• Journal of the Institute of Electronics Engineers of Korea SC
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• v.45 no.1
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• pp.1-8
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• 2008

A two-wheel balancing vehicle, which helps people moving freely and fast, and is applied from inverted pendulum system, has been widely researched and developed, and some products are came into a market in actuality. Until now, the two-wheel balancing vehicles developed have chosen the general PID control method. In this paper, we propose a new control method to improve a control capacity for a two-wheeled balancing vehicle for human transportation. The proposed method is the fuzzy PD+I control that is one of the improved PID control, and it contains a 2input-1output fuzzy system. This fuzzy system processes signals from proportional and derivative controller, and the fuzzy output signal generates the final output by summing up integral signal. The non-linearity of the fuzzy system makes an optimal output control signal by changing weight of the proportional signal and the derivative signal in process of time. We have simulated the fuzzy PD+I control system and experimented by implementing the two-wheel balancing mobile robot to verify the advantages of the proposed fuzzy PD+I control method in comparison with general PID control. As the results of simulation and experimentation, the proposed fuzzy PD+I control method has better control performance than general PID in this system and improves it.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.30 no.6
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• pp.69-77
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• 2002

To acquire the dynamic response and design the controller of the airship, the longitudinal motion of the airship with respect to the vertical gust, which is the nonlinear system, was studied. The effects of the apparent mass and moment of the airship delay the dynamic response and the settling time, which are slower than those of conventional airplanes. The current object of the airship is designed to cruise at 500~1000m altitude. At that height, the atmospheric conditions are generally unstable by wind gust. In this paper, it has been studied for the case of vertical gust, since the apparent mass effects are dominant in has been studied for the case of vertical gust, since the apparent mass effects are dominant in that plane. In addition to the study of the dynamic responses of the airship, the controller was designed using the PID-controller. When the gust was applied, airship responses were recovered of equilibrium states. However, it takes too ling time for recovery and the speed of airship is reduced. So, the aim in this paper was to fasten the recovery speed and to get back the cruising velocity. The control parameters were determined from the stability mode analysis, and the control inputs were the thrust and the elevator deflection angle.

• Journal of the Korean Institute of Gas
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• v.5 no.1
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• pp.7-14
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• 2001

In this work, the chemical composition of the exhaust gas from domestic gas boiler has been analysed in the point of thermodynamics and CO sensor has been characterized. We proposed that the combustion condition can be estimated by the exhaust gas composition, i.e., the excess air ratio and combustion temperature can be calculated simply by the measurement of the $O_{2}$ fraction and $H_{2}/CO$ in the exhaust gas. By analyse the on site situation domestic boiler, the excess air ratio is about $55\~110\%$. Therefore, the CO may be produced in domestic gas boiler by luminous(yellow) flames rapidly lose heat by radiation, turbulent flames may be partially quenched by the action of steep velocity gradients, and flames burning very close to a cold wall may be partial1y quenched by heat conductivity to the wall. The output voltage of CO sensor is lineally depend on the CO and $H_{2}$concentration. And the exhaust CO from boiler can be reduced by closed loop control with CO sensor

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2010.11a
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• pp.523-526
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• 2010

In this study, we demonstrated a development of a non-releasing bolt which is fastened with a target by expanding a certain area of a bolt body. Being released a bolt causes many problems in a field where bolts are used. In order to figure out the problems, currently, many types of a non-releasing bolt have been developed and have been using. Unfortunately, however, they do not perfectly function not to be released. Therefore, the structures builded with bolts have many problems caused by external stress such as vibration and shock, and thus the bolts have to be regularly tightened for maintenance. With the important factors of internal geometry, the amount of explosive, and the firing pin, we developed a technology which could control the expansion degree of a certain area on a bolt body. Based on the results, it was founded that the performance of non-releasing was linearly proportional to the degree of body expansion.

