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Control Strategy to Reduce Tracking Error by Impulsive Torques at the Joint
Chulho Yang 한국정밀공학회 2005 International Journal of Precision Engineering and Vol.6 No.2
The study reported deals with investigating the feasibility of control strategy for a serial rigid link manipulator that applies impulsive torques at the joints. The strategy is illustrated for a planar three rigid link manipulator. An impulse-based concept which uses successive torque impulses on rigid link as the controller for motion correction was introduced. This control strategy was tested over the entire trajectory to demonstrate that the tracking error could be reduced effectively. The best condition for minimizing the tracking error with the least impulse input at each joint is investigated by considering one design and one operating parameter. The first was the damping in the system, and the second was the sampling time during operation. The results show that this approach can provide useful guidance for the design and control of robot manipulators that require minimum impulse feedback for accurate tracking.
A Study of Deformation and Orientation Dependent Behavior in Single Crystals
Yang Chulho The Korean Society of Mechanical Engineers 2005 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.19 No.3
Deformations of single crystals were studied using finite element analysis to investigate the localized modes and the orientation dependence of plastic deformation observed in single crystals. Investigation of mechanical properties of single crystals is closely related with the understanding of deformation processes in single crystals. Localized bands such as shear and kink were studied and the material and geometric characteristics that influence the formation of such localized bands were investigated. Orientation dependence of material behavior in NiAl single crystals was studied by rotating slip directions from 'hard' orientation. The maximum nominal compressed stress in NiAl single crystals was widely ranged depending on the misalignment from 'hard' orientation. As the compression axis was set closer to 'hard' orientation, the maximum nominal compressed stress was rapidly increased and made <100> slips difficult to activate. Therefore, non-<100> slips will be activated instead of <100> slips for 'hard' orientation.
A Study of Deformation and Orientation Dependent Behavior in Single Crystals
Chulho Yang 대한기계학회 2005 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.19 No.3
Deformations of single crystals were studied using finite element analysis to investigate the localized modes and the orientation dependence of plastic deformation observed in single crystals investigation of mechanical properties of single crystals is closely related with the understanding of deformation processes in single crystals Localized bands such as shear and kink were studied and the material and geometric characteristics that influence the formation of such localized bands were investigated. orientation dependence of material behavior in NiA1 single crystals was studied by rotating slip directions from 'hard' orientation. The maximum normal compressed stress in NiAl single crystals was widely ranged depending on the misalignment from 'hard' orientation As the compression axis was set closer to 'hard' orientation, the maximum normal compressed stress was rapidly increased and made <100> slips difficult to activate Therefore, non-<100> slips will be activated instead of <100> slips for 'hard' orientation.
Yang, Chulho 東新大學校 1995 論文集 Vol.7 No.-
대부분의 사회학 이론은 일탈행위의 책임에 대해 사회구조적인 요인을 어느정도 인정하더라도 근본적으로 개인에게 있는 것으로 규정한다. 그럼에도 불구하고 일탈행위에 대한 인간적인 관점들이 존재하고 있는 것 또한 사실이다. 시회심리학에서는 개개인이 그들을 에워 싸고 있는 환경의 변화에 대한 이해의 시도를 분석해보고자 하는 귀인이론이 강조 되어왔는데, 귀인이론에 의하면 일탈행위의 원인이 개인 혹은 외적인 요인에 의해 설명되어 질수 있다고 보고 있다. 상징적 상호작용론의 낙인이론에서는 일탈행위를 사회구조 내에서의 사람의 반작용이라고 분석한다. 이 논문의 목적은 두관전의 차이를 비교 해보고 또한 두관전의 전문가들에 의한 공동연구의 가능성을 검토 해보고자 하는데 있다. 낙인이론과 귀인이론의 일탈행위에 관한 공동연구는 여러 가지 장점이 있는 것으로 보여진다. 우선, 이러한 공동연구는 귀속과정과 사회구조적 변수의 연계가능성을 보여준다. 이러한 연계는 대조적인 연구결과를 조율해주며 서로 다른 사회구조나 시간에서 유사한 연구결과를 얻을 수 있게 도와준다. 이러한 공동연구는 사회적 상호작용에서의 귀속과정을 뚜렷이 보여주고 또한 낙인이론과 사회화 과정에 관한 체계적인 연구를 가능하게 해준다.
Control Strategy to Reduce Tracking Error by Impulsive Torques at the Joint
Yang Chulho Korean Society for Precision Engineering 2005 International Journal of Precision Engineering and Vol.6 No.2
The study reported deals with investigating the feasibility of control strategy for a serial rigid link manipulator that applies impulsive torques at the joints. The strategy is illustrated for a planar three rigid link manipulator. An impulse-based concept which uses successive torque impulses on rigid link as the controller for motion correction was introduced. This control strategy was tested over the entire trajectory to demonstrate that the tracking error could be reduced effectively. The best condition for minimizing the tracking error with the least impulse input at each joint is investigated by considering one design and one operating parameter. The first was the damping in the system, and the second was the sampling time during operation. The results show that this approach can provide useful guidance for the design and control of robot manipulators that require minimum impulse feedback for accurate tracking.
양철호(Yang Chulho) 한국사회조사연구소 2004 사회연구 Vol.- No.7
이 연구를 통하여 노인학대의 개념을 정리하고 노인학대 측정도구를 개발하였으며 전국민의 노인학대에 대한 의식을 알아보고 노인학대의 실체를 어느 정도 파악할 수 있었다. 단, 조사비용과 시간의 제약으로 인하여 노인학대의 완전한 모습을 보여주지는 못하였다. 이 연구와 그동안 이루어진 노인학대 관련 연구들의 결과를 종합하여 우리 사회의 노인학대 문제해결을 위하여 노인학대 예방, 피학대노인과 부양가족을 위한 지지망 강화 그리고 노인학대 방지 및 개입을 위한 법적 제도적 장치 마련 등의 7가지 단기과제와 6가지 중장기 과제를 제시하였다. The outcomes of this research were sound definition and measuring instrument of elder abuse, and clear picture of attitude toward elder abuse and sketch of the actual state of elder abuse. However, we could not draw the clear picture of the actual state of elder abuse due to financial and time limits. Based on the results of the research and other studies, we suggested 7 short-term and 6 mid and long-term plans including prevention of elder abuse, support system for the abused elderly and caregiver, and legal and systematic methods of prevention and intervention.
양철호(Chulho Yang) 한국자동차공학회 2004 한국자동차공학회 지부 학술대회 논문집 Vol.- No.-
A systematic method has been proposed to obtain a robust and reliable design of water pump system. A steady-state dynamic model has been developed to study the response of water pump system for the dynamic load due to the run-out and unbalance. Finite element analyses were performed to find parameters that dictate system response. Fan mass was a dominant factor that affects system response among the 6 design parameters considered. By examining influence of design parameters to the system response in a systematic way, more robust and reliable design is expected.