• Journal of the Korean Society of Marine Environment & Safety
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• v.19 no.6
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• pp.637-642
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• 2013

In this paper, an analysis results of towing force and towing points which are dominating factors to determine the behavior of towed ship are introduced. The towing force and towing points to achive the desired posture and its position of the towed vessel are derived based on simplified dynamics and linearization method. LQR algorithm for posture control is applied to linearized system and numerical simulation is also executed. Force based on COG(cneter of gravity) and gain of controller to achieve desired posture for target vessel are obtained by using Riccati matrix equation and pseudo inverse matrix is applied to analyze the relation between the derived force and its towing point. Based on this analysis method, towing force need to move the towed vessel from its initial position to target position can be calculated. The towing method including towing point and direction is also considered on this method. Finally, the relation between towing force and towing point is confirmed from the analysis and the results can be applied to arrangement of tug boats during salvage works.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.46 no.3
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• pp.40-47
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• 2009

This paper presents new drain bias scheme for the linearity enhancement of envelope tacking power amplifiers for W-CDMA base-stations. In the conventional envelope tracking power amplifiers, the drain bias voltage is lowered close to the knee voltage of transistor, resulting in the severe linearity degradation. To solve this problem, it is proposed in this paper that the amplifier is biased in the conventional class AB mode with a fixed drain bias voltage if the input envelope is low and in the envelope tracking mode otherwise. Moreover, the drain bias in the envelope tracking mode is newly determined to minimized the distortion. To verify the effectiveness of the proposed bias scheme, simulation is performed on the W-CDMA based-station envelope tracking power amplifier using class AB Si-LDMOS power amplifier. It is shown from the simulation that the proposed bias scheme allows a drastic linearity enhancement with the comparable efficiency enough to meet the requirement of W-CDMA base-station without additional linearization techniques.

• International Journal of Fluid Machinery and Systems
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• v.2 no.4
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• pp.286-294
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• 2009

Hydroelectric power plants are known for their ability to cover variations of the consumption in electrical power networks. In order to follow this changing demand, hydraulic machines are subject to off-design operation. In that case, the swirling flow leaving the runner of a Francis turbine may act under given conditions as an excitation source for the whole hydraulic system. In high load operating conditions, vortex rope behaves as an internal energy source which leads to the self excitation of the system. The aim of this paper is to identify the influence of the full load excitation source location with respect to the eigenmodes shapes on the system stability. For this, a new eigenanalysis tool, based on eigenvalues and eigenvectors computation of the nonlinear set of differential equations in SIMSEN, has been developed. First the modal analysis method and linearization of the set of the nonlinear differential equations are fully described. Then, nonlinear hydro-acoustic models of hydraulic components based on electrical equivalent schemes are presented and linearized. Finally, a hydro-acoustic SIMSEN model of a simple hydraulic power plant, is used to apply the modal analysis and to show the influence of the turbine location on system stability. Through this case study, it brings out that modeling of the pipe viscoelastic damping is decisive to find out stability limits and unstable eigenfrequencies.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.27 no.5
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• pp.295-303
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• 2015

The eigenfunction expansion method is appled for the wave scattering by a vertical slotted, where both the inertial and quadratic drag terms are involved. Quadratic drag term representing the energy loss is linearized by the application of socalled equivalent linearization. The drag coefficient, which was empirically determined by Yoon et al.(2006) and Huang(2007) is used. Analytical results are verified by comparison to the experimental results conducted by Kwon et al.(2014) and Zhu and Chwang(2001). Using the developed design tool, the effect of energy loss by a vertical slotted wall is estimated with various design parameters, such as porosity, submergence depth, shape of slits and wave characteristics. It is found that the maximum value of energy loss across the slotted wall is generated at porosity value less than P = 0.1. The present solutions can provide a good predictive tools to estimate the wave absorbing efficiency by a slotted-wall breakwater.

• The Journal of the Korea institute of electronic communication sciences
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• v.15 no.2
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• pp.237-244
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• 2020

This paper describes an implement of Simultaneous Localization and Mapping(SLAM) in two dimensional space. The method uses Invariant Extended Kalman Filter(IEKF), which transforms the state variables and measurement variables so that the transformed variables constitute a linear space when variables called the invariant quantities are kept constant. Therefore, the IEKF guarantees convergence provided in the invariant quantities are kept constant. The proposed IEKF approach uses Lie group matrix for the transformation. The method is tested through simulation, and the results show that the Kalman gain is constant as it is the case for the linear Kalman filter. The coherence between the estimated locations of the vehicle and the detected objects verifies the estimation performance of the method.

