• The Journal of Korean Institute of Communications and Information Sciences
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• v.18 no.7
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• pp.1009-1017
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• 1993

The Robust Adaptive Servo Controller in this paper has an error-corrected and robust structure which guarantees asymptotic regulation and tracking in the presence of bounded parameter perturbations. The adaptive mechanism tunes the controller parameters such that a quadratic performance index is minimized. Through the speed and position control of the DC servo model with computer simulations, the minimum variance controller parameters are robust with respect to finite parameter perturbation and bounded disturbance.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2246-2251
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• 2003

This paper proposes shape design of frame structures for vibration suppression and weight reduction. The $H_{\infty}$ norm of the transfer function from disturbance sources to the output points where vibration should be suppressed, is adopted as the performance index to represent the magnitude of vibration transfer. The design parameters are the node positions of the frame structure, on which constraints are imposed so that the structure achieves given tasks. For computation of Pareto optimal solutions to the two-objective design problem, a number of linear combinations of the $H_{\infty}$ norm and the total weight of the structure are considered and minimized. For minimization of the scalared objective function, a Lagrange function is defined by the objective function and the imposed constraints on the design parameters. The solution for which the Lagrange function satisfies the Karush-Kuhn-Tucker condition, is searched by the sequential quadratic programming (SQP) method. Numerical examples are presented to demonstrate the effectiveness of the proposed design method.

• Journal of the Korean Institute of Navigation
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• v.22 no.1
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• pp.79-89
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• 1998

When an automatic course-keeping is concerned , as is quite popular in modern navigation, the closed-loop steering system consists of autopilot device, power unit(or telemotor unit), steering gear, magnetic or gyro compass and ship dynamics. In order to estimate steering system of ship in open seas, we need to know the characteristics of each component of the system and also to know the characteristics of disturbance to ship dynamics. Calculation methods of irrgular disturbances are based on the linear superposition principle. In this paper, for the purpose of evaluation of automatic steering of ships , the influences of linear control constants of autopilot on propulsive energy loss are investigated bya performance index is introduced from the viewpoint of energy saving. Numberical calculations are carried out for an are carrier and for a fishing boat in multi-directional waves.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.871-875
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• 1996

The Output feedback linear quadratic regulator control is applied to the design of active suspension system using 7 DOF full car model. The performance index reflects the vehicle vertical movement, pitch and roll motion, and minimization of suspension stroke displacements in the rattle space. The elements of gain matrix are approximately decoupled so that each suspension requires only local information to generate the control force. The simulation results indicates that the output feedback LQ controller is more effective than purely passive or full state feedback active LQ controllers in following the road profile at the low frequency range and suppressing the road disturbance at the high frequency ranges.

• Steel and Composite Structures
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• v.6 no.2
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• pp.87-101
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• 2006

The deformation and dynamic behavior mechanism of submerged shell-like lattice structures with membranes are in principle of a non-conservative nature as circulatory system under hydrostatic pressure and disturbance forces of various types, existing in a marine environment. This paper deals with a characteristic analysis on quasi-periodic and chaotic behavior of a circular arch under follower forces with small disturbances. The stability region chart of the disturbed equilibrium in an excitation field was calculated numerically. Then, the periodic and chaotic behaviors of a circular arch were investigated by executing the time histories of motion, power spectrum, phase plane portraits and the Poincare section. According to the results of these studies, the state of a dynamic aspect scenario of a circular arch could be shifted from one of quasi-oscillatory motion to one of chaotic motion. Moreover, the correlation dimension of fractal dynamics was calculated corresponding to stochastic behaviors of a circular arch. This research indicates the possibility of making use of the correlation dimension as a stability index.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.53 no.10
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• pp.671-677
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• 2004

This paper presents the design of a now controller for the read/write head of a hard disk drive. The general controller for seeking is the time-optimal control. However if we use only the time optimal control law, this could be vulnerable to chattering effect. To solve this problem, we propose a modified controller design algorithm in this paper. The proposed controller consists of bang-bang control for seeking and sliding-mode control for tracking. Moreover, to test the robustness and stability of control system, a bounded disturbance is selected to maximize a severity index. Simulation results show the superiority of the proposed controller through comparison with time optimal VSC(variable structure control).

