• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.2
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• pp.68-73
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• 2000

This paper addresses the analysis and design of fuzzy control systems for a class of complex nonlinear systems. Firstly, the nonlinear system is represented by Takagi-Sugeno(TS) fuzzy model and the global controller is constructed by compensating each linear model in the rule of TS fuzzy model. The design of conventional TS fuzzy-model-based controller is composed of two processes. One is to determine the static state feedback gain of each local model and the other is to validate the stability of the designed fuzzy controller. In this paper, we propose an alternative methods for the design of TS fuzzy-model-based controller. The design scheme is based on the extension of conventional optimal control theory to the design of TS fuzzy-model-based controller. By using the proposed method, the design and stability analysis of the TS fuzzy model-based controller is reduced to the problem of finding the solution of a set of algebraic Riccati equations. And we use the recently developed interior point method to find the solution of AREs, where AREs are recast as the LMI formulation. A numerical simulation example is given to show the effectiveness and feasibiltiy of the proposed fuzzy controller design method.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2003.05a
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• pp.57-62
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• 2003

This paper describes the design and simulation of a multivariable optimal control system for the combined speed, heading and depth control of a Semi-Autonomous Underwater Vehicle (SAUV) developed in Korea Ocean Research and Development Institute (KRODI). The SAUV is a test-bed for the evaluation of the navigation and manipulator technologies developed for a mine disposal vehicle (MDV) in military use and for a light working underwater vehicle in scientific use. The vehicle was designed to control its cruising speed, heading and depth with 4 horizontal thrusters installed at the rear of the hull. Therefore, the decoupled control methods are limited to apply to the SAUV because the thrust forces are highly coupled with the surging, yawing, and pitching motion of the vehicle. The multivariable Linear Quadratic (LQ) control method is chosen to control steering and diving in variable speed motion automatically. A series of simulation is carried out with fully nonlinear six degree of freedom dynamic model to validate the controller.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.8
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• pp.2975-2982
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• 2010

In this paper, embedded control system of segway robot using model based design is presented. Design of control program in embedded system can be implemented simply and easily by model based design method using MATLAB/SIMULINK. Segway robot is consisted of a NXT Mindstorms controller, two DC servo motors, a ultrasonic sensor, a gyro sensor, and a light sensor. It is a unstable nonlinear system and has a control problem of body pitch angle. So controller of segway robot is designed using state feedback LQR control. It is confirmed through design and experiment of controller that the model based design method, that is not depend on target processor, has merits compared with the text based design in aspects such as a program development, an error detection/modify, and an insight of software structure.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.48 no.11
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• pp.881-888
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• 2020

In this paper, research on estimation of states of a target of interest using Line Of Sight(LOS) angle measurement is performed. Target's position, velocity, and acceleration are chosen to be the states of interests. The LOS measurement is known to be highly non-linear, making target dynamic modeling hard to be implemented into a filter. To solve this issue, the Pseudomeasurement equation was applied to the LOS measurement equation. With the help of this equation, 3D variable turn target dynamic model is applied to the filter model. For better performance, Kinematic Constraint is also implemented into the filter model. As for the filter, Bias Compensation Pseudomeasurement Filter (BCPMF) is used which is known for its robustness to initial conditions. Moreover, Two-Stage Kalman Filter (TSKF) form was also implemented to benefit from the parallel computation. As a result, TBCPMF 3DVT-KC is proposed and simulated to assess performance.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.29 no.4
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• pp.309-315
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• 2016

Recently, finite element analysis technique has been widely used for structural and mechanical understandings of human body in the dentistry field. This research proposed an effective finite element modeling method based on CT images, and parametric studies were performed for the occlusal simulation. The analyses were performed considering linear material behaviors and nonlinear geometrical effect, and validated with the experimental results. In addition, the skull models with two different molar relations such as Class I and full-CUSP Class II were generated and the analyses were performed using the proposed analytical method. As results, the relationships between the mandibular movement and occlusal force of both two models showed similar tendency in human occlusal force. However, stress was evenly distributed from teeth to facial bone in the skull model with Class I, while stress concentration was appeared in the model with full-CUSP Class II due to the changes of occlusal surfaces of the model.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.2
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• pp.157-166
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• 2014

A light water reactor (LWR) fuel rod consists of zirconium alloy cladding tube and uranium dioxide pellets with a slight gap between them. The modeling of heat transfer across the gap between fuel pellets and the protective cladding is essential to understanding fuel behavior under irradiated conditions. Many researchers have been developing fuel performance codes based on finite element method (FE) to calculate temperature, stress and strain for multidimensional analysis. The gap conductance model for multi-dimension is difficult issue in terms of convergence and nonlinearity because gap conductance is function of gap thickness which depends on mechanical analysis at each iteration step. In this paper, virtual link gap element (VLG) has been proposed to resolve convergence issue and nonlinear characteristic of multidimensional gap conductance. In terms of calculation accuracy and convergence efficiency, the proposed VLG model has been evaluated for variable cases.

• Korean Journal of Soil Science and Fertilizer
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• v.31 no.4
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• pp.359-367
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• 1998

In order to determine the nitrogen supplying capabilities (NSC) of corn fields, 47 field experiments were performed in Pennsylvania over 3 year from 1986 and NSCs were estimated by the regression analysis with chemical properties and soil attributes. Although the content of $NO_3-N$ in soil showed the best correlation with NSC ($R^2=0.518$), the standardized partial regression coefficient of $NO_3-N$ for NSC was 0.52, with some variations over the years. This value was slightly higher than those of the other properties which ranged from 0.001 to 0.351. Multiple linear regression with soil attributes for the evaluation of NSC was better than simple regression with $NO_3-N$. The coefficient of determination ($R^2$) for the evaluation of NSC was gradually increased; 0.599 with selected chemical properties, 0.698 with quantitative attributes(chemical properties and depth of Ap horizon), and 0.839 with quantitative and selected qualitative soil attributes. Consequently, in order to evaluate NSC, analysis by multiple linear regression with soil attributes was more reliable and better model than by the simple regression model.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.32 no.4
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• pp.262-272
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• 2020

A large number of studies on wave breaking have been carried out, and many experimental data have been documented. Moreover, on the basis of various experimental data set, many empirical or semi-empirical formulas based primarily on regression analysis have been proposed to quantitatively estimate wave breaking for engineering applications. However, wave breaking has an inherent variability, which imply that a linear statistical approach such as linear regression analysis might be inadequate. This study presents an alternative nonlinear method using an neural network, one of the machine learning methods, to estimate breaking wave height and breaking depth. The neural network is modeled using Tensorflow, a machine learning open source platform distributed by Google. The neural network is trained by randomly selecting the collected experimental data, and the trained neural network is evaluated using data not used for learning process. The results for wave breaking height and depth predicted by fully trained neural network are more accurate than those obtained by existing empirical formulas. These results show that neural network is an useful tool for the prediction of wave breaking.

• Journal of Korea Water Resources Association
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• v.51 no.8
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• pp.643-654
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• 2018

In order to generate the stable tsunami in a numerical wave tank, a two-dimensional numerical model, LES-WASS-2D has been introduced the non-reflected wave generation system for various tsunami waveforms. And then, comparing to existing experimental results it is revealed that computed results of the LES-WASS-2D are in good agreement with the experimental results on spatial and temporal tsunami waveforms in the vicinity of a seawall. It is shown that the applied model in this study is applicable to the numerical simulations on tsunami overtopping and inundation. Using the numerical results, the characteristics of overtopping and inundation on a seawall are also discussed with volume ratio of tsunami and relative tsunami height. The wider the tsunami waveform, tsunami overtopping quantity and inundation distances are linearly increased. Therefore, the hydraulic characteristics is highly likely to be underestimated against the real tsunami if the solitary wave of approximation theory is applied for the overtopping/inundation simulations due to a tsunami.

• Journal of Advanced Navigation Technology
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• v.21 no.5
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• pp.450-458
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• 2017

This paper presents dynamic modelling and simulation study on attitude/altitude control of an insect-mimicking flapping micro aerial vehicle during hovering. Mathematical modelling consists of three parts: simplified flapping kinematics, flapping-wing aerodynamics, and six degree of freedom dynamics. Attitude stabilization is accomplished through linear quadratic regulator based on the linearized model of the time-varying nonlinear system, and altitude control is designed in the outer loop using PID control. The performance of the proposed controller is verified through numerical simulation where attitude stabilization and altitude control is done for hovering. In addition, it is confirmed that the attitude channel by periodic control is marginally stable against periodic pitching moment caused by flapping.