• Journal of the Korean Society of Safety
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• v.15 no.3
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• pp.115-123
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• 2000

Pneumatic actuators are widely used in a variety of hazardous working environments. Any process that involves pneumatic actuation is also recognized as "eco-friendly". In most cases, applications of pneumatic actuators require only point-to-point control. In recent years, research efforts have been directed toward achieving precise position tracking control. In this study, a tracking position control method is proposed and experimentally evaluated for a linear positioning system. The positioning system is composed of a pneumatic actuator and a 3-port proportional valve. The proposed controller has an inner pressure control loop and an outer position control loop. A PID controller with feedback linearization is used in the pressure control loop to nullify the nonlinearity arising from the compressibility of the air. The position controller is also a PID controller augmented with the friction compensation by a neural network. Experimental results indicate that the proposed controller significantly improves the tracking performance.rformance.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.31 no.2
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• pp.178-189
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• 1995

In this pater, authors derive the state - space equiation about the patallel - type inverted pendulum which is adopted as control object, and constitute the control system by $H_\infty$control theory. The modeling error is unavoidably existed by linearization error, and so on. We regard this modeling error which is determined from the identification through frequency response as unstructured model uncertainty. An augmented state - space equiation with frequency weighting function is constructed for application of the $H_\infty$theory, and the mixed sensitivity problem is considered. The weighting functions are determined in consideration of the model uncertainty and the response of system in frequency region. The $H_\infty$controller is designed by using software package for controller design. From results of response simulation, the control system designed with $H_\infty$theory guarantees low sensitivity for disturbance as well as robustness against the model uncertainties.

• Journal of Korean Society of Water and Wastewater
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• v.35 no.6
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• pp.455-463
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• 2021

The adsorption process using GAC is one of the most secured methods to remove of phosphate from solution. This study was conducted by impregnating Cu(II) to GAC(GAC-Cu) to enhance phosphate adsorption for GAC. In the preparation of GAC-Cu, increasing the concentration of Cu(II) increased the phosphate uptake, confirming the effect of Cu(II) on phosphate uptake. A pH experiment was conducted at pH 4-8 to investigate the effect of the solution pH. Decrease of phosphate removal efficiency was found with increase of pH for both adsorbents, but the reduction rate of GAC-Cu slowed, indicating electrostatic interaction and coordinating bonding were simultaneously involved in phosphate removal. The adsorption was analyzed by Langmuir and Freundlich isotherm to determine the maximum phosphate uptake(q_m) and adsorption mechanism. According to correlation of determination(R²), Freundlich isotherm model showed a better fit than Langmuir isotherm model. Based on the negative values of q_m, Langmuir adsorption constant(b), and the value of 1/n, phosphate adsorption was shown to be unfavorable and favorable for GAC and GAC-Cu, respectively. The attempt of the linearization of each isotherm obtained very poor R². Batch kinetic tests verified that ~30% and ~90 phosphate adsorptions were completed within 1h and 24 h, respectively. Pseudo second order(PSO) model showed more suitable than pseudo first order(PFO) because of higher R². Regardless of type of kinetic model, GAC-Cu obtained higher constant of reaction(K) than GAC.

• Korean Journal of Food Science and Technology
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• v.22 no.4
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• pp.445-450
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• 1990

Changes in weight, volume and density of petiole tissue of Chinese cabbage during salting and blanching were investigated. Rapid changes in mass and volume occurred within 4 hours during salting in 5% salt solution and the changes were nearly completed after 8h. After salting, the reduction of mass and volume ranged between $22{\sim}27%\;and\;22{\sim}35%$, respectively. Average density of the sample was found to be 0.88g/ml, and increased to 1.020g/ml after salting. Air content of the sample ranged from 0.093 to 0.120ml/ml cabbage, and about 70% of the initial content was expelled from the tissue by salting. The changes of physical properties of the cabbage during steam blanching were similar to those during salting, but their relative values were smaller. A linearization model for physical changes during salting and blanching was proposed.

• Korean Chemical Engineering Research
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• v.46 no.3
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• pp.486-491
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• 2008

This paper describes a model identification method that has been applied to a commercial 12-inch RTP (rapid thermal processing) equipment with an ultimate aim to develop a high-performance advanced controller. Seven thermocouples are attached on the wafer surface and twelve tungsten-halogen lamp groups are used to heat up the wafer. To obtain a MIMO balanced state space model, multiple SIMO (single-input multiple-output) identification with highorder ARX models have been conducted and the resulting models have been combined, transformed and reduced to a MIMO balanced state space model through a balanced truncation technique. The identification experiments were designed to minimize the wafer warpage and an output linearization block has been proposed for compensation of the nonlinearity from the radiation-dominant heat transfer. As a result from the identification at around 600, 700, and $800^{\circ}C$, respectively, it was found that $y=T(K)^2$ and the state dimension of 80-100 are most desirable. With this choice the root-mean-square value of the one-step-ahead temperature prediction error was found to be in the range of 0.125-0.135 K.