• Journal of the Society of Naval Architects of Korea
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• v.45 no.3
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• pp.269-279
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• 2008

In this paper, an underwater navigation system with adaptive receding horizon Kalman filter (ARHKF) is studied. It is well known that incorrect statistical information and temporal disturbance invoke errors of any navigation systems with Kalman filter, which makes the autonomous navigation difficult in real underwater environment. In this context, two kinds of problems are herein considered. The first one is the development of an algorithm, which estimates the noise covariance of a linear discrete time-varying stochastic system. The second one is the implementation of ARHKF to underwater navigation systems. The performance of the derived estimation algorithm of noise covariance and the ARHKF are verified by simulation and experiment in the towing tank of Seoul National University.

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.3
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• pp.272-279
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• 1997

In this paper, a fuzzy generalized predictive control (FGPC) for non-linear plants is proposed. In the proposed method, the receding horizon control is applied to the control part, while fuzzy systems are used for the predictor part. It is suggested that the fuzzy predictor is time-varying affine with respect to input variables for easy computation of control inputs. Since the receding horizon control can be obtained only with a predictor instead of a plant model, the fuzzy predictor is obtained directly from input-output data without identifying a plant model. A parameter estimation algorithm is used for identifying the fuzzy predictor. The control inputs of the FGPC are computed by minimizing a receding horizon cost function with predicted plant outputs. The proposed controller has a similar architecture to the generalized predictive control (GPC) except for the predictor synthesis method, and thus may possess inherent good properties of the GPC. Computer simulations show that the performance of the FGPC is satisfactory.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.6
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• pp.615-620
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• 2015

This paper deals with a fault detection system design for a boiler-turbine control system of thermal power plant. We described the nonlinear properties of the boiler-turbine dynamics as a T-S fuzzy system with time varying measurable parameters. We design a residual generator using an observer based fault detection filter. In order to identify the faulted output sensor, an approximate inverse system is connected to the outport of the fault detection filter. We demonstrate the efficiency of the suggested design method via computer simulations.

• International Journal of Naval Architecture and Ocean Engineering
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• v.11 no.1
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• pp.143-153
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• 2019

In this study, numerical simulations for the prediction of added resistance for KVLCC2 with varying wave steepness are performed using a Computational Fluid Dynamics (CFD) method and a 3-D linear potential method, and then the non-linearities of added resistance and ship motions are investigated in regular short and long waves. Firstly, grid convergence tests in short and long waves are carried out to establish an optimal mesh system for CFD simulations. Secondly, numerical simulations are performed to predict ship added resistance and vertical motion responses in short and long waves and the results are verified using the available experimental data. Finally, the non-linearities of added resistance and ship motions with unsteady wave patterns in the time domain are investigated with the increase in wave steepness in both short and long waves. The present systematic study demonstrates that the numerical results have a reasonable agreement with the experimental data and emphasizes the non-linearity in the prediction of the added resistance and the ship motions with the increasing wave steepness in short and long waves.

• Tribology and Lubricants
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• v.37 no.5
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• pp.164-171
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• 2021

Ultrasonic sensors show various reception characteristics based on the density of the measurement medium; hence, they are used in various fields to benefit from the characteristics of ultrasonic signals. In this study, the reception characteristics according to the thickness of the first matching layer are compared and analyzed for application to gas tank microleak detection. Accordingly, three types of sensors are manufactured with varying thicknesses of the first matching layer