• 대한전기학회논문지:시스템및제어부문D
• /
• 제51권5호
• /
• pp.182-189
• /
• 2002

This paper presents a framework of hybrid dynamic control systems for the motion control of wheeled mobile robot systems with nonholonomic constraints. The hybrid control system has the 3-layered hierarchical structure: digital automata for the higher process, mobile robot system for the lower process, and the interface as the interaction process between the continuous dynamics and the discrete dynamics. In the hybrid control architecture of mobile robot, the continuous dynamics of mobile robots are modeled by the switched systems. The abstract model and digital automata for the motion control are developed. In high level, the discrete states are defined by using the sensor-based search windows and the reference motions of a mobile robot in low level are specified in the abstracted motions. The mobile robots can perform both the motion planning and autonomous maneuvering with obstacle avoidance in indoor navigation problem. Simulation and experimental results show that hybrid system approach is an effective method for the autonomous maneuvering in indoor environments

• 한국생산제조학회지
• /
• 제23권4호
• /
• pp.330-336
• /
• 2014

The continuous chip generated in cutting process deteriorates workpiece, tool, and machine tool system. It is necessary to treat this continuous chip in ductile material machining condition for stable cutting. This paper deals with the chip control method using acoustic emission(AE) signal in pure copper turning operation. AE raw signals, root mean square(RMS) signals and wavelet transformed signals measured in turning process are introduced to analysis for chip patterns. With analysis of AE signals, it is obtained that the produced chip patterns are correlated with the specified AE signals which are transformed by fuzzy pattern algorithm. By this experimental investigation, the chip patterns can be classified at significant level in pure copper machining process and controlled from continuous chips to reduced-length stable chips.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 22-24 Oct. 1991
• /
• pp.1910-1914
• /
• 1991

In the continuous casting process, mold level fluctuation Is the major cause of the surface and sub-surface defects. In the No.3 bloom continuous caster at Kobe Works, we ensured that the major cause of mold level fluctuation was mechanical hysteresis which existed in the driving system of mold level control. Moreover, we found out that it was possible to greatly Improve the stability of mold level by estimating this mechanical hysteresis and compensating It on-line. As a result of applying a new level control system based on this method, we got accurate control over good stability.

• 한국철도학회:학술대회논문집
• /
• 한국철도학회 2004년도 춘계학술대회 논문집
• /
• pp.1168-1173
• /
• 2004

Bridges and tunnels mainly compose the structural system of Kyung-bu high-speed railway in Korea and the prestressed concrete box girder bridges are applied for the most part of bridge structures. Precast full span construction method was practiced in the construction of many prestressed concrete box girder bridges in Kyung-bu high speed railway for the high quality, great construction speed, low construction cost and construction safety. However, there have been no application of this method in continuous bridges until now. Therefore, a new advanced precast full span construction method is developed using pre-tensioning for precast and post-tensioning in alternating the simple span into a continuous bridge system. since the high-speed railway trains can cause dynamic problems in a continuous bridge. This study shows the structural behavior and the construction process of the new advance method.

• 한국농공학회지
• /
• 제42권
• /
• pp.61-67
• /
• 2000

Composting of hog manure amended with sawdust trials lasted three weeks and used pilot-scale in bin composting system. Results showed that the rise temperature and carbon dioxide evolution in compost during the composting decomposition process were affected by the aeration method, pH, C/N, moisture content, bulk density and particle size distribution. No significant differences existed in biophysical properties of the composit produced from the continuous and intermittent aeration method. The intermittent aeration was very successful in compost odor control and required less time to reach stability than the continuous aeration.

• Transactions on Control, Automation and Systems Engineering
• /
• 제4권4호
• /
• pp.277-282
• /
• 2002

This paper proposes a nonlinear adaptive controller based on back-stepping method for tracking reference substrate concentration by manipulating dilution rate in a continuous baker's yeast cultivating process in stirred tank bioreactor. Control law is obtained from Lyapunov control function to ensure asymptotical stability of the system. The Haldane model for the specific growth rate depending on only substrate concentration is used in this paper. Due to the uncertainty of specific growth rate, it has been modified as a function including the unknown parameter with known bounded values. The substrate concentration in the bioreactor and feed line are measured. The deviation from the reference is observed when the external disturbance such as the change of the feed is introduced to the system. The effectiveness of the proposed controller is shown through simulation results in continuous system.

