• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.1
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• pp.90-100
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• 1993

A finite element formulation of vibration control of a laminated plate with piezoelectric sensor/ actuators is presented. Classical lamination theory with the induced strain actuation and Hamilton's principle are used to formulate the equations of motion of the system. The total charge developed on the sensor layer is calculated from the direct piezoelectric equation. The equations of motion and the total charge are discretized with 4 node, 12 degrees of freedom quadrilateral plate bending elements with one electrical degree of freedom. The mass and stiffness of the piezoelectric layer are introduced by treating them as another layer in laminated plate. Piezoelectric sensor/actuators are distributed, but discrete due to the geometry of electrodes. By defining an i.d. number of electrode for each element, modelling of electrodes with variable geometry can be achieved. The static response of a piezoelectric bimorph beam to electrical loading and sensor voltage to given displacement are calculated. For a laminated plate under the negative velocity feedback control, the direct time response by the Newmark-.betha. method and damped frequencies and modal damping ratios by modal state space analysis are derived.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.39 no.6
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• pp.20-26
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• 2002

This paper deals with the guaranteed cost control problems for a class of discrete-time linear uncertain systems with time-varying delay. The uncertain systems under consideration depend on time-varying norm-bounded parameter uncertainties. We address the existence condition and the design method of the memoryless state feedback control law such that the closed loop system not only is quadratically stable but also guarantees an adequate level of performance for all admissible uncertainties. Through some changes of variables and Schur complement, It is shown that the sufficient condition can be rewritten as an LMI(linear matrix inequality) form in terms of all variables.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.6
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• pp.746-753
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• 2008

In this paper, we introduce the improved control method are communicated between a master and a slave robot in the teleoperation systems. When the master and slave robots are located in different places, time delay is unavoidable under the network environment and it is well known that the system can become unstable when even a small time delay exists in the communication channel. The time delay may cause instability in teleoperation systems especially if those systems include haptic feedback. This paper presents a control scheme based on the estimator with virtual master model in teleoperation systems over the network. As the behavior of virtual model is tracking the one of master model, the operator can control real master robot by manipulating the virtual robot. And LQG/LTR scheme was adopted for the compensation of un-modeled dynamics. The approach is based on virtual master model, which has been implemented on a robot over the network. Its performance is verified by the computer simulation and the experiment.

• Journal of the Ergonomics Society of Korea
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• v.13 no.1
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• pp.27-35
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• 1994

Automation and mechanization of work make people put the machine into operation and control the state of operation. In the process of those works they are apt to have accidents caused by their carelessness. To reduce such accidents, we can practice "TOUCH '||'&'||' CALL", which is to indicate and ascertain the dangerous parts at every process before performing tasks. The objectives of this study are to examine the effects of S-R compatibility and to show quantitatively the efficiency of TOUCH '||'&'||' CALL. The results show that: 1. Reaction time in case of indicating with fingers and shouting is slightly longer (0.138sec. .approx. 0.279sec. ) than that of responding only visually. However, the error rate decreases by 1/3.3 .approx. 1/4.2 times. Frome this, it is considered to verify quantitative estimation on multiple feedback of TOUCH '||'&'||' CALL. 2. In the stimulus-response relation aspect, numeric numeric stimulus-numeric response shows lower error rate (0.033% .approx. 0.133%) than any other stimulus-response relation, ahd shorter reaction time is proven ( 0.556sec. .approx. 0.835sec. ). These data suggest that having the order of stimulus-response arranged in accordance with the experimental knowledges and conceptional compatibility can bring down the error rate considerably.

• Smart Structures and Systems
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• v.14 no.6
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• pp.1221-1245
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• 2014

Real-time hybrid simulation (RTHS) is a promising cyber-physical technique used in the experimental evaluation of civil infrastructure systems subject to dynamic loading. In RTHS, the response of a structural system is simulated by partitioning it into physical and numerical substructures, and coupling at the interface is achieved by enforcing equilibrium and compatibility in real-time. The choice of partitioning parameters will influence the overall success of the experiment. In addition, due to the dynamics of the transfer system, communication and computation delays, the feedback force signals are dependent on the system state subject to delay. Thus, the transfer system dynamics must be accommodated by appropriate actuator controllers. In light of this, guidelines should be established to facilitate successful RTHS and clearly specify: (i) the minimum requirements of the transfer system control, (ii) the minimum required sampling frequency, and (iii) the most effective ways to stabilize an unstable simulation due to the limitations of the available transfer system. The objective of this paper is to establish a stability switch criterion due to systematic experimental errors. The RTHS stability switch criterion will provide a basis for the partitioning and design of successful RTHS.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.1 s.94
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• pp.211-218
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• 1999

