• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.536-536
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• 2000

In this paper, we show based on Lyapunov theorem that the closed loop system with the constrained H$_{\infty}$ optimal controller is exponentially stable. Then the on-line feedback implementation of the constrained H$_{\infty}$ optimal control based on quadratic programs is proposed.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.10
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• pp.1047-1055
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• 2009

Since nuclear and chemical materials could damage people and disturb battlefield missions in a wide region, nuclear/chemical reconnaissance systems utilizing multiple mobile robots are highly desirable for rapid and safe reconnaissance. In this paper, we design a nuclear/chemical reconnaissance system including mobile robots. Also we propose time-efficient trajectory planning algorithms using grid coverage and contour finding methods for reconnaissance operation. For grid coverage, we performed in analysis on time consumption for various trajectory patterns generated by straight lines and arcs. We proposed BCF (Bounded Contour Finding) and BCFEP (Bounded Contour Finding with Ellipse Prediction) algorithms for contour finding. With these grid coverage and contour finding algorithms, we suggest trajectory planning algorithms for single, two or four mobile robots. Various simulations reveal that the proposed algorithms improve time-efficiency in nuclear/chemical reconnaissance missions in the given area. Also we conduct basic experiments using a commercial mobile robot and verify the time efficiency of the proposed contour finding algorithms.

• Bulletin of the Korean Chemical Society
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• v.14 no.2
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• pp.166-168
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• 1993

• 제어로봇시스템학회:학술대회논문집
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• 1987.10b
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• pp.670-673
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• 1987

The structure of chemical process has become increasingly complex, due to better management of energy and raw materials. As a consequence, the design of control systems for complete plants now constitutes the focal point of engineering interest, rather than controller designs for single processing units. Instead of traditional methods based on complex mathematical model, chemical processes are represented by structural array and cause-and-effect graph to apply non-numerical problem-solving techniques. A systematic logical procedure to synthesize alternatives of control system structure and some heuristic rules to select a feasible solution from the vast number of alternatives that are possible are considered in this study.

• Korean Membrane Journal
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• v.10 no.1
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• pp.1-7
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• 2008

Polystyrene-co-divinylbenzene (PS-co-DVB) asymmetric membranes were prepared. In order to control their structure and mechanical properties the degree of cross-linking and the composition of casting solution were varied. The rubber added PS-DVB membranes was also prepared to overcome the mechanical limitation of cross-linked membrane, and their mechanical properties were investigated. It was revealed that the concentration of polymer in the casting solution affected the determination of skin formation. When the PS-co-DVB membrane consists of styrene-butadiene (SB) rubber or liquid polybutadiene (PBD), the structures formed showed that the PS content in the PS/DVB system played an important role in determining the porous sublayer structure.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 1996.06c
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• pp.802-811
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• 1996

Farmers need alternatives for weed control due to the desire to reduce chemicals used in farming. However, conventional mechanical cultivation cannot selectively remove weeds located in the seedline between crop plants and there are no selective heribicides for some crop/weed situations. Since hand labor is costly , an automated weed control system could be feasible. A robotic weed control system can also reduce or eliminate the need for chemicals. Currently no such system exists for removing weeds located in the seedline between crop plants. The goal of this project is to build a real-time , machine vision weed control system that can detect crop and weed locations. remove weeds and thin crop plants. In order to accomplish this objective , a real-time robotic system was developed to identify and locate outdoor plants using machine vision technology, pattern recognition techniques, knowledge-based decision theory, and robotics. The prototype weed control system is composed f a real-time computer vision system, a uniform illumination device, and a precision chemical application system. The prototype system is mounted on the UC Davis Robotic Cultivator , which finds the center of the seedline of crop plants. Field tests showed that the robotic spraying system correctly targeted simulated weeds (metal coins of 2.54 cm diameter) with an average error of 0.78 cm and the standard deviation of 0.62cm.

• Nuclear Engineering and Technology
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• v.15 no.1
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• pp.11-22
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• 1983

The reliability of the Chemical and Volume Control System has been analyzed in a pressurized water reactor. The boration failure was taken to be the top event for this reliability analysis. A detailed fault tree was constructed and the minimal cut sets were derived. It was computed that the unavailability of the Chemical and Volume Control System due to boration failure was 1.497$\times$10$^{-5}$ during plant operation. It was found that the reliability of boric acid transfer pumps were the most important factors in the availability of the Chemical and Volume Control System. As expected, human errors also introduce the high system unavilability.

• Bulletin of the Korean Chemical Society
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• v.24 no.6
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• pp.744-750
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• 2003

In quantum dynamics of many-body systems, to identify the Hamiltonian becomes more difficult very rapidly as the number of degrees of freedom increases. In order to simplify the dynamics and to deduce dynamically relevant Hamiltonian information, it is desirable to control the dynamics to lie within a reduced space. With a judicious choice for the cost functional, the closed loop optimal control experiments can be manipulated efficiently to steer the dynamics to lie within a subspace of the system eigenstates without requiring any prior detailed knowledge about the system Hamiltonian. The procedure is simulated for optimally controlled population transfer experiments in the system of two degrees of freedom. To show the feasibility of steering the dynamics to lie in a specified subspace, the learning algorithms guiding the dynamics are presented along with frequency filtering. The results demonstrate that the optimal control fields derive the system to the desired target state through the desired subspace.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.758-762
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• 1994

Complicated dynamical behavior can occur in model reference adaptive control systems when two external sinusoidal signals are introduced although the plant and reference model are stable linear first older systems. The phase portrait plot and the power spectral analysis indicate chaotic behavior. In the system treated, a positive Lyapuniov exponent and non-integer dimension clearly manifest chaotic nature of the system.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.4
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• pp.1812-1816
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• 2011

This research developed chemical flow control system(CFCS) essential for spinner equipment in nano semiconductor manufacturing process under the 100nm to prevent complex process defect due to missing spread after chemical injection. The devices developed in this research, which can be swiftly replaced in case abnormal state element changes or wafer manufacturing defect occurs, are anticipated to improve module yield as well as real-time monitoring on the state element. In addition, as a result of mounting H/W and S/W system to control detailed operation sequence in production line and executing performance check and verification, we can be exactly detected in five abnomal process type.