• 제어로봇시스템학회논문지
• /
• 제14권5호
• /
• pp.489-495
• /
• 2008

This paper offers a practical control scheme for driving mode transformation of a rescue robot already developed. The rescue robot, VSTR(Variable Single-Tracked Robot), has two driving modes, so can traverse untidy terrain and overcome obstacles such as stairs easily by use of timely driving mode transformation. Classical PI control scheme was used firstly for driving mode transformation, but stationary phenomenon, which might have a bad effect on the performance in real situation, came into existence. Therefore, we suggest a new controller, PI-based feedforward controller, which should be a good alternative for the problem, and compare it with other nonlinear control scheme.

• Journal of Power Electronics
• /
• 제12권3호
• /
• pp.399-409
• /
• 2012

In DC-DC Buck converters with average current mode control, the current loop compensator provides additional design freedom to enhance the converter current loop performance. On the other hand, the current loop circuit elements append substantial amount of complexity to not only the inner current loop but also the outer voltage loop, which makes it demanding to quantify circuit and operating parameter effects on the small-signal dynamics of such converters. Despite the difficulty, it is shown in this paper that parameter effects can be analyzed satisfactorily by using an existing small-signal model in conjunction with a newly proposed simplified alternative. As a result of the study, new insight into average current mode control is uncovered and discussed quantitatively. Measurable experimental results on a prototype averaged-current-mode-controlled Buck converter are provided to facilitate the analytical study with good correlation.

• 대한간호학회지
• /
• 제43권2호
• /
• pp.185-193
• /
• 2013

Purpose: Simulation-based learning has become a powerful method to improve the quality of care and help students meet the challenges of increasingly complex clinical practice settings. The purpose of this study was to identify the learning effects using high-fidelity SimMan and multi-mode simulation. Methods: Participants in this study were 38 students who were enrolled in an intensive course for a major in nursing at R college. Collected data were analyzed using Chi-square, t-test, and independent t-test with the SPSS 18.0 for Windows Program. Results: There were no statistically significant differences in learning effects between high-fidelity SimMan and multi-mode simulation group. However, skills in clinical performance in the high-fidelity SimMan group were higher than in the multi-mode group (p=.014), communication in clinical performance in multi-mode simulation group was higher than in the high-fidelity SimMan group (p<.001). Conclusion: Multi-mode simulation with a standardized patient is an effective learning method in many ways compared to a high-fidelity simulator. These results suggest that multi-mode simulation be offered to students in nursing colleges which cannot afford to purchase a high-fidelity simulator, or offered as an alternative.

• Structural Engineering and Mechanics
• /
• 제14권6호
• /
• pp.733-738
• /
• 2002

A simplified rational method is developed to evaluate transverse earthquake-induced forces in continuous bridges. This method models the bridge as a beam on elastic foundation, and assumes a sinusoidal curve for both vibration mode shape and deflected shape in the transverse direction. The principle of minimum total potential is used to calculate the displacements and the earthquake-induced forces in the transverse direction. This method is concise and easy to apply, and hence, offers an attractive alternative to a lengthy and time consuming three dimensional modeling of the bridge as given by AASHTO under its Single Mode Spectral Analysis Method.

• 한국광학회:학술대회논문집
• /
• 한국광학회 1989년도 제4회 파동 및 레이저 학술발표회 4th Conference on Waves and lasers 논문집 - 한국광학회
• /
• pp.225-229
• /
• 1989

Taking the normal mode transmission direction perpendicular to the substrate, an alternative equivalent network formulation is developed for the analysis of optical strip waveguides. All kinds of mode couplings between the normal modes are included in this formulation. Compared to the previous equivalent network formulations, the calculations are simplified especially when the thickness of the uniform slab is thin enough such that no well guided modes are available along the uniform slab waveguide.

