• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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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.

• 제어로봇시스템학회논문지
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• 제15권10호
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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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• 제14권2호
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• pp.166-168
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• 1993

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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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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• 제10권1호
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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.

• 한국농업기계학회:학술대회논문집
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• 한국농업기계학회 1996년도 International Conference on Agricultural Machinery Engineering Proceedings
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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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• 제15권1호
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• pp.11-22
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• 1983

가압 경수로의 노 냉각수 제어계통의 신뢰도를 해석하였다. 이 신뢰도 해석에서 붕소주입실패를 상위사고로 설정하였다. 신뢰도 해석은 고장계통도를 작성한 후 이 고장 계통도로부터 최소절군을 구하였다. 붕소주입실패에 의한 노 냉각수 제어계통의 불가용성은 1.497$\times$$10^{-5}$으로 계산되었다. 노 냉각수 제어계통의 불가용성에 가장 중요한 영향을 미치는 것은 붕산전달펄프의 신뢰도이며, 인간의 실수 역시 계통 신뢰도에 중요한 인자임이 나타났다.

• Bulletin of the Korean Chemical Society
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• 제24권6호
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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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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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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.

• 한국산학기술학회논문지
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• 제12권4호
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• pp.1812-1816
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• 2011

본 연구에서는 약액 주입 후 미 도포로 인한 복합적인 공정불량을 예방하기 위하여 100nm 이하의 나노 반도체 제조공정에서 필수적인 스피너(spinner) 장비를 위한 약액 흐름제어 시스템을 개발하였다. 본 연구개발을 통하여 실시간으로 상태요소들을 감시할 뿐만 아니라 상태요소의 비정상적 변화나 웨이퍼 가공불량이 발생할 경우 해당 유니트를 정지시킴과 동시에 원격지에 있는 엔지니어에게 경보를 전송함으로써 즉각적인 대처가 가능하여 모듈의 수율을 향상시킬 수 있을 것으로 기대된다. 또한 세부 동작 시퀀스를 제어하기 위한 H/W와 S/W 시스템을 생산라인에 실장하고 성능점검 및 인증을 수행한 결과 5가지의 유형별 비정상적 프로세스를 정확히 검출하였다.