• Environmental and Resource Economics Review
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• v.19 no.1
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• pp.101-127
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• 2010

The purpose of the research is to tackle proximity effects (PEs) when nonmarket valuation method CVM is applied to environmental goods such as tidal flats. 1,000 households are surveyed in the ratio of national household for the research. The sample are reclassified into five areas by 30-minute distance. Log-linear are used to analysis PEs in the research. On conclusion log-linear model regarding income effects proves that PEs are apparently represented in NMVMs(${\theta}_1$ >0. ${\theta}_2$ >0 and $dum1{\neq}0$, $dum2{\neq}0$, $dum3{\neq}0$, $dum4{\neq}0$) as a result of a 5 per cent significant level of t -test and F-test, finally rejecting the null hypothesis. In addition, WTP of area I respondents shows 26 per cent more then that of area V respondents, which is from \87,969 to \64,866 in the open-ended format. Finally, the research proves that the PEs in CVM are evidently represented with the econometric model, hence the PEs have to be embedded into the questionnaire of non-market valuation methods with the environmental goods to reduce the underestimation and improve the estimation accuracy.

• Journal of Korean Society of Environmental Engineers
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• v.22 no.10
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• pp.1905-1919
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• 2000

The main motivation of this research is to develop an intelligent control strategy for Activated Sludge Process (ASP). ASP is a complex and nonlinear dynamic system because of the characteristic of wastewater, the change in influent flow rate, weather conditions, and etc. The mathematical model of ASP also includes uncertainties which are ignored or not considered by process engineer or controller designer. The ASP is generally controlled by a PID controller that consists of fixed proportional, integral, and derivative gain values. The PID gains are adjusted by the expert who has much experience in the ASP. The ASP model based on $Matlab^{(R)}5.3/Simulink^{(R)}3.0$ is developed in this paper. The performance of the model is tested by IWA(International Water Association) and COST(European Cooperation in the field of Scientific and Technical Research) data that include steady-state results during 14 days. The advantage of the developed model is that the user can easily modify or change the controller by the help of the graphical user interface. The ASP model as a typical nonlinear system can be used to simulate and test the proposed controller for an educational purpose. Various control methods are applied to the ASP model and the control results are compared to apply the proposed intelligent control strategy to a real ASP. Three control methods are designed and tested: conventional PID controller, fuzzy logic control approach to modify setpoints, and fuzzy-PID control method. The proposed setpoints changer based on the fuzzy logic shows a better performance and robustness under disturbances. The objective function can be defined and included in the proposed control strategy to improve the effluent water quality and to reduce the operating cost in a real ASP.

• Proceedings of the KIEE Conference
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• 2006.07c
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• pp.1637-1638
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• 2006

HVAC 시스템은 쾌적하고 깨끗한 운전환경을 만들어 줌으로써 운전자에게 향상된 안락성과 안전성을 제공한다. 이때 센서는 시시각각으로 변화하는 차실 내외의 환경변화에 대한 정보를 검출하여 HVAC 제어 유니트에 제공한다. 현재 HVAC 시스템에 사용되고 있는 후막 가스센서는 소자 크기와 소비전력이 크고, 제작공정이 까다로워 생산성이 낮은 단점이 있다. 이와 같은 문제점을 해결하기 위해서 최근에는 초소형화, 저소비전력, 대량생산에 의한 저가격화가 가능한 MEMS 가스센서의 연구개발이 활발히 진행되고 있다. 본 연구에서는 MEMS 구조체를 이용한 마이크로 가스센서를 설계 및 제작하였고, 감도특성을 고찰하였다. 가스 감지막은 금속산화물 페이스트를 스크린 프린팅 하는 종래의 방법 대신 MEMS 구조체에 적용 가능한 sol-gel 프로세스에 의해 형성하였다. 또 가스 감지전극과 micro-heater를 동일 평면상에 제작, 공정을 간소화하여 저가화를 시도하였다. MEMS 구조체 위에 제작된 Pt 박막 micro-heater의 인가전압에 따른 발열특성을 조사한 결과, 발열온도가 인가전압에 비례하는 이상적인 선형성을 나타내었으며, $300^{\circ}C$의 동작 온도에 도달하기 위해 65mW 이하의 저전력 동작이 가능하였다. 가스 센서의 감도특성 확인 실험은 CO 가스 10ppm, NO 가스 0.3ppm을 기준으로 수행되었으며, CO 및 NO에 대해 Rs(sensitivity, 가스반응저항/초기저항) 값은 각각 0.753 과 2.416로 우수한 성능을 나타내었다.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.18 no.7
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• pp.1777-1783
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• 2014

