• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.10
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• pp.3873-3879
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• 2010

Home service robot are not working in the fixed task such as industrial robot, because they are together with human in the same indoor space, but have to do in much more flexible and various environments. Most of them are developed on the base of the wheel-base mobile robot in the same method as a vehicle robot for factory automation. In these days, for holonomic system characteristics, omni-directional wheels are used in the mobile robot. A holonomicrobot, using omni-directional wheels, is capable of driving in any direction. But trajectory control for omni-directional mobile robot is not easy. Especially, azimuth control which sensor uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A trajectory controller for an omni-directional mobile robot, which each motor is controlled by an individual PID law to follow the speed command from inverse kinematics, needs a precise sensing data of its azimuth and exact estimation of reference azimuth value. It has imprecision and uncertainty inherent to perception sensors for azimuth. In this paper, they are solved by using fuzzy logic inference which can be used straightforward to perform the control of the mobile robot by means of the fuzzy behavior-based scheme already existent in literature. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.

• Journal of Drive and Control
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• v.13 no.4
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• pp.59-67
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• 2016

This paper proposes a model-prediction-based collision-avoidance algorithm for excavators for which the recursive-least-squares (RLS) estimation of the excavator's rotational inertia is used. To estimate the rotational inertia of the excavator, the RLS estimation with multiple forgetting and two updating rules for the nominal parameter and the forgetting factors was conducted based on the excavator-swing dynamics. The average value of the estimated rotational inertia that is for the minimizing effects of the estimation error was computed using the recursive-average method with forgetting. Based on the swing dynamics, the computed average of the rotational inertia, the damping coefficient for braking, and the excavator's braking angle were predicted, and the predicted braking angle was compared with the detected-object angle for a safety evaluation. The safety level defined in this study consists of the three levels safe, warning, and emergency braking. The analytical rotational-inertia-based performance evaluation of the designed estimation algorithm was conducted using a typical working scenario. The results of the safety evaluation show that the predictive safety-evaluation algorithm of the proposed model can evaluate the safety level of the excavator during its operation.

• Journal of Korea Soil Environment Society
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• v.4 no.1
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• pp.97-108
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• 1999

Reduction 2, 4, 6-trinitrotoluene by zero valent iron was studied in a batch reactor under anoxic conditions. Results showed that the removal of trinitrotoluene (TNT)followed a pseudo-first order reaction and the rate was linearly dependent on the available reactive surfau area of the zero valent iron surface area, resulting a rate constant of 0.0981min$^{1}m$$^{-2}m$. High concentrations of the final product, presumably triaminotoluene which needs to be treated by other means, accumulated in the solution. However , little amount of TAT was extracted from the metal surface by using acetonitrile or phosphate buffered water (pH 7.0). Other common major intermediate in biological TNT degradation, a group of aminodinitrotoluenes, was not detected in the solution. Therefore, it is postulated that the reduction of nitro group by $Fe^0$ occurs simultaneously in all three positions and a TNT reduction model by zero valent iron was suggested.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.8 no.4
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• pp.59-67
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• 1988

Anaerobic digestion at the temperature of $35-55^{\circ}C$ was conducted using an artificial sludge of uniform composition. The hydraulic retention time of 5 days was chosen because the temperature effect was effectively shown at a high loading. Inhibition of the methane fermentation decreased as the temperature increased. Acid fermentation was prevalent at the mesophilic and intermediate temperatures, while active methane fermentation took place at $55^{\circ}C$. Temperature not only affects activity of the microorganisms, but also affects physical and chemical properties of the sludge, Digestion inhibition was much reduced when the feed sludge was diluted, and active methane fermentation was possible at all temperatures. The digestion efficiency was governed by the organic loading rate as well as the hydraulic 10ading rate. No reduction of the digestion efficiency at $40-45^{\circ}C$, which had been referred to a critical temperature range, was observed. The digestion efficiency increased monotonically from mesophilic to thermophilic range. Improved settling properties of digested sludge was also recorded at higher temperatures.

• Journal of Korea Water Resources Association
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• v.33 no.3
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• pp.331-340
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• 2000

This study aims to develop a methodology of real time forecasting of mundation risk based on DAMBRK model and Kalman filter. The model is based on implicit, nonlinear finite difference approximatIons of the one-dimensional dynamic wave equations. The stochastic estimator uses on extended Kalman filter to provide optimal updating estimates. These are accomplished by combining the predictions of the determurustic model with real time observauons modified by the Kalman filter gain ractor. Inundation risks are also estimated by applying Monte Carlo simulation to consider the variability in cross section geometry and Manning's roughness coefficient. The model calibrated by applying to the floods ot South Han River on September, 1990 and August, 1995. The Kalman tilter model indicates that significant improvement compared to deteriministic analysis in flood routing predictions in the river. Overtopping risk of levee is also presented by comparing levee height with simulated flood level. level.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2009.10a
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• pp.40-41
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• 2009

