• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.445-450
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• 1998

In this paper, a robust nonlinear prediction-type controller (RNPC) is developed for the continuous time nonlinear system whose control objective is composed of system output and its desired value. The basic control law of RNPC is derived such that the future response of the system is first predicted by appropriate functional expansions and the control law minimizing the difference between the predicted and desired responses is then calculated. RNPC which involves two controls, i.e., the auxiliary and robust controls into the basic control, shows the stable closed loop dynamics of nonlinear system of any relative degree and provides the robustness to the nonlinear system with parameter/modeling uncertainty. Simulation tests for the position control of a two-link rigid body manipulator confirm the performance improvement and the robustness of RNPC.

• Structural Engineering and Mechanics
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• 제3권2호
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• pp.145-162
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• 1995

A damped trapezoidal rule method for numerical time-integration is presented, and its application in analyses of dynamic response of damped structures is discussed. It is shown that the damped trapezoidal rule method has features that make it an attractive approach for applications in dynamic analyses of structures. Accuracy and stability analyses are developed for the damped single-degree-of-freedom systems. Error analyses are also performed for the Newmark beta method and compared with the damped trapezoidal rule method as a basis for discussion of the relative merits of the proposed method. The procedure is fully explicit and easy to implement. However, since the method is an explicit method, it is conditionally stable. The methodology is applied to several example problems to illustrate its strengths, limitations and inherent simplicity.

• 한국식품영양과학회지
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• 제22권6호
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• pp.797-802
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• 1993

The properties of the alcohol-oxidase from yeasts assimilating of methanol(Hansenula polymorpha CBS 4732, Pichia pastoris CBS 2612 and Candida boidinii CBS 8106) as free(cellules, purified enzymes) and immobilized forms(immobilized cellules, immobilized enzymes) were investigated. Immobilization enhanced the activity and stability of alcohol-oxidase to a certain degree. The optimum temperature of the immobilized alcohol-oxidase was lower than those of the free forms. The pH / activi쇼 profiles of alcohol-oxidase did not change by immobilization, but changed by the microorganisms. When the immobilized cellules were stocked at 4$^{\circ}C$ in 10mM potassium phosphate buffer(pH 7.5 or 8.0), alcohol-oxidase was more stable than those were stocked in potassium phosphate buffer containing 0.65M sucrose. The immobilization modifies the conditions of oxidation on the various substrates. alcohol-oxidase in immobilized forms showed some with higher Km value for methanol than that in free ones.

• 융합신호처리학회논문지
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• 제2권1호
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• pp.95-100
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• 2001

본 논문에서는 불확실성을 갖는 비선형 시스템에 제어기를 설계하기 위해서 출력제환 선형화 방법을 통하여 비선형 시스템을 선형시스템으로 변환하고 슬라이딩 모드 제어기법을 사용하여 파라미터들을 갱신하고 이를 통하여 제어입력을 갱신하는 강인성제어기를 제안하고자 한다. 비선형시스템은 최소 위상시스템이고, 시스템의 상대차수는 r＜n 이며, 제로 다이나믹스는 안정하다고 가정한다. 제안된 제어기에 대해서 대역적 점근적 안정도가 보장됨을 보였으며, 제안된 제어기에 대해서 컴퓨터 시뮬레이션을 통하여 타당성을 검증하였다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 추계학술대회 논문집 학회본부
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• pp.58-61
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• 1996

For a class of single-input single-output continuous-time nonlinear systems, a multilayer neural network-based controller that feedback-linearizes the system is presented. Control action is used to achieve tracking performance for a state-feedback linearizable but unknown nonlinear system. The multilayer neural network(NN) is used to approximate nonlinear continuous function to any desired degree of accuracy. The weight-update rule of multilayer neural network is derived to satisfy Lyapunov stability. It is shown that all the signals in the closed-loop system are uniformly bounded. Initialization of the network weights is straightforward.

• 한국진공학회:학술대회논문집
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• 한국진공학회 2009년도 제38회 동계학술대회 초록집
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• pp.321-321
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• 2010

The PEDOT:PSS layer is usually used as hole transporting layer for the polymer bulk heterojunction solar cells. However, the interface between ITO and PEDOT:PSS is not stable and the chemical reaction between ITO and PEDOT can result in degraded device performance. We used the tungsten oxides as a hole transport layer by spin-coating. The $WO_3$ nanoparticles were well dispersed in ammonium hydroxide and deionized water and formed thin layer on the ITO anode. We found that $WO_3$ surface is more hydrophobic than the bare ITO or PEDOT:PSS-coated surfaces. The hydrophobic surfaces promote an ordered growth of P3HT films. A higher degree of P3HT ordering is expected to improve the hole mobility and the lifetime of the device using the tungsten oxide showed better stability compared to the device using the PEDOT:PSS.

• 한국정밀공학회지
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• 제20권3호
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• pp.89-96
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• 2003

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear abetments, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to realize not only stable but also accurate trajectory control for the autonomous assembly tasks using hydraulic manipulators. In this report, we propose a two-degree-of-freedom control including parallel feedforward compensator (PFC) where PFC plays a very important role in the stability of a proposed control system. In the experimental results of the 6-link electro hydraulic manipulator, it is verified that the stability and the model matching performance are improved by using the proposed control method.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 추계학술대회논문집
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• pp.596-599
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• 2004

The media transport systems, such as printers, copiers, facsimile, ATMs, cameras, etc., have been widely used and being developed rapidly. In the development of those systems, the media feeding mechanism is an important key technology for the design and development of the media transport systems. In this paper, a multi-degree of freedom sheet model with dynamic contact conditions is presented to understand the mechanism of sticking and jamming. A sheet is modelled as a cantilever beam and the feeding velocity is assumed to be constant. The relation between the feeding velocity and the coefficient of friction for guaranteeing stable feeding is presented. Simulations are performed for a horizontal linear guide and a oblique linear guide, calculating the contact force and contact states of mass points.

• 한국산업융합학회 논문집
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• 제22권6호
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• pp.807-819
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• 2019

In this paper, it is proposed a new approach to motion control and kinematics analysis of articulated manipulator attachment with five degree of freedom for excavator. Unlike the well-established theory for the control of linear systems, there is little general control theory relatively for a robust control of nonlinear systems. The control technique is essential for providing a stable and robust performance for application of articulated manipulator control. The proposed control algorithm is one of robust control methods based on error informations of the position and velocity error informations using stability analysis of dynamic model. Through simulation test, the proposed control scheme is illustrated to be a efficient control technique for real-time control.

• Bulletin of the Korean Chemical Society
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• 제8권3호
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• pp.144-145
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• 1987

The relative stability as function of geometry in the rigid tricyclopropylcarbinyl cations with varied bond angle (${\alpha}$) between the plane of cyclopropane ring and the bond connecting cyclopropane ring to cationic carbon was examined by $^{19}F$ nmr spectroscopy. 7-p-Fluorophenyltricyclo[2.2.2.$0^{2,6}$]octan-7-yl(4) and 8-p-fluorophenyltricyclo[3.2.2.$0^{2,7}$]nonan-8-yl cation (8) were generated from corresponding tertiary alcohols under stable ion conditions, and their $^{19}F$ chemical shifts were compared with those of model compounds such as 7-nortricyclyl cation (3) and tricyclo[3.3.1.$0^{2,7}$]octan-8-yl cation (7). Consequently, it is concluded that the varied orientation of bond angle (${\alpha}$) within in the bisected conformation does not affect degree of the charge delocalization into cyclopropane ring.