• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.471-476
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• 1994

In this paper a new controller is proposed which gives the resultant system the appointed input-output properties, low sensitivity and robust stability. The proposed controller consists of a reference model and a robust compensator. The reference model determines the input-output properties of the total system and is constructed by using the nominal model of the plant. We can design the reference model by applying design techniques which pay attention to steady robustness and no attention to sensitivity and robust stability, and need all state variables of the plant. The robust compensator is obtained as a solution of the mixed sensitivity problem in H infinity control theory. Therefore, low sensitivity and robust stability are guaranteed in the resultant system. The simulation experiments show that the proposed controller is effective and useful.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.12
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• pp.2590-2597
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• 2002

A new torque measuring apparatus adopting the basic principle of a capacitive type sensor is proposed in this article. Two plate electrodes are working as a capacitive sensor, whose capacitance varies as torque is applied. One end of each plate is connected to the torque carrying shaft. Output characteristics of the torque sensor were theoretically analyzed and its validity was investigated through experiment. Calculations and calibration experiments show that the output is nonlinear, that is, the sensitivity is very high at low torque but decreases as torque increases. The sensitivity of the proposed system is about 100 times roughly higher than that of a conventional 4-strain gauge type torque sensor.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.2
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• pp.262-267
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• 2003

Error of the geometric series expansion method for the structural sensitivity analysis is estimated. Although the semi-analytic method has several advantages, accuracy of the method prevents it from practical application. One of the promising remedies is the use of geometric series formula for the matrix inversion. Its result of the sensitivity analysis converges that of the global difference method which is known as reliable one. To reduce computational efforts and to obtain reliable results, it is important to know how many terms need to expand. In this paper, the error formula is presented and Its usefulness is illustrated through numerical experiments.

• Transactions of The Korea Fluid Power Systems Society
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• v.6 no.2
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• pp.22-30
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• 2009

An in-process method of diagnosing the spool wear of hydraulic servovalves was explored. The diagnostic method discussed in this paper is for force-control hydraulic servo systems. The key principle used is that pressure sensitivity of a servovalve drops as the valve spool wears out so that it is possible to determine the spool condition by monitoring pressure sensitivity. A diagnostic algorithm was developed and evaluated through numerical simulation and experiments. Two major steps of diagnosis are the evaluation of null bias of the servovalve and the approximation of pressure sensitivity, both of which could be successfully done during normal operation of a servo system. The difference between a new servovalve and a worn valve could be clearly detected in-process, and the diagnostic test was found to be repeatable.

• The Journal of the Acoustical Society of Korea
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• v.19 no.3E
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• pp.3-11
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• 2000

A structural modification technique for reducing structure-borne noise of vehicles using a sensitivity analysis is suggested. To estimate the noises generated by the vibration response, a semi structure-acoustic coupling analysis was exploited. As a result of the coupling analysis, severe noise generating positions are identified whose vibrations should be cured through structural modifications. Formulation for the sensitivity analysis of those severe vibration responses with respect to the design changes is derived to enhance the vibration response. Special attention is given in this paper to the use of the experimentally measured vibration responses in the sensitivity analysis. As a result of the proposed method, the structural modifications can be peformed accurately by using experimental data instead of using the finite element method though the higher vibration modes are considered as long as the vibration measurement and acoustic mode calculations are accurate. Effectiveness of this method was examined using an example model by experiments.

• Journal of Drive and Control
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• v.16 no.2
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• pp.59-65
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• 2019

Hydraulic systems have severe nonlinearity inherently compared to other systems like electric control systems. Hence, precise modeling and analysis of the hydraulic control systems are not easy. In this study, the control performance of a hydraulic control system with a feedback linearization compensator and a disturbance observer was analyzed through experiments and numerical simulations. This study mainly focuses on the quantitative investigation of sensitivity on system uncertainties in the hydraulic control system. First, the sensitivity on the system uncertainty of the hydraulic control system with a Feedback Linearization - State Feedback Controller (FL-SFC) was quantitatively analyzed. In addition, the efficacy of a disturbance observer coupled with the FL-SFC for the hydraulic control system was verified in terms of overcoming the control performances deterioration owing to system uncertainty.

• Journal of the Korean Magnetic Resonance Society
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• v.12 no.2
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• pp.89-95
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• 2008

Function of protein is frequently related with tautomeric states of histidine sidechains. Thus, several NMR experiments were developed to determine the tautomeric states of histidines. However, poor sensitivity of these experiments caused by long duration of magnetization transfer periods is unavoidable. Here, we alleviate the sensitivity of HCN experiment for determining the tautomeric states of histidine residues using TROSY principle to suppress transverse relaxation of $^{13}C$ spins during long polarization transfer delays involving $^{13}C-^{15}N$ scalar couplings. In addition, this experiment was used to assign the sidechain resonances of histidines. These assignments can be used to follow the pH-titration of histidine sidechains.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.933-938
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• 2007

These days, up-to-date humanoid robots are continuously developed. Among them, Qrio, Asimo[1,2] are famous for its unique walking technology and natural movement. These robots could show manufacturers' technological improvement and leave a good impression to the customer. In accordance with global trends, Samsung is also producing humanoid robot. The humanoid robot, however, could walk like a human compared to the industrial robot fixed in the factory. This feature could cause another dynamic effect while walking. In this paper, the robot's feet were examined to find out parameters that affect stability of the humanoid robot's feet. With the sensitivity analysis, the optimization procedure in design of experiments finds the most suitable performance of robot. Maximum deflection of the frame upon various cases was minimized, and rubber coefficients for shock absorption were optimized.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1996.11a
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• pp.291-295
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• 1996

This paper discusses several design factors of a capacitance displacement sensor with a numerical method and several experiments and describes guide lines of the design of this type sensor. We introduce the charge density method for the analysis of this type sensor, which has feasible accuracy and efficiency. The analysis of this type sensor with the charge density method agrees with displacement sensitivity experiments of a circular plate capacitance sensor with the sensor amp based In the charge transfer principle.

• Structural Engineering and Mechanics
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• v.13 no.2
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• pp.117-134
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• 2002

This paper presents a computational method for a confidence region of identified parameters which are affected by measurement noise and error contained in prescribed parameters. The method is based on sensitivities of the identified parameters with respect to model parameter error and measurement noise along with the law of error propagation. By conducting numerical experiments on simple models, it is confirmed that the confidence region coincides well with the results of numerical experiments. Furthermore, the optimum arrangement of sensor locations is evaluated when uncertainty exists in prescribed parameters, based on the concept that square sum of coefficients of variations of identified results attains minimum. Good agreement of the theoretical results with those of numerical simulation confirmed validity of the theory.