• Journal of Institute of Control, Robotics and Systems
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• v.16 no.1
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• pp.5-11
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• 2010

An adaptive formation control approach is proposed for nonhonolomic multiple mobile robots considering unknown slipping and skidding. It is assumed that unknown slipping and skidding effects are bounded by unknown constants. Under this assumption, the adaptive technique is employed to estimate the bounds of unknown slipping and skidding effects of each mobile robot. To deal with the skidding effect included in kinematics, the dynamic surface design approach is applied to design a local controller for each mobile robot. Using Lyapunov stability theorem, the adaptation laws for tuning bounds of slipping and skidding are induced and it is proved that all signals of the closed-loop system are bounded and the tracking errors and the synchronization errors of the path parameters converge to an adjustable neighborhood of the origin. Finally, simulation results are provided to verify the effectiveness of the proposed approach.

• Journal of the Korean institute of surface engineering
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• v.54 no.2
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• pp.90-95
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• 2021

Surface modification technique enabling the control of condensation provides various benefit in various engineering systems, such as heat transfer, desalination, power plants, and so on. In this study, lubricant oil-impregnation into Teflon-coated nanoporous anodic oxide layer of aluminum to enhance a de-wetting and mobility of water droplet on surface. Due to the surface treatment improving water-repellency, the condensation mode is changed to dropwise, thus the frequency of sliding condensed water droplet on surface is increased. For these reasons, the surface of oil-impregnated Teflon-coated nanoporous anodic aluminum oxide shows significantly enhanced condensation heat transfer compared to bare aluminum surface. In addition, the porosity of anodic aluminum oxide affected the mobility of water droplet even with oil-impregnation and Teflon-coating, indicating that the optimization of porous structure of anodic oxide is required for maximizing the condensation heat transfer.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.6
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• pp.719-727
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• 1999

A robust position control method of the BLDC motor using a new sliding mode control strategy is presented. The main property of variable structure system(VSS) is that the system response is robust and insensitive to parameter variations and external disturbances in the sliding mode. When using the conventional VSS, generally the reaching phase problem occurs, which cause the system response to be sensitive to parameter variations and external disturbances. Furthermore, the speed of response is relatively slow because the swithching surface is a linear function. In order to overcome these problems, VSS with nonlinear sliding surface eliminating reaching phase is proposed. The validity of the proposed scheme is shown by results of simulations of simulations and experiments for the BLDC motor with variable load.

• Applied Science and Convergence Technology
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• v.23 no.5
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• pp.201-210
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• 2014

The influence of electron irradiation and hydrogen adsorption on the electronic structure of the $SrTiO_3$ (001) surface was investigated by ultraviolet photoemission spectroscopy (UPS). Upon electron irradiation of the surface, UPS revealed an electronic state within the band gap (in-gap state: IGS) with the surface kept at $1{\times}1$. This is considered to originate from oxygen vacancies at the topmost surface formed by electron-stimulated desorption of oxygen. Electron irradiation also caused a downward shift of the valence band maximum indicating downward band-bending and formation of a conductive layer on the surface. With oxygen dosage on the electron-irradiated surface, on the other hand, the IGS intensity was decreased along with upward band-bending, which points to disappearance of the conductive layer. The results indicate that electron irradiation and oxygen dosage allow us to control the surface electronic structure between semiconducting (nearly-vacancy free: NVF) and metallic (oxygen de cient: OD) regimes by changing the density of the oxygen vacancy. When the NVF surface was exposed to atomic hydrogen, in-gap states were induced along with downward band bending. The hydrogen saturation coverage was evaluated to be $3.1{\pm}0.8{\times}10^{14}cm^{-2}$ with nuclear reaction analysis. From the IGS intensity and H coverage, we argue that H is positively charged as $H^{{\sim}0:3+}$ on the NVF surface. On the OD surface, on the other hand, the IGS intensity due to oxygen vacancies was found to decrease to half the initial value with molecular hydrogen dosage. H is expected to be negatively charged as $H^-$ on the OD surface by occupying the oxygen vacancy site.

• Proceedings of the Korean Vacuum Society Conference
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• 2010.02a
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• pp.365-365
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• 2010

Similar to the superhydrophobic surfaces of lotus leaf, water strider leg is attributed to hierarchical structure of micro pillar and nano-hair coated with low surface energy materials, by which water strider can run and even jump on the water surface. In order to mimick its leg, many effort, especially, on the fabrication of nanohairs has been made using several methods such as a capillarity-driven molding and lithography using poly(urethane acrylate)(PUA). However most of those effort was not so effective to create the similar structure due to its difficulty in the fabrication of nanoscale hairy structures with hydrophobic surface. In this study, we have selected a low surface energy polymeric material of polytetrafluoroethylene (PTFE, or Teflon) assisted with surface modification of CF4 plasma treatment followed by hydrophobic surface coating with pre-cursor of hexamethyldisiloxane (HMDSO) using a plasma enhanced chemical vapor deposition (PE-CVD). It was found that the plasma energy and duration of CF4 treatment on PTFE polymer could control the aspect ratio of nano-hairy structure, which varying with high aspect ratio of more than 20 to 1, or height of over 1000nm but width of 50nm in average. The water contact angle on pristine PTFE surface was measured as approximately $115^{\circ}$. With nanostructures by CF4 plasma treatment and hydrophobic coating of HMDSO film, we made a superhydrophobic nano-hair structure with the wetting angle of over $160^{\circ}C$. This novel fabrication method of nanohairy structures has been applied not only on 2-D flat substrate but also on 3-D substrates like wire and cylinder, which is similarly mimicked the water strider's leg.