• 전기의세계
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• v.49 no.9
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• pp.9-16
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• 2000

A receding horizon $H_{\infty}$ predictive control method is derived by solving a min-max problem in non-recursive forms. The min-max cost index is converted to a quadratic form which for systems with input saturation can be minimized using QP. Through the use of closed-loop prediction the prediction of states the use of closed-loop prediction the prediction of states in the presence of disturbances are made non-conservative and it become possible to get a tighter $H_{\infty}$ norm bound. Stability conditions and $H_{\infty}$ norm bounds on disturbance rejection are obtained in infinite horizon sence. Polyhedral types of feasible sets for sets and disturbances are adopted to deal with the input constraints. The weight selection procedures are given in terms of LMIs and the algorithm is formulated so that it can be solved via QP. This work is a modified version of an earlier work which was based on ellipsoidal type feasible sets[15].

• International Journal of Automotive Technology
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• v.6 no.3
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• pp.243-249
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• 2005

To improve the ride comfort and handling characteristics of a vehicle, an active suspension which is controlled by external actuators can be used. An active suspension can control the vertical acceleration of a vehicle and the tire deflection to achieve the desired suspension goal. For this purpose, Model Predictive Control (MPC) scheme is applied with the assumption that the preview information of the oncoming road disturbance is available. The predictive control approach uses the output prediction to forecast the output over a time horizon and determines the future control over the horizon by minimizing the performance index. The developed method is applied to a half car model of four degrees-of-freedom and numerical simulations show that the MPC controller improves noticeably the ride qualities and handling performance of a vehicle.

• Proceedings of the Korea Water Resources Association Conference
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• 2017.05a
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• pp.290-290
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• 2017

본 연구는 안정하도 설계를 위해 대상구간으로 원주천 16 km, 20개 횡단면에 대하여 SCAD(Stable Channel Analysis Design)를 이용한 안정하폭 평가를 실시하였다. 안정하폭은 하폭이 증가와 감소로 20%의 허용범위를 적용하였다. 안정하폭의 설계와 물리서식처의 개선을 위해 저수로 폭의 최적 설계를 제시하기 위해 유전자알고리즘을 이용하였다. 물리서식처 개선은 원주천의 하천환경조사와 어류의 군집특성을 이용하여 수중생태계를 대표 할 수 있는 복원 목표어종으로 참갈겨니를 선택하였다. 참갈겨니의 서식적합지수 (HSI, Habitat Suitability Index)를 사용한 서식 적합도 분석은 River2D 모형을 이용하였다. 그에 따라 안정하도 설계와 물리서식처의 개선을 위한 각 단면의 최적 저수로 폭을 제시하였다. 개선된 하천구조에 대한 물리적 교란개선 평가를 실시하였다. 대산구간을 40개 구간으로 분할하여 각 구간의 물리적 교란개선 평가를 수행하여 안정하도 설계와 물리서식처 개선을 위한 하천구조의 개선에 따른 물리적 교란 양상을 평가 분석하였다.

• Journal of Environmental Science International
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• v.27 no.8
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• pp.689-699
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• 2018

The changes on community structures of benthic macroinvertebrates, relevance to the environment and interrelationship between benthos were studied over two years in stream with large environmental disturbance, which caused by localized heavy rain during Typhoon Chaba in October 2016. As a result, the number of species and individuals were increased after localized heavy rain, especially numbers of individuals of Ephemeroptera and Plecoptera were greatly increased. On the contrary, those of Semisulcospira libertina and Semisulcospira forticosta of Mesogastropoda were greatly decreased. Dominant species was Baetis fuscatus of Ephemeroptera, numbers of species and individuals of Ephemeroptera, Plecoptera and Trichoptera(EPT group) were dramatically increased from 26 species, 110 individuals to 32 species, 365 individuals respectively. This suggests that the change of river bed and flow velocity due to heavy rain provided a suitable environment for the EPT group that preferred the rift of a stream. In the functional feeding group, only gathering collectors and filtering collectors were identified in autumn of 2017 because some functional groups preferentially adapted to the changed environment. The interspecific competition and environmental condition were the worst in autumn after heavy rain due to the increase individuals of some species. The ecological score of benthic macroinvertebrate community(ESB) was higher after the heavy rain than before. Results of the Group Pollution Index(GPI), Korean Saprobic Index(KSI) and Benthic Macroinvertebrate Index(BMI) were similar to those before and after heavy rainfall. Therefore, ESB was the most discriminating method for estimating the biological water quality in this study. Some species that are sensitive to water quality changes still appear or increase individuals in the area under investigation after the heavy rain. On the other hand, the individuals of some pollutant species decreased. This is thought to be because the habitat fluctuation caused by heavy rainfall has improved the water environment.