• Proceedings of the KIEE Conference
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• 1998.07a
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• pp.224-227
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• 1998

Linear motors are increasingly employed as direct actuators replacing the more conventional systems composed by a rotating motor and a mechanical device. Linear DC motor is useful in a high speed and high accuracy positioning system with a feedback controller. Because of these advantages, linear DC motors have already been used as motors of pen recorders and magnetic disk storage devices, these are moving coil type linear DC motors as these movers are light. Moving magnet type linear DC motor has advantages at long stroke motors because its mover's feeding wires for driving is not necessary. This paper is concerned with the analysis of linear DC motor that is moving magnet type with unipolar. In order to analyze the dynamic behaviour a mathematical model based on a simplified field analysis developed. A two dimensional finite element field solution is employed in order to illustrate the effect of yoke saturation and motor performance. It is deduced the relation between the limit value of the thrust of the linear DC motor and the dimension of the yokes.

• Journal of the Society of Naval Architects of Korea
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• v.39 no.4
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• pp.24-31
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• 2002

In the present study, the amount of slow drift motion damping of shuttle tanker in still water and various environments is measured through free decay model test. Although the estimation of slow drift damping is essential in analysing slow drift motion of moored FPSO or DP controlled shuttle tanker, it is difficult to predict damping accurately by theoretical analysis. The estimation of drift damping depends on model test mostly. Through the model test, the amount of slow drift damping is measured and the effects of environments and thruster action on drift damping are investigated. The measured damping characteristics are expected to be used in the analysis on slow drift motion of moored vessel.

• Journal of Power Electronics
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• v.10 no.6
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• pp.579-586
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• 2010

This paper presents the organisation and the technical structure of a remote controlled laboratory in the field of high dynamic drives and motion control. It is part of the PEMCWebLab project with the goal of providing students with practical experience on real systems in the field of power electronics and drives. The whole project is based on clear targets and leading ideas. A set of experiments can be remotely performed on a real system to stepwise identify a two axes positioning system and to design different cascaded control loops. Each single experiment is defined by its goals, the content of how to achieve them, and a verification of the results as well as the achieved learning outcomes. After a short description of the PEMCWebLab project, the structure of the remote control is presented together with the hardware applied. One important point is error handling as real machines and power electronics are applied. Finally, a selection of experiments is presented to show the graphical user interface and the sequence of the laboratory.

• Journal of Power Electronics
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• v.18 no.1
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• pp.92-102
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• 2018

A sliding mode control (SMC) for servo motors based on the differential evolution (DE) algorithm, called DE-SMC, is proposed in this study. The parameters of SMC should be designed exactly to improve the robustness, realize the precision positioning, and reduce the steady-state speed error of the servo drive. The main parameters of SMC are optimized using the DE algorithm according to the speed feedback information of the servo motor. The most significant influence factor of the DE algorithm is optimization iteration. A suitable iteration can be achieved by the tested optimization process profile of the main parameters of SMC. Once the parameters of SMC are optimized under a convergent iteration, the system realizes the given performance indices within the shortest time. The experiment indicates that the robustness of the system is improved, and the dynamic and steady performance achieves the given performance indices under a convergent iteration when motor parameters mismatch and load disturbance is added. Moreover, the suitable iteration effectively mitigates the low-speed crawling phenomenon in the system. The correctness and effectiveness of DE-SMC are verified through the experiment.

• Journal of Advanced Information Technology and Convergence
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• v.8 no.2
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• pp.101-110
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• 2018

This paper introduces feedback linearization (FL) based adaptive sliding mode control (ASMC) effective against ground effects of the quadrotor UAV. The proposed control has the capability of estimation and effective rejection of those effects by adaptive mechanism, which resulting stable attitude and positioning of the quadrotor. As output variables of quadrotor, x-y-z position and yaw angle are chosen. Dynamic extension of the quadrotor dynamics is obtained for terms of roll and pitch control input to be appeared explicitly in x-y-z dynamics, and then linear feedback control including a ground effect is designed. A sliding mode control (SMC) is designed with a class of FL including higher derivative terms, sliding surfaces for which is designed as a class of integral type of resulting closed loop dynamics. The asymptotic stability of the overall system was assured, based on Lyapunov stability methods. It was evaluated through some simulation that attitude control capability is stable under excessive estimation error for unknown ground effect and initial attitude of roll, pitch, and yaw angle of $30^{\circ}$ in all. Effectiveness of the proposed method was shown for quadrotor system with ground effects.

• Journal of Ocean Engineering and Technology
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• v.36 no.6
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• pp.353-363
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• 2022

The azimuth thruster is mainly installed on a vessel that requires a dynamic positioning (DP) function for special purposes. When the azimuth thruster on a vessel operates for DP, the thrust loss is induced by the thruster-hull interaction. This study examined the influence of boundary conditions in numerical simulations for predicting thrust loss. Wind turbine installation vessels (WTIV) and floating production storage and offloading (FPSO) were chosen as a target vessels. In this study, two types of boundaries were defined. The first consideration is that the boundary condition was assigned with consideration of the azimuth angle of the thruster, whereas it is fixed regardless azimuth angle of the thruster. The predicted thrust loss according to these boundary conditions showed a difference. This observation originated from the current load of the vessel. Therefore, the boundary conditions for which the current load is not induced need to be designated to obtain a realistic thrust loss in a numerical simulation.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2022.11a
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• pp.188-188
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• 2022