• Proceedings of the KIPE Conference
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• 1998.10a
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• pp.774-779
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• 1998

For the speed control of motors, the position or speed sensors are necessary to obtain the position information of the rotor. Specially, SRM(Switched Reluctance Motor) needs an accurate rotor position data because both the rotor and the stator have a salient pole structure. High functional sensors like resolver or encoder are expensive and have complex connecting lines to the controller so the pure signals are apt to be mixed with noised. In the sight of SRM drives, the high temperature, heavy dust, and the EMI surroundings reduce the reliability of speed and position sensors. Therefore, the speed and position sensorless control algorithms using observer have been accepted widely. In this paper An adaptive sliding observer is described to control the SRM without speed or position sensors. The adaptive sliding observer is set on the basis of variable structure control theory. The sliding surface is constructed by current error terms and this surface guarantees the errors converge to "zero". The stability of observer is affirmed by Lyapunov stability analysis and popov's hyper stability theory.ty theory.

• Journal of the Korean Society for Precision Engineering
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• v.2 no.1
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• pp.41-52
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• 1985

This study is a step in developing the sliding mode control methodology for the robust control of a class of nonlinear time-varying systems. The methodology uses in its idealized form piecewise continuous feedback control, resulting in the state trajectory "sliding" slong a time-varying sliding surface in the state space. This idealized control law achieves perfect tracking. The method is applied to the control of a two-link manipulator handling variable loads in a flexible manufacturing system environment with noise. The result through simulation is that the tracking problem of articular robot with high precision can be realized by using the variable structure system (VSS) theory. The motions of articular robot were insensitive to various payloads. payloads.

• Transactions of The Korea Fluid Power Systems Society
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• v.7 no.3
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• pp.20-27
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• 2010

A vehicle suspension system performs two functions, the ride quality and the stability, which conflict with each other. An active suspension system has an external energy source, from which energy is always supplied to the system for continuous control of vehicle motion. Therefore, an active suspension system can have even more improved performance. Some control laws have been proposed for active suspension system, but in this paper, an optimal variable structure control(VSC) is proposed. The VSC method is well suited for a class of nonlinear system and can address the robustness issues to constant modelling errors and disturbances. This paper develops an optimal VSC controller and compares its performance to those of a passive suspension system and an active suspension system with an optimal controller. The transient and frequency responses are analyzed respectively.

• Journal of KSNVE
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• v.5 no.3
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• pp.313-325
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• 1995

Two active/passive vibration dampers were designed to control a cantilever beam first mode of vibration. The active element was a piezoelectric polymer, polyvinlidene fluoride (PVDF). The passive damping was provided by the application of a viscoelastic layer on the surface of the steel beam. Two substantially different damper configurations were designed and tested. One damper consisted of a piezoelectric actuator bonded to one face of the beam, with a viscoelastic layer applied to the other surface of the beam. The second one was composed of a layer viscoeastic layer with one surface bonded to the beam, and with other being constrained by nine piezoelectric actuators connected in parallel. A control law based on the sign of the angular velocity of the cantilever beam was implemented to control the beam first mode of vibration. The piezoelectric sensor output was digitally differentiated to obtain the transverse linear velocity, and its sign was used in the control algorith. Two dampers provided the system a damping increase of a factor of four for the first damper and three for the second damper. Both dampers were found to work well at low levels of vibration, suggesting that they can be used effectively to prevent resonant vibrations in flexible structure from initiating and building up.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.8 no.3
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• pp.317-329
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• 1996

By describing the floor slab of a radiant heating system as a one dimensional transient heat exchanger problem, a dynamic analysis model to incorperate with TRNSYS program was developed and their results were compared with experimental results. Results showed that the both of TPOC(Two Parameter On-off Control) and TPSC(Two Parameter Switching Control) method using room air temperature and floor surface temperature as the control parameters does not maintain room air and floor surface temperature exactly at the setting temperatures. But TPSC method is a better candidate for the temperature regulations of room air and floor surface temperature than TPOC method which can keep on the upper and lower limit temperature according to outside temeperature and wall structure etc. And better thermal circumstance can be given by TPSC method than On-off and TPOC method and the overheating which can be occured at the radiant floor heating system with on-off heating control will be reduced.