In general, ships are towed to keep the safe operations in harbor or channel by tug boats. Due to increase in ocean traffic, many accidents are happened in harbor or channel in these days. Therefore it is necessary to predict manoeuvrability of tug-barge system, and to assure the safety of that system. Turg-barge system is composed of tug boat, barge, and towing cable, connecting both ships. Manoeuvring equations of tug-barge system are suggested, and the scopes of model tests are discussed to establish the mathematical models for tug boats in this paper.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.9
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• pp.749-757
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• 2021

In transportation missions using quadrotor, the payload may change the model parameters, such as mass, moment of inertia, and center of gravity. Moreover, if position of the payload is constantly changing during flight, the effect can adversely affect the control performances. To handle this issue, we suggest Model Reference Adaptive Control based on Linear Quadratic Regulator(LQR+MRAC) to compensate the uncertainty caused by payload. Firstly, the mathematical modeling with the fixed payload is derived. Second, Linear Quadratic Regulator (LQR) is used to design the reference model and baseline controller. Also, through the Stability method, Adaptive law is derived to estimate the model parameters. To verify the performance of proposed control scheme, we compared LQR and LQR+MRAC in situations where uncertainties exist. And, when the disturbance exist, the classic MRAC and proposed controller is compared to analyze the transient response and robustness.

• Ecology and Resilient Infrastructure
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• v.8 no.4
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• pp.165-178
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• 2021

We studied driftwood behaviors including generation and deposition in a tsunami using a numerical simulation. We used an integrated two-dimensional numerical model, which included a driftwood dynamics model. The study area was Sendai, Japan. Observation data collected by Inagaki et al. (2012) were used to verify the simulation results by comparing them with driftwood deposition patterns. A simplified model was developed to consider the threshold of driftwood generation by the drag force of water flows. To consider the volume of driftwood generated, we estimated the total wood number in the study area using Google Earth. Therefore, we simulated more than 13,000 pieces of driftwood that were generated and transported inland from approximately 300,000 trees that were growing in the forest. The final distribution of the driftwood was similar to the observation data. The reproducibility of the generation and deposition patterns of driftwood showed good agreement in terms of longitudinal deposition pattern. In the future, a sensitivity analysis on driftwood parameters, such as the size of the wood, boundary conditions, and grid size, will be implemented to predict the travel patterns of driftwood. Such modeling will be a useful methodology for disaster prediction based on water flow and driftwood.

• Clean Technology
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• v.27 no.3
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• pp.261-268
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• 2021

Equilibrium, kinetics, and thermodynamics of adsorption of acid black 1 (AB1) by coal-based granular activated carbon (CGAC) were investigated with the adsorption variables of initial concentration of dye, contact time, temperature, and pH. The adsorption reaction of AB1 by activated carbon was caused by electrostatic attraction between the surface (H⁺) of activated carbon and the sulfite ions (SO₃^-) and nitrite ions (NO₂^-) possessed by AB1, and the degree of reaction was highest at pH 3 (97.7%). The isothermal data of AB1 were best fitted with Freundlich isotherm model. From the calculated separation factor (1/n) of Freundlich, it was confirmed that adsorption of AB1 by activated carbon could be very effective. The heat of adsorption in the Temkin model suggested a physical adsorption process (< 20 J mol^-1). The kinetic experiment favored the pseudo second order model, and the equilibrium adsorption amount estimated from the model agreed to that given by the experiments (error < 9.73% ). Intraparticle diffusion was a rate controlling step in this adsorption process. From the activation energy and enthalpy change, it was confirmed that the adsorption reaction is an endothermic reaction proceeding with physical adsorption. The entropy change was positive because of an active reaction at the solid-liquid interface during adsorption of AB1 on the activated carbon surface. The free energy change indicated that the spontaneity of the adsorption reaction increased as the temperature increased.

• Journal of Astronomy and Space Sciences
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• v.26 no.1
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• pp.75-88
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• 2009

The main purpose of the current research is to introduce the alternative algorithm of the non-recursive batch filter based on the unscented transformation in which the linearization process is unnecessary. The presented algorithm is applied to the orbit determination of a low earth orbiting satellite and compared its results with those of the well-known Bayesian batch least squares estimation and the iterative UKF smoother (IUKS). The system dynamic equations consist of the Earth's geo-potential, the atmospheric drag, solar radiation pressure and the lunar/solar gravitational perturbations. The range, azimuth and elevation angles of the satellite measured from ground stations are used for orbit determination. The characteristics of the non recursive unscented batch filter are analyzed for various aspects, including accuracy of the determined orbit, sensitivity to the initial uncertainty, measurement noise and stability performance in a realistic dynamic system and measurement model. As a result, under large non-linear conditions, the presented non-recursive batch filter yields more accurate results than the other batch filters about 5% for initial uncertainty test and 12% for measurement noise test. Moreover, the presented filter exhibits better convergence reliability than the Bayesian least squares. Hence, it is concluded that the non-recursive batch filter based on the unscented transformation is effectively applicable for highly nonlinear batch estimation problems.