• The Journal of the Korea institute of electronic communication sciences
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• v.11 no.12
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• pp.1209-1218
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• 2016

In order to safely and speedily transport a load such as a large glass plate using four electric cylinders, the synchronous error outside the permitted range should not be continuously generated between the cylinders. In this study, a methodology of synchronous control which can be applied to synchronization of four or more cylinders is developed. The synchronous control system based on the decoupling structure is composed of a reference model, position and synchronous controllers in the respective cylinders. The reference model is used for calculating the decoupled synchronous error and control input for the each cylinder. The position controller of I-PD type is designed in order that the cylinder may follow the reference signal without overshoot and input saturation. And the synchronous controller of lead compensator is designed to achieve stable and accurate synchronization through loop shaping approach. Finally, the simulation results show that the synchronization between the four cylinders can be quickly and stably while each cylinder rod is transferred to the target point under torque disturbance.

• Journal of Korean Society for Atmospheric Environment
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• v.27 no.5
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• pp.580-602
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• 2011

Volatile organic compound (VOC) emissions in the 2007 CAPSS (Clean Air Protection Supporting System) emissions inventory are chemically speciated for the SAPRC99 (Statewide Air Pollution Research Center 99) mechanism, following the Source Classification Code (SCC) matching method to borrow the U.S.EPA's chemical speciation profiles. CMAQ simulations with High-order Direct Decoupled Method (HDDM) are in turn applied to evaluate uncertainty in the method by comparing the simulated model VOC species to the observations in the Seoul Metropolitan Area (SMA) for a 2007 June episode. Simulations under-predicted ALK1 to ALK4 in SAPRC99 by a factor of 2 to 5 and over-predicted ALK5 by a factor of 7.5 while ARO1, ARO2, OLE1, and ethylene (ETH) are comparable to the observations, showing relative difference by 10 to 30%. OLE2 emissions are roughly 4 times overestimated. Emission rates for individual VOC model species are revised referring to the ratio of simulated to observed concentrations. Impact of the VOC emission changes on the overall ozone prediction was insignificant for the days of which 1-hr maximum ozone are lower than 100 ppb. However, simulations showed ozone difference by 5 to 10 ppb when high ozone above 120 ppb was observed in the vicinity of Seoul. This result suggests that evaluations on individual model VOC emissions be necessary to lead ozone control plans to the right direction. Moreover, the simulated ratios of ARO1 and ARO2 to $NO_x$ are roughly 50% lower than the observed ones, which imply that adjustment in $NO_x$ and VOC emission rates may be required to mimic the real VOC/$NO_x$ condition over the area.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.3
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• pp.643-650
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• 2017

The control of flexible joint robot is getting more attentions because its applications are more frequently used for robot systems in these days. This paper proposes a robust impedance controller for the flexible joint robot by using integral sliding mode control and backstepping control. The sliding mode control decouple disturbances completely but requires matching condition for disturbances. The dynamic model of flexible joint robot is divided into motor side and link side and the disturbance of the link side does not satisfy matching condition and cannot be decoupled directly by the actual input in the motor side. To overcome this difficulty, backstepping control technique is used with sliding mode control. The mismatched disturbance in the link side is changed into matched one in the respect to virtual control input which is the state controlled by actual input in the motor side. Integral sliding mode control is used to preserve the impedance control performance and the improved robustness at the same time.

• International Journal of Industrial Entomology and Biomaterials
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• v.26 no.1
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• pp.22-30
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• 2013

The reproductive performance of multivoltine breed 'Nistari' and bivoltine breeds as NB18, P5 and a bivoltine hybrid (NB18 ${\times}$ P5) of B. mori were studied in different seasons in terms of total number of eggs laid, unlaid and hatching efficiency of the laid eggs to critically assess the breeds / hybrid potentiality. The bivoltine hybrid showed better performance in all the seasons as compared to the breeds investigated, as expected due to possibility of hybrid vigour. Among the breeds, bivoltine P5 had a better egg laid performance in S1 (February - March), S2 (May - June) and S3 (September - October) seasons but with an increase in the number of unlaid eggs. The hatching percentage, although didn't show any definitive trend, still suggested a marginal better performance in the hybrid. Most importantly, egg laying rhythmicity was studied by mating the female moth at 6.00 a.m. for $3{\frac{1}{2}}$ hours, and subsequently allowing the laying of eggs both under BOD condition ($25{\pm}1^{\circ}C$ and $85{\pm}5%$ RH) and at ambient temperature ($23-28^{\circ}C$ and $74.7{\pm}5%$) separately. Maximum (90%) egg laid occurred from 3.30 to 7.30 pm (i.e. 4 - 6 h after decoupling). Similar laying patterns were observed when females where mated at 12 noon and decoupled at 3.30 pm, revealing that late photoperiod and early scotoperiod were favourable for egg laying in case of multivoltine breed and bivoltine prefers late photoperiod for egg laying.

