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I-PDA controller design based on CDM for Robotic Manipulator
Young-su Lee(이영수),Dae-hyun Kim(김대현),Hyo-Jae Kim(김효재),Young-do Lim(임영도) 한국정보기술학회 2005 Proceedings of KIIT Conference Vol.2005 No.-
In this paper, I-PDA controller based on Coefficient Diagram Methodincorporating feedforward controller is applied by robotic manipulators. Robotic manipulator models contain uncertain elements, which are not known exactly. Therefore, the dynamics of robotic manipulators are generally classified as uncertain dynamic system. The controller considered for the robotic manipulators need to move payloads of different masses from one point to another with good balance of the stability and response, consequently we propose I-PDA controller based on Coefficient Diagram Method incorporating FFC. The effectiveness of the controller for different system type of robotic manipulators is demonstrated by the simulation results.
핫스탬핑강의 너트 프로젝션 용접시 너트 재질이 용접부 파단모드 변화에 미치는 영향
임성상(Sung-Sang Lim),김영태(Young-Tae Kim),천은준(Eun-Joon Chun),남기성(Ki-Sung Nam),박영환(Young-Wan Park),김재완(Jae-Wan Kim),이선영(Sun-Young Lee),최일동(Il-dong Choi),박영도(Yeong-Do Park) 대한용접·접합학회 2016 대한용접·접합학회지 Vol.34 No.2
The use of materials for modern lightweight auto-bodies is becoming more complex than hitherto assemblies. The high strength materials nowadays frequently used for more specific fields such as the front and rear sub frames, seat belts and seats are mounted to the assembled body structure using bolt joints. It is desirable to use nuts attached to the assembled sheets by projection welding to decrease the number of loose parts which improves the quality. In this study, nut projection welding was carried out between a nut of both boron steel and carbon steel and ultra-high strength hot-stamped steel sheets. Then, the joints were characterized by optical and scanning electron microscope. The mechanical properties of the joints were evaluated by microhardness measurements and pullout tests. An indigenously designed sample fixture set-up was used for the pull-out tests to induce a tensile load in the weld. The fractography analysis revealed the dominant interfacial fracture between boron steel nut weld which is related to the shrinkage cavity and small size fusion zone. A non-interfacial fracture was observed in carbon steel nut weld, the lower hardness of HAZ caused the initiation of failure and allowed the pull-out failure which have higher in tensile strengths and superior weldability. Hence, the fracture load and failure mode characteristics can be considered as an indication of the weldability of materials in nut projection welding.
권영도,임세원,오강섭,Kwon, Young-Do,Lim, Se-Won,Oh, Kang-Seob 대한생물정신의학회 2010 생물정신의학 Vol.17 No.1
Objectives : Social phobia is frequently accompanied with autonomic nerve system symptoms. QT dispersion(QTd) is the maximum inter-lead difference in QT interval, an indicator of the autonomic nerve system(ANS) disparity of the heart itself. The objective of this study is to investigate the ANS disparity, which is measured by QTd, is associated with pathophysiology of social phobia. Methods : This research have compared QT dispersion of 25 physically healthy social phobia outpatients(16 men, 9 women, the average age $35.5{\pm}12.9$) and age and sex matched control group of mentally and physically healthy 25 volunteers(16 men, 9 women, the average age $34.83{\pm}12.7$). QTd was measured by previously described method. Results : QTd and rate-corrected QTd were significantly higher on the patient group than the control group[QTd(patients vs. controls : $52.60{\pm}27.63ms$ vs. $27.53{\pm}14.29ms$, p<0.0001), QTd(patients vs. controls : $55.79{\pm}27.98ms$ vs. $29.10{\pm}14.24ms$, p<0.0001)]. Conclusion : Our study showed that the patients with social phobia have higher QTd than the normal controls. These results suggest that the ANS disparity, which is measured by QTd, is associated with pathophysiology of social phobia.