선박의 운용 효율을 높일 수 있는 방법인 무인 운용체계는 근래에 많은 관심을 받고 연구되어 왔다. 특히 무인수상선과 무인수중체의(USV-AUV)의 복합 운용 분야는 그 동안 어려움이 있었던 심해저 탐사 및 특수 임무 활용에 용이하여 많은 연구가 수행되고 있다. 본 연구에서는 쌍동선 형태인 무인수상선이 모선이 되고 무인수중체가 결합하여 충전하고 다시 진수하여 원거리 및 심해저 조건에서 무인수중체가 운용 가능하도록 하는 시스템의 일부인 USV-AUV의 docking을 위한 DP 시스템을 개발하고 선박해양플랜트연구소 해양공학수조에서 모형시험을 통해 이를 검증하였다. 또한, 실제 제작된 무인쌍동선과 추진 시스템을 활용하여 모형시험을 통해 검증한 DP 알고리즘을 적용하여 화성 제부도 앞바다에서 실선 DP 테스트를 수행하였다. 실 해역에서의 DP 시스템 테스트는 정확한 환경 조건의 계측 및 구현이 어려워 모형시험과 같은 정량적인 평가는 어렵지만, 정성적으로 DP 시스템이 작동하는 것을 확인할 수 있었다.

• Journal of Navigation and Port Research
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• v.48 no.2
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• pp.116-124
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• 2024

Automatic docking of small planing ship is a critical aspect of maritime operations, requiring accurate prediction of motion states to ensure safe and efficient maneuvers. This study investigates the use of Artificial Neural Network (ANN) to predict motion state of a small planing ship to enhance navigation automation in port environments. To achieve this, simulation tests were conducted to control a small planing ship while docking at various heading angles in calm water and in waves. Comprehensive analysis of the ANN-based predictive model was conducted by training and validation using data from various docking situations to improve its ability to accurately capture motion characteristics of a small planing ship. The trained ANN model was used to predict the motion state of the small planning ship based on any initial motion state. Results showed that the small planing ship could dock smoothly in both calm water and waves conditions, confirming the accuracy and reliability of the proposed method for prediction. Moreover, the ANN-based prediction model can adjust the dynamic model of the small planing ship to adapt in real-time and enhance the robustness of an automatic positioning system. This study contributes to the ongoing development of automated navigation systems and facilitates safer and more efficient maritime transport operations.

• The Korean Journal of Nuclear Medicine Technology
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• v.23 no.1
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• pp.75-79
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• 2019

Purpose Cadmium-zinc-telluride (CZT) camera with semiconductor detector is capable of dynamic myocardial perfusion SPECT for coronary flow reserve (CFR). Image acquisition with the heart positioned within 2 cm in the center of the quality field of view (QFOV) is recommended because the CZT detector based on focused multi-pinhole collimators and is stationary gantry without rotation. The aim of this study was to investigate the optimal method for measuring position of the heart within the center of the QFOV when performing dynamic myocardial perfusion SPECT with the Discovery NM 530c camera. Materials and Methods From June to September 2018, 45 patients were subject to dynamic myocardial perfusion SPECT with D530c. For accurate heart positioning, the patient's heart was scanned with a mobile ultrasound and marked at the top of the probe where the mitral valve (MV) was visible in the parasternal long-axis view (PLAX). And, the marked point on the patient's body matched with the reference point indicated CZT detector in dynamic stress. The heart was positioned to be in the center of the QFOV in rest. The coordinates of dynamic stress and rest were compared statistically. Results The coordinates of the dynamic stress using mobile ultrasound and those taken of the rest were recorded for comparative analysis with regard to the position of the couch and analyzed. There were no statistically significant differences in the coordinates of Table in & out, Table up & down, and Detector in & out (P > 0.05). The difference in distance between the 2 groups was measured at $0.25{\pm}1.00$, $0.24{\pm}0.96$ and $0.25{\pm}0.82cm$ respectively, with no difference greater than 2 cm in all categories. Conclusion The position of the heart taken using mobile ultrasound did not differ significantly from that of the center of the QFOV. Therefore, The use of mobile ultrasound in dynamic stress will help to select the correct position of the heart, which will be effective in clinical diagnosis by minimizing the image quality improvement and the patient's exposure to radiation.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.33 no.10B
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• pp.946-961
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• 2008

This study aims to provide guidelines on future policy for restructuring the scheme of aid programs associated with If small and medium-sized enterprises (i.e. SME) in Korea. For this purpose, we investigate an empirical dataset of recent aid programs deployed by Ministry of Information and Communication (i.e. MIC) for the last four years First, it is examined that the programs are practiced in accordance with their own policy objective by comparing matching samples between two groups such as program beneficiary and non-beneficiary companies. Second, positioning transition of programs within a same category is visualized in terms of two business portfolio analysis matrices. Third, an affiliation network matrix of (he programs is newly developed and then we attempt to analyze the programs relationship by the application of multidimensional scaling method to the affiliation network matrix. The empirical dataset is composed of two different kinds of corporate datasets. One is a corporate dataset of 8,994 beneficiary companies that are aided by MIC during the year of '03-'06. The other is also a corporate dataset of 18,354 non-beneficiary companies that have no records of the program supports during the years at all. Particularly, the matching samples of non-beneficiary companies are prepared in order to have comparable corporate age years (i.e. CAY) against beneficiary companies' CAY. Results show that; 1) up-to-date, the programs are properly assigned to IT SME conforming to their own policy objective; 2) however, as the year goes on, the following two distinct positioning transitions are revealed such as (1) both CAY and corporate sales (i.e. SAL) are increased simultaneously, (2) ratio of intangible assets (i.e. RIA) is decreased and ratio of operating gain to revenue (i.e. ROR) is increased. Hence, the role of the programs gets weakened with regard to providing seed money to technology innovation-typed IT SME so that a managerial adjustment of the programs is required consequently; 3) even though the model adequacy is not satisfactory through the analysis of multidimensional scaling method, the relationship of indirect-typed programs can relatively be stronger than that of direct-typed programs.