The traditional robot manipulators are actuated by continuous range of motion actuators such as motors or hydraulic cylinders. However, there are many applications of mechanisms and robotic manipulators where only a finite number of locations need to be reached, and the robot’s trajectory is not important as long as it is bounded. Binary manipulator uses actuators which have only two stable states. As a result, binary manipulators have a finite number of states. The number of states of a binary manipulator grows exponentially with the number of actuators. This kind of robot manipulator has some advantage compared to a traditional one. Feedback control is not required, task repeatability can be very high, and finite state actuators are generally inexpensive. And this kind of robot manipulator has a fault tolerant mechanism because of kinematic redundancy. In this paper, we solve the inverse kinematic problem of a binary parallel robot manipulator using neural network and test the validity of this structure using some arbitrary points m the workspace of the robot manipulator. As a result, we can show that the neural network can find the nearest feasible points and corresponding binary states of the joints of the robot manipulator

• Journal of the Korean Solar Energy Society
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• v.29 no.5
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• pp.65-72
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• 2009

The new method is proposed to improve high speed detection of grid voltage phase and magnitude during a voltage dip due to a grid faults. Usually, A LPF(Low Pass Filter) is used in the feedback loop of PLL (Phase Locked Loop) system because the measured grid voltage contains harmonic distortions and sensor noises. so, a new design method of the loop gain of the PI -type controller in the PLL system is proposed with the consideration of the dynamics of the LPF. As a result, a better transient response can be obtained with the proposed design method. The LPF frequency and PI controller gain are designed in coordination according to the steady state and dynamic performance requirement. This paper shows the feasibility and the usefulness of the proposed methods through the computer simulation and the lab-scale experiments.

• Journal of the Korean Society of Industry Convergence
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• v.4 no.4
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• pp.403-411
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• 2001

A criterion for evaluation of burners has changed recently, and the environmental problems are raised as a global issue. Burners with higher thermal efficiency and lower oxygen in the exhaust gas, evaluated better. To comply with environmental regulations, burners must satisfy the $NO_x$ and CO regulation. Consequently. 'good burner' means one whose thermal efficiency is high under the constraint of $NO_x$ and CO consistency. To make existing burner satisfy recent criterion, it is highly recommended to develop a feedback control scheme whose output is the consistency of $NO_x$ and CO. This paper describes the development of a real time flame diagnosis technique that evaluate and diagnose the combustion states, such as consistency of components in exhaust gas, stability of flame in the quantitative sense. In this paper, it was proposed on the flame diagnosis technique of burner using Neuro- Fuzzy algorithm. This study focuses on the relation of the color of the flame and the state of combustion. Neuro- Fuzzy learning algorithm is used in obtaining the fuzzy membership function and rules. Using the constructed inference algorithm, the amount of $NO_x$ and CO of the combustion gas was successfully inferred.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.15 no.4 s.97
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• pp.437-444
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• 2005

This paper presents a robust aeroelastic control methodology of a two dimensional flapped wing system exposed to an incompressible flow field. A robust controller is designed using a linear matrix inequality (LMI) approach for the multiobjective synthesis. The design objectives are to achieve a mix of $H_{\infty}$ performance and H₂ performance satisfying constraints on the closed loop pole locations in the presence of model uncertainties. Numerical examples are presented to demonstrate the effectiveness of LMI approach in damping out the aeroelastic response of 3-DOF flapped wing system.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.18 no.9
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• pp.1376-1385
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• 1993

This paper presents a new dynamic model which is represented by the second order differenatial equation and itcludes the robot arm dynamics as well as the actuator dynamics. The model exhibits excellent performance in the steady state and transient response. In addition the time varing nonlinear and coupled dynamic system has been linearized and decoupled by using nonlinear feedback and linearization method. In this case a pole assignment law is used to improve stability, and the optimal control altorithm is applied to the error equation to minimize the path error. In applying the proposed algorithm to the three joint manipulator with actuators, we obtained very encouraging results.