• Structural Engineering and Mechanics
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• v.14 no.2
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• pp.135-150
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• 2002

Numerical analysis of ultimate behaviour of thin bionics shells is treated in present paper. Interactive conditions in resonance and stability ultimate response are considered. Numerical treatment of nonlinear problems appearing is made using the updated Lagrangian formulation of motion. Each step of the iteration approaches the solution of linear problem and the feasibility of parallel processing FETM-technique with adaptive mesh refinement and substructuring for the analysis of ultimate action of thin bionics shells is established. Some numerical results are submitted in order to demonstrate the efficiency of the procedures suggested.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.139-142
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• 1997

In this paper, a robust controller is proposed to achieve an accurate tracking for an uncertain nonlinear plant with actuator dynamics. The extent of parameter uncertainty can be quantified by using linear parameterization technique. A switching controller is proposed to guarantee the global asymptotic stability of the plant. In order to eliminate the chattering caused by the switching controller, a smoothing controller is designed using the boundary layer technique around the sliding surface and guarantees the uniform ultimate boundedness of the tracking error.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.924-930
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• 1989

This paper presents the design of simple robust controller for a class of uncertain multivariable systems. We introduce switching dynamics instead of switching logics unlike variable structure control scheme. Also, we can construct the continuous control law from this switching dynamics and consequently remove the chattering motion. The dynamic equations of the range-space of a switching surface matrix C and uniform ultimate boundedness in the presence of parameter uncertainties are described mathematically.

• Advances in nano research
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• v.15 no.1
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• pp.59-65
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• 2023

In this present article, the mechanical behavior of single-walled black phosphorene nanotubes (SW-αPNTs) is simulated using molecular dynamics (MD). The proposed model is subjected to the axial loading and the effects of morphological parameters, such as the mono-vacancy defect and strain rate on the tensile behavior of the zigzag and armchair SW-αPNTs are studied as a pioneering work. In order to assess the accuracy of the MD simulations, the stress-strain response of the current MD model is successfully verified with the efficient quantum mechanical approach of the density functional theory (DFT). Along with reproducing the DFT results, the accurate MD simulations successfully anticipate a significant variation in the stress-strain curve of the zigzag SW-αPNTs, namely the knick point. Predicting such mechanical behavior of SW-αPNTs may be an important design factor for lithium-ion batteries, supercapacitors, and energy storage devices. The simulations show that the ultimate stress is increased by increasing the diameter of the pristine SW-αPNTs. The trend is identical for the ultimate strain and stress-strain slope as the diameter of the pristine zigzag SW-αPNTs enlarges. The obtained results denote that by increasing the strain rate, the ultimate stress/ultimate strain are respectively increased/declined. The stress-strain slope keeps increasing as the strain rate grows. It is worth noting that the existence of mono-atomic vacancy defects in the (12,0) zigzag and (0,10) armchair SW-αPNT structures leads to a drop in the tensile strength by amounts of 11.1% and 12.5%, respectively. Also, the ultimate strain is considerably altered by mono-atomic vacancy defects.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.5
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• pp.582-590
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• 2007

Nonlinear adaptive control of overhead cranes is investigated for anti-sway trajectory tracking with high-speed hoisting motion. The sway dynamics of two dimensional underactuated overhead cranes is heavily coupled with the trolley acceleration, hoisting rope length, and the hoisting velocity which is an obstacle in the design of decoupling control based anti-sway trajectory tracking control law To cope with this obstacle. we propose a fuzzy nonlinear adaptive anti-sway trajectory tracking control law guaranteeing the uniform ultimate boundedness of the sway dynamics even in the presence of uncertainties in such a way that it cancels the effect of the trolley acceleration and hoisting velocity on the sway dynamics. In particular. system uncertainties, including system parameter uncertainty unmodelled dynamics, and external disturbances, are compensated in an adaptive manner by utilizing fuzzy uncertainty observers. Accordingly, the ultimate bound of the tracking errors and the sway angle decrease to zero when the fuzzy approximation errors decrease to zero. Finally, numerical simulations are performed to confirm the effectiveness of the proposed scheme.

• Korean System Dynamics Review
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• v.5 no.2
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• pp.149-174
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• 2004

Since the economic crisis in 1997, the Korean government has implemented a number of reforms in order to eliminate inefficiencies in both private and public sectors. One of the reforms made in the public sector was to lower the retirement age of teachers from the original age of 65 to that age 62. The ultimate aim of this compulsory policy was to improve the quality level of education by hiring many young teachers instead of senior teachers. It was made based on the calculation that by lowering the retirement age by three years, the government can hire three young teachers with the saved wages. However, this policy has brought an unexpected result; the imbalance between the supply and demand for teachers has become a much more serious problem in Korea's elementary education system The purpose of this study is largely twofold; First of all, it aims to identify the scope of imbalances occurred in the supply-demand system of elementary school teachers in a region of the nation, and also to find out why such imbalance occurred. Secondly, the purpose of this study is to experiment with feasible policy alternatives and their effects on the system and to suggest some resolutions on the imbalance.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.1047-1052
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• 2008

In this paper, we design an image-based robust controller to compensate uncertainties with image Jacobian and robot dynamics due to uncertain depth measurement and load variations. The proposed controller with eye-in-hand structure has separate terms to compensate each of uncertainties. The ultimate boundedness of the closed-loop system is proved by the Lyapunov approach. The performance of the proposed control system is demonstrated by simulation and experimental results a 5-link robot manipulator with two degree of freedom.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.3
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• pp.294-299
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• 2006

This paper studies a visual feedback control scheme for robot manipulators with camera-in-hand configurations. We design a robust controller that compensates for bounded parametric uncertainties of robot mechanical dynamics. In order to reduce steady state tracking error of the robot arms due to uncertain dynamics, integral action is included in the control input. Using the Lyapunov stability criterion, the uniform ultimate boundedness of the tracking error is proved. Simulation and experimental results with a 2-1ink robot manipulator illustrate the robustness and effectiveness of the proposed control algorithm.

• Proceedings of the KIEE Conference
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• 1998.07b
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• pp.598-600
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• 1998

In this paper, a robust controller is proposed to achieve the accurate tracking for uncertain robot manipulators with hydraulic actuator dynamics. The parameter uncertainty can be quantified by the linear parameterization technique. A switching controller is proposed to guarantee the global asymptotic stability of the plant. In order to eliminate the chattering caused by the switching controller, a smoothing controller is proposed using the boundary layer technique around the sliding surface. It is shown that the smoothing controller guarantees the uniform ultimate boundedness of the tracking, error. The proposed controller shows good better tracking performance.

• Applied Microscopy
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• v.48 no.4
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• pp.126-127
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• 2018

Carbon has numerous allotropes and various crystalline forms with full dimensionalities such as diamond, graphite, fullerenes, and carbon nanotubes leading a wide range of applications. Since the emerge of graphene consisting of a single atomic layer of carbon atoms, a fabrication of all-carbon-based device with combination of one-, two-, and three-dimensional carbons has become a hot issue. Here, we introduce an ultimate one-dimensional carbon atomic chain. Carbon atomic chains were experimentally created by removing atoms from monolayer graphene sheet under electron beam inside transmission electron microscope (TEM). A series of TEM images demonstrate the dynamics of carbon atomic chains over time from the formation, transformation, and then breakage.