• The Journal of Society for e-Business Studies
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• v.12 no.4
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• pp.185-209
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• 2007

The development of information technologies has contributed on-line training as one of important education methods. On-line training in firms, which is similar to e-learning or virtual education, provides trainees with more education opportunities in diverse ways. It has developed a range of innovative services with a one-stop solution of education within the electronic sector. Also under the on-line training environment, trainees can undertake customized training packages at anytime and any places. Moreover, information technology allows both the trainers and other trainees to be decoupled in any of the elements of tune, place, and space. Two research questions are investigated : what are the determinants affecting the on-line training effectiveness and how those variables affect the two aspects of training effectiveness: learning performance and transfer performance. Based on the previous literature conducted on the traditional training environment, the determinants of training effectiveness are derived. Eight hypotheses are developed based on literature reviews and tested by questionnaires survey data. The collected data have been analyzed by LISREL. It is found that the relationship between individual, organizational and on-line site design variables and training effectiveness (learning and transfer) are significant. The contribution and limitations of this research are also discussed with future studies.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.1
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• pp.173-179
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• 2017

This paper proposes a robust impedance controller for high-DOF robots. The model-based control of a higher DOF robot uses a numerical dynamic model because the analytical dynamic model is difficult to be derived and this means that modeling error is inevitable. The impedance control in the task space is affected by joint motions and has more difficulties in the higher DOF robots. In addition, the disturbances must be decoupled in the control of high DOF robot. This paper proposes a robust impedance controller based on integral sliding mode control (ISMC) and disturbance observer(DOB) for high-DOF robot manipulator. The ISMC is used to improve the robustness of the impedance control and to preserve its nominal performance. DOB is also employed to cancel the effects of input disturbances and to reduce the maximum gain of the ISMC which eventually determines the input chattering size.

• Journal of the Korea Concrete Institute
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• v.18 no.3 s.93
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• pp.379-388
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• 2006

This paper presents a model for evaluating the contribution by arch action to shear resistance in shear-critical reinforced concrete beams. Based on the relationship between shear and bending moment in beams subjected to combined shear and bending, the behavior of a beam is explicitly divided into two base components of the flexural action and the tied arch action. The compatibility condition of the shear deformation that deviates from Bernoulli bending plane is formulated utilizing the smeared truss idealization with an inclined compression chord. The Modified Compression Filed Theory is employed to calculate the shear deformation of the web, and the relative axial displacements of the compression and the tension chord by the shear flow are also calculated. From this shear compatibility condition in a beam, the shear contribution by the arch action is numerically decoupled. Then the validity of the model is examined by applying the model to some selected test beams in literatures. The results may confirm the rationale of the proposed behavioral model.

• The Journal of the Korea institute of electronic communication sciences
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• v.12 no.1
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• pp.85-92
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• 2017

Recently, electric propulsion systems are used for unmanned surface vehicle, fish finder boat, etc. Some of these propulsion systems can be constructed of two electric motors and propellers for advanced impellent force. In this case, the speed difference generated between two propellers, namely, the synchronous error has a bad influence on the energy efficiency and course error. In this study, a synchronous control system is designed to restrain synchronous error caused by disturbance and mismatched dynamic characteristics. The control system is composed of the reference model, pre-filters, speed controllers, and synchronous controllers. The reference model is used for calculating the decoupled synchronous error and control input for each propulsion system. The pre-filters and speed controllers are designed in order that the propulsion system may follow the reference signal without overshoot and input saturation. And the synchronous controllers are designed from the viewpoint of stable and quick synchronization through root locus mothed approach. Finally, the simulation results show that the designed control system is effective for the disturbance.

• Nuclear Engineering and Technology
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• v.47 no.4
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• pp.398-406
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• 2015

In this study, R-123 flow boiling experiments were carried out to investigate the effects of nanoparticle deposition on heater surfaces on flow critical heat flux (CHF) and boiling heat transfer. It is known that CHF enhancement by nanoparticles results from porous structures that are very similar to layers of Chalk River unidentified deposit formed on nuclear fuel rod surfaces during the reactor operation period. Although previous studies have investigated the surface effects through surface modifications, most studies are limited to pool boiling conditions, and therefore, the effects of porous surfaces on flow boiling heat transfer are still unclear. In addition, there have been only few reports on suppression of wetting for decoupled approaches of reasoning. In this study, bare and $Al_2O_3$ nanoparticle-coated surfaces were prepared for the study experiments. The CHF of each surface was measured with different mass fluxes of $1,600kg/m^2s$, $1,800kg/m^2s$, $2,100kg/m^2s$, $2,400kg/m^2s$, and $2,600kg/m^2s$. The nanoparticle-coated tube showed CHF enhancement up to 17% at a mass flux of $2,400kg/m^2s$ compared with the bare tube. The factors for CHF enhancement are related to the enhanced rewetting process derived from capillary action through porous structures built-up by nanoparticles while suppressing relative wettability effects between two sample surfaces as a highly wettable R-123 refrigerant was used as a working fluid.

• Journal of Energy Engineering
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• v.23 no.4
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• pp.41-48
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• 2014

Leak of liquid has been categorized conventionally into instantaneous release and continuous release. In this study, the spread of cryogenic liquid due to limited period of release is investigated for the first time to establish a new classification method with recognizing the irrationality of the conventional one. Such physical phenomena are governed by simultaneous equations concerning volume, radius and height of pool of the cryogenic liquid, and major parameters are evaporation rate per unit area, time of release, and spill quantity. The simultaneous governing equations is decoupled to get efficiently perturbation solutions. As the results, for the same spill quantity, in view of release model, combined release model that consists of continuous and consecutive instantaneous model is necessary with small time of release, while continuous model is solely required with large time of release. Also, the combined model is necessary for small spill quantity with the same time of release. These two regimes of release are clearly distinguished using the perturbation solution to provide a clear basis for the new classification of release models.