• 대한교통학회지
• /
• 제13권4호
• /
• pp.31-45
• /
• 1995

In recent year, especially in the mode choice analysis, it has been perceived that the importance of individual performance data using stated preference(SP) experiments as well as revealed preference data . Since SP experiments present respondent with various hypothetical alternatives, which are produced by a combination of a number of different attribute levels, and ask them to indicate a preference, it is possible to analyze travel behavior under a situation of potential environment change such as proposed alternative mode of transportation. The basic problems, however, remains that SP are not consistent with the actual travel behaviors and the research reports for stability of mode choice model using SP data has not been sufficient. Under this background, this study is to examine the characteristics of mode choice model using the SP data by the following items. $\circled1$ Analysis of factors affecting the mode choice behavior by the variance analysis of orthogonal-arrays-table $\circled2$ The reliability of SP data by transfer intention data $\circled3$ The stability of SP responses obtained from repetitive question by the comparison of model coefficient specified by each repetitive data. $\circled4$ The stability of ranking data in mode choice model For the analysis, we assumed subway operations in the Gwang-Ju , and set up a choice-set of hypothetical options based on Experimental Design Method.

• Wind and Structures
• /
• 제18권4호
• /
• pp.391-422
• /
• 2014

The high frequency force balance (HFFB) technique provides convenient measurements of integrated forces on rigid building models in terms of base bending moments and torque and/or base shear forces. These base moments or forces are then used to approximately estimate the generalized forces of building fundamental modes with mode shape corrections. This paper presents an analysis framework for coupled dynamic response of tall buildings with HFFB technique. The empirical mode shape corrections for generalized forces with coupled mode shapes are validated using measurements of synchronous pressures on a square building surface from a wind tunnel. An alternative approach for estimating the mean and background response components directly using HFFB measurements without mode shape corrections is introduced with a discussion on higher mode contributions. The uncertainty in the mode shape corrections and its influence on predicted responses of buildings with both uncoupled and coupled modal shapes are examined. Furthermore, this paper presents a comparison of aerodynamic base moment spectra with available data sets for various tall building configurations. Finally, e-technology aspects in conjunction with HFFB technique such as web-based on-line analysis framework for buildings with uncoupled mode shapes used in NALD (NatHaz Aerodynamic Loads Database) is discussed, which facilitates the use of HFFB data for preliminary design stages of tall buildings subject to wind loads.

• Structural Engineering and Mechanics
• /
• 제43권1호
• /
• pp.71-87
• /
• 2012

This paper extends a single equation, semi-analytical approach for three-span bridges to multi-span ones for the rapid and precise determination of natural frequencies and natural mode shapes of an orthotropic, multi-span plate. This method can be used to study the dynamic interaction between bridges and vehicles. It is based on the modal superposition method taking into account intermodal coupling to determine natural frequencies and mode shapes of a bridge deck. In this paper, a four- and a five-span orthotropic roadway bridge deck are compared in the first 10 modes with a finite element method analysis using ANSYS software. This simplified implementation matches numerical modeling within 2% in all cases. This paper verifies that applicability of a single formula approach as a simpler alternative to finite element modeling.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2004년도 하계학술대회 논문집 B
• /
• pp.1151-1153
• /
• 2004

In this paper, small-signal modeling and closed-loop performance of charge control employed to an asymmetrical half-bridge (ASHB) dc-to-dc converters are investigated. The charge control is selected as an alternative to the conventional voltage-mode control and peak current-mode (PCM) control, which have their respective limitations and problems when adapted to ASHB dc-to-dc converters. The current-loop dynamics of the charge control are presented in comparison with those of voltage-mode and PCM control. This paper demonstrates that the charge control offers better dynamic performance compared to voltage-mode control and superior noise characteristics compared to PCM control. The potential problem of charge control are also addressed.

• 한국자동차공학회논문집
• /
• 제18권4호
• /
• pp.140-146
• /
• 2010

An experimental study was carried out to investigate the emission characteristics for various alternative fuels in a 2.0 liter 4-cylinder turbo-charged diesel engine. The conventional diesel fuel, neat GTL (Gas to Liquid), blends of diesel and biodiesel(BD20), and blends of GTL and biodiesel(G+BD20 and G+BD40) were applied, and their emission characteristics were compared at various steady-state engine operating conditions. A noticeable reduction of exhaust emissions compared to conventional diesel fuel, except for NOx emission, was observed for G+BD40, where there is a maximum 30% averaged reduction for gaseous emissions (THC and CO) and 70% for PM mass concentrations. When comparing PM size distributions for biodiesel blended fuels, the PM number concentration in accumulation mode, where the diameter of PM is greater than 50 nm, decreased due to additional oxygen content in the biodiesel fuel; in nucleation mode, where the diameter of PM is less than 50nm, there was a slight increase or decrease in the PM number concentration depending on the amount of oxygen available in the combustion chamber.