• Journal of the Korean Society of Propulsion Engineers
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• v.16 no.3
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• pp.34-40
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• 2012

A pressure control law to regulate pressure of gas generator is suggested. To design a model based control law, the governing equation which consists of Robert and conservation equation is built and verified through the ground burning test. PID and nonlinear adaptive control laws are designed to analyze the loop response characteristics under the system which has varying eigen properties arisen from combustion volume change. It is suggested that new approach, gain scheduling design, is required to overcome the defects identified from numerical simulation results of the two control laws. The newly suggested scheme shows good control performance even under disturbances and measurement noise.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2011.11a
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• pp.618-623
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• 2011

A pressure control law to regulate pressure of gas generator is suggested. To design a model based control law, the governing equation which is consisted of Robert and conservation equation is built and verified through the ground burning test. PID and nonlinear adaptive control laws are designed to evaluate the loop response characteristics under the system which has varying eigen properties as combustor volume is increased. It is suggested that new approach, gain scheduling design, is required to overcome the defects identified from numerical simulation results of the two control laws. The newly suggested scheme showed good control performance even under disturbances and measurement noise.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.1
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• pp.78-86
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• 1998

This paper presents a numerical method of the minimum-time trajectory planning for a robot manipulator amid obstacles. Each joint displacement is represented by the linear combination of the finite-term quintic B-splines which are the known functions of the path parameter. The time is represented by the linear function of the same path parameter. Since the geometric path is not fixed and the time is linear to the path parameter, the coefficients of the splines and the time-scale factor span a finite-dimensional vector space, a point in which uniquely represents the manipulator motion. The displacement, the velocity and the acceleration conditions at the starting and the goal positions are transformed into the linear equality constraints on the coefficients of the splines, which reduce the dimension of the vector space. The optimization is performed in the reduced vector space using nonlinear programming. The total moving time is the main performance index which should be minimized. The constraints on the actuator forces and that of the obstacle-avoidance, together with sufficiently large weighting coefficients, are included in the augmented performance index. In the numerical implementation, the minimum-time motion is obtained for a planar 3-1ink manipulator amid several rectangular obstacles without simplifying any dynamic or geometric models.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2017.04a
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• pp.20-20
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• 2017

궤도형 차량의 이동구조는 에너지 소비 측면에서 단점이 있지만 접지압의 감소로 인한 평지 및 야지험지에서도 원활한 주행이 가능한 장점으로 인해 농업분야의 플랫폼에서 많이 사용된다. 곡식을 베는 일과 탈곡하는 일을 한 번에 하는 콤바인도 이러한 무한궤도형 이동구조를 사용한다. 또한 궤도형 차량의 방향전환 및 주행속도 변환은 좌 우 궤도의 회전 속도를 다르게 하여 동시에 제어하기 때문에 정교한 주행 성능을 위해서는 궤도형 차량의 기구학 모델을 고려한 경로 계획이 필요하다. 본 연구에서는 직교형 포장에서 Round harvesting 기법 기반으로 궤도형 차량의 기구학 모델 및 포장정보를 고려한 자율주행 콤바인 경로계획 알고리즘을 개발하고자 하였다. 이를 위해 Labview 기반의 궤도형 차량 시뮬레이션을 구축하여 실제 포장정보를 이용해 생성 된 경로의 적용 가능성을 구명하고자 하였다. 자율주행 콤바인 경로 계획은 콤바인의 길이, 너비, 회전 시 좌 우 궤도의 속도 비, 직진 속도와 회전 속도 비, 회전 각도, 포장의 외부 경계선, 작업 겹침 량, 회경 횟수를 이용하여 좌현 새머리 선회를 포함한 내부 왕복작업 경로를 생성하며 외부 회경 횟수는 2~3회를 가정하였다. 자율주행 시뮬레이션은 차체와 궤도 자체의 미끄러짐과 작동기 지연시간을 단순화 한 궤도형 기구학 모델형태로 구성하였다. 추종 알고리즘은 선견 거리법을 사용하였으며, 측면 변이값과 방향 오차의 선형조합을 이용하여 조향변수를 정의하고 퍼지로직기반으로 좌 우 궤도 속도를 7 단계화하여 조향장치를 모델링하였다. 실험결과 개발 된 경로생성 알고리즘은 실제 취득 된 포장 외부 경계 GPS 위 경도를 이용해 자동으로 생성이 가능하며 간략화 된 콤바인 시뮬레이션에서 직진주행 RMS 위치 오차는 0.05 m, 선회구간에서 직진 구간 진입 시 RMS 위치 오차는 0.11 m, 직진 구간 RMSE 방향 오차는 3.2 deg로 콤바인 예취부 간격인 30 cm보다 작은 위치 오차를 보이며 생성된 경로 전체 추종이 가능함을 나타내었다.

• Journal of Advanced Navigation Technology
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• v.20 no.5
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• pp.401-407
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• 2016

This paper introduces 3-dimensional path planning and guidance including power model for high altitude long endurance (HALE) UAV using solar energy. Dubins curve used in this paper has advantage of being directly available to apply path planning. However, most of the path planning problems using Dubins curve are defined in a two-dimensional plan. So, we used 3-dimensional Dubins path generation algorithm which was studied by Randal W. Beard. The aircraft model which used in this paper does not have an aileron. So we designed lateral controller by using a rudder. And then, we were conducted path tracking simulations by using a nonlinear path tracking algorithm. We generate examples according to altitude conditions. From the path tracking simulation results, we confirm that the path tracking is well on the flight path. Finally, we were modeling the power system of HALE UAVs and conducting path tracking simulation during 48hours. Modeling the amount of power generated by the solar cell through the calculation of the solar energy yield. And, we show the 48hours path tracking simulation results.

• Korean Chemical Engineering Research
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• v.56 no.6
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• pp.784-791
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• 2018

UiO-66 particles were synthesized under various synthesis conditions to study the adsorption of carbon dioxide for hydrogen purification. For the purpose, the design and analysis of experiments was performed using statistical design of experiment method. As the synthesis time, temperature and acetic acid amount increased, the crystallinity of UiO-66 particles increased. Especially, the amount of acetic acid was confirmed as an important factor in determining the crystallinity of the particles. The specific surface area of the particles measured by the nitrogen adsorption method also showed a similar tendency. Using the general factor analysis in the experimental design method, the main effects and interactions of major factors were analyzed. In addition, the carbon dioxide adsorption capacity was predicted using a nonlinear regression method. Then, the adsorption performance was shown through surface and contour maps for all ranges.

• Radiation Oncology Journal
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• v.11 no.1
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• pp.175-181
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• 1993

Radiosurgery requires integral procedure where special devices and computer systems are needed for localization, dose planning and treatment. The aim of this work is to verify the overall mechanical accuracy of our LINAC and develop dose calculation algorithm for LINAC radiosurgery. The alignment of treatment machine and the performance testing of the entire system were extensively carried out and the basic data such as percent depth dose, off-axis ratio and output factor were measured. A three dimensional treatment planning system for stereotactic radiosurgery has been developed. We used an IBM personal computer with C programming language (IBM personal system/2, Model 80386, IBM Co., USA) for calculating the dose distribution. As a result, deviations at isocenter on gantry and table rotation for our treatment machine were acceptable since they were less than 2 mm. According to the phantom experiments, the focusing isocenter were successful by the error of less than 2 mm. Finally, the mechanical accuracy of our three dimensional planning system was confirmed by film dosimetry in sphere phantom.

• Journal of Korea Water Resources Association
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• v.36 no.3 s.134
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• pp.385-398
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• 2003

The concept of the effective storage ratio has been suggested to determine the size of detention pond by the previous researchers. The 11 pump - pond facilities in Dongdu-chun city were selected to analyze the critical duration for design rainfall and the storage ratio for each rainfall duration in this study It has been then found that the criteria of the maximum storage ratio is not reasonable for determining the size of detention pond because the difference of storage ratio with respect to each rainfall duration is too small. Moreover, since the size of pond compared with the pump capacity is not always big enough, the pump should be frequently operated, which may result in pump failure. Thus, the pond should be sufficiently sized to prevent the possibility of the pump failure due to frequent operation. According to the analyses for changing pump capacity, it has been found that if the function of the pond compared with the pump is concentrated, determining the size of pond based on the storage ratio is operationally feasible for even small basin. Thus, an improved procedure based on the storage ratio for determining the size of detention pond in small basin has been suggested. The results by the proposed procedure considering pump switching frequency may lead to reasonable pump operation. A simple linear programming model has been also adopted to figure out the relationship between pump capacity and pond size. It has been shown that the determination lot the size of detention pond based on conventional hydrologic flood routing in pond is feasible for only urban districts not rural areas.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.11 no.4
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• pp.91-102
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• 1991

Traditionally, a dynamic programming(DP) technique has been used to the multireservoir control system. The algorithm has inherent problem to increase computational requirements exponentially due to discretization of variables and expanding the dimension of the system. To solve this problem, this paper describes transforming the optimal control system into a quadratic programming(QP), using Laguerre polynomials(LP) and its properties. The objective function of the proposed QP is independent of time variable. The solution of the QP is obtained by nonlinear programming(NLP) using augmented Lagrangian multiplier method. The numerical experiment shows that the water level of reservoirs is higher than Lee's and the evaluated benefit value is about the same as other researcher's.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.36S no.6
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• pp.57-66
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• 1999

In this paper, we propose design methods of suspension controller for magnetically levitated system(MAGLEV). In this interior, the study of Electromagnetic Suspension(EMS) which has several advantages is chiefly achieved but, because the EMS has highly nonlinear and unstable property it is difficult to design the suspension controller maintaining stability and high performance. Here a Gain Scheduling Control(GSC) based on pole-placement scheme and on linear quadratic gaussian(LQG) design is separately presented. The several control performance is shown by simulation.