• 한국통신학회논문지
• /
• 제37권1B호
• /
• pp.50-58
• /
• 2012

본 연구의 주된 목적은 사용자 관점에서 본 통신 시스템 서비스 가용도의 이론적 모델 개발이다. 이를 위하여 호(Call) 도착은 non-homogeneous 포아손 과정의 가정, 그리고 시스템 상태는 CTMC 모델의 가정을 토대로 서비스 가용도의 추계적 모델을 개발하였다. 제시한 모델은 시간에 따라 변하는 호 도착률을 포함하여 사용자 관점에서 본 서비스 신뢰도 모형의 사용자 모델을 효율적으로 나타냈다. 아울러 시스템 자원의 고장 없이도 사용자가 서비스를 받지 못하는 시스템 상태인 운영 고장 상태를 모델에 포함하여 제공자 입장이 아니라 사용자 관점에서 모델을 구축하였다.

• 대한조선학회 특별논문집
• /
• 대한조선학회 2011년도 특별논문집
• /
• pp.101-105
• /
• 2011

In most shipbuilding company, cutting procedure is proceed by cutting machine which run by CNC(Computer Numerical Code) data. In our cutting process, all CNC data is created by our nesting post processor system automatically. Among them, in case that cutting piece in the remnant plate, our system creates only one piece CNC data. Because remnant plate is not typical shape, and ship designers don't know remnant plate shape and quantity. In can happen some merit and good point if we modify 1:1 piece NC data by shorten cutting path, reducing cutting time or re-arrangement piece. For modifying cutting data, outside workers have to call to ship designer or have to go to NC control room where control the CNC system and cutting machine. It makes stop work process, and it waste time. In this paper, we introduce a program that can modify and replace 1:1 NC data with continuous or common NC data automatically.

• 한국정보통신학회:학술대회논문집
• /
• 한국해양정보통신학회 2010년도 춘계학술대회
• /
• pp.923-926
• /
• 2010

센서 네트워크는 센서 노드에서 수집된 최신의 현장 데이터를 기반으로 사용자 질의를 처리할 수 있는 시스템이다. 센서 네트워크에서 사용자 질의를 처리하기 위하여 먼저 사용자 질의를 데이터가 저장되어 있는 각 센서 노드에 전파하여 수행한 후에 질의 결과를 서버로 전송한다. 그러나 만약 연속 질의를 처리하면 반복적으로 사용자 질의를 센서 노드에 전파해야 하는 문제가 있다. 이 논문에서는 센서 네트워크에서 센서 스트리밍 데이터에 대하여 연속 질의를 처리하기 위한 질의 처리 기법에 대하여 제안한다. 이를 위하여 각 센서 노드는 자신의 노드에 질의 색인을 구축하여 사용자 질의를 처리한다. 그리고 센서 노드에서 발생 가능한 불확실 센서 데이터를 처리하기 위한 기법을 제시한다.

• Environmental Engineering Research
• /
• 제23권1호
• /
• pp.114-119
• /
• 2018

Yarn dyed wastewater has to be treated prior to disposal into the water bodies due to its high content of harmful organic compounds. In this study, the performance of Chemical Oxygen Demand (COD) removal and kinetic rate constant are investigated via hybrid electrocoagulation-Fenton in a continuous system using wastewater discharged from a yarn dyed industry in Surabaya city. The wastewater was treated in a batch mode using electrocoagulation to reduce Total Suspended Solid, followed by Fenton method in a continuous system to reduce COD level. Various Fe(II) feeding modes, molar ratio of $Fe(II)/H_2O_2$, initial pH of wastewater, and flow rate are used in this study. The results show that COD removal process obeys a pseudo-first order kinetics. At $Fe(II)/H_2O_2$ ratio of 1:10, initial wastewater pH of 3.0, and feed flow rate of 30 mL/min, the COD removal efficiency was observed to be 80%, and the kinetic rate constant is $0.07046min^{-1}$. The chemical cost for the treatment estimated to be IDR 160 per L wastewater, which is cheaper than the previously reported batch system of IDR 256/L.