRD&M schemes include a broad base of disciplines, education, sciences, and technologies within a framework of national sustainable development goals, which are generally considered to include economics, environment, and social concerns. In this study, the projection methodology considering a variety of economic, social, and environmental factors was developed. Using the developed methodology, medium- and long-term nuclear human resources projections up to 2030 were conducted in compliance with the national nuclear technology development programmes and plans.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.6
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• pp.411-416
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• 2016

This paper presents the design methodology of an unknown input observer for Lipschitz nonlinear systems with unknown inputs in the framework of convex optimization. We use an unknown input observer (UIO) to consider both nonlinearity and disturbance. By deriving a sufficient condition for exponential stability in the linear matrix inequality (LMI) form, existence of a stabilizing observer gain matrix of UIO will be assured by checking whether the quadratic stability margin of the error dynamics is greater than the Lipschitz constant or not. If quadratic stability margin is less than a Lipschitz constant, the coordinate transformation may be used to reduce the Lipschitz constant in the new coordinates. Furthermore, to reduce the maximum singular value of the observer gain matrix elements, an object function to minimize it will be optimally designed by modifying its magnitude so that amplification of sensor measurement noise is minimized via multi-objective optimization algorithm. The performance of UIO is compared to a nonlinear observer (Luenberger-like) with an application to a flexible joint robot system considering a change of load and disturbance. Finally, it is validated via simulations that the estimated angular position and velocity provide true values even in the presence of unknown inputs.

• Journal of Navigation and Port Research
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• v.42 no.2
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• pp.87-96
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• 2018

A trajectory control system plays an important role in controlling motions of marine vehicle when a series of way points or a path is given. In this paper, a sliding mode control (SMC)-based trajectory tracking controller for marine vehicles is presented. A small-sized unmanned ship is considered as a control object. Both speed and heading angle of a ship should be controlled for tracking control. The common point of related researches was to separate ship's speed and heading angle in control methods. In this research, a new control law from a general sliding mode theory that can be applied to MIMO (multi input multi output) system is derived and both speed and heading angle of a ship can be controlled simultaneously. The propulsion force and rudder force are also applied in modeling stage to achieve accurate simulation. Disturbance induced by wind is also tackled in the dynamics considering robustness of the proposed control scheme. In the simulation, we employed a way-point method to generate ship's trajectory and applied the proposed control scheme to ship's trajectory tracking control. Our results confirmed that the tracking error was converged to zero, thus demonstrating the effectiveness of the proposed method.

• Korean Institute of Interior Design Journal
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• v.15 no.2 s.55
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• pp.73-80
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• 2006

The purpose of this study is to analyze the characteristics of structural expression in the works of Louis I. Kahn. Kahn's main architectural thoughts of 'what it wants to be' and 'how it was done' are important in this research because these statements act as a clue to understand the relationship between structural expression and space. 'What it wants to be' means the essence and existence of architecture and 'how it was done' shows the tectonic of architecture and construction process to enhance its presence. Kahn's emphasis of structural expression stems from the fact that structure is the logical part of whole building system rather than the concealed object for the exterior of buildings. Therefore structure of Kahn's architecture is not a structure only to support building but a mean to express his thoughts in a corporeal way. In Kahn's works, the characteristics of structural expressions are summarized as the visualization of the order in dynamics, construction process, spatial system, and the relationship between structure and light in the space.