In this paper, we designed and fabricated a high-speed semiconductor sensor for use in power control devices and analyzed the characteristics with pulsed radiation tests. At first, radiation sensitive circular Si PIN diodes with various diameters(0.1 mm ~5.0 mm) were designed and fabricated using Si epitaxial wafer, which has a $42{\mu}m$ thick intrinsic layer. The reverse leakage current of the diode with a radius of 2 mm at a reverse bias of 30 V was about 20.4 nA. To investigate the characteristic responses of the developed diodes, the pulsed gamma-radiation tests were performed with the intensity of 4.88E8 rad(Si)/sec. From the test results showing that the output currents and the rising speeds have a linear relationship with the area of the sensors, we decided that the optimal condition took place at a 2 mm diameter. Next, for the selected 2 mm diodes, dose rate tests with a range of 2.47E8 rad(Si)/sec to 6.21E8 rad(Si)/sec were performed. From the results, which showed linear characteristics with the radiation intensity, a large amount of photocurrent over 60mA, and a high speed response under 350ns without saturation, we can conclude that the our developed PIN diode can be a good candidate for the sensor of power control devices.

• Applied Chemistry for Engineering
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• v.7 no.2
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• pp.228-236
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• 1996

An electrolysis system with a vertically circulating mercury capillary bundle electrode was developed with a very large electrode area in a minimum space. This system was operated by forcedly feeding mercury and aqueous solution containing metal ion into a fiber bundle packed densely within a small porous glass tube. In order to test the characteristics and stability of the electrolysis system, the reduction voltammograms of uranyl and ferric ions were measured with changes of the mercury flow rate and the aqueous flow rate. The aqueous flow rate had a large effect on the electrochemical reaction of metal ion occurring at the interface between the mercury and the aqueous solution and had to be regulated as an appropriate value to have a good limiting current shape. The limiting current was linearly proportional to the aqueous flow rate, and complete reductions of uranyl and ferric ions were rapidly and continuously accomplished at the potential showing limiting current. With a mercury flow rate high enough to keep a capillary continuum of mercury in the fiber bundle, the mercury flow rate had almost no effect on the electrochemical reaction. This system was confirmed to be effective and stable enough to control rapidly and continuously the oxidation state of metal ions fed into the system under an appropriate aqueous flow rate.

• Elastomers and Composites
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• v.48 no.1
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• pp.10-17
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• 2013

Polyolefin-g-poly(t-butylstyrene) as one of the high-temperature polyolefin-based thermoplastic elastomers was synthesized by the graft-from anionic living polymerization from the styrene moieties of the linear poly(ethylene-ter-1-hexene-ter-divinylbenzene) as a soft block to form the hard end blocks, poly(t-butylstyrene). The chemistry of the anionic graft-from polymerization involved complete lithiation of the pendant styrene unit of the soft polyolefin elastomer with sec-BuLi/TMEDA followed by the subsequent graft anionic polymerization of 4-tert-butylstyrene with Mn=10,000~30,000 g/mol. The graft-from living anionic polymerization were very effective and the grafting size increased proportionally with increasing monomer concentration and the reaction times. The synthetic methodology for the multi-hydroxyl chain-end modified polyolefin-g-poly(t-butylstyrene) was proposed by using the thiol-ene click reaction between 2-mercaptoethanol and the polyolefin-g-[poly(t-butylstyrene)-b-high vinyl polyisoprene], which was obtained from the subsequent living block copolymerization using polyolefin-g-Poly(t-butylstyrene) with isoprene. The result indicated that this process produced a new well-defined functionalized graft-type polyolefin-based TPE with high $T_g$ hard block(> $145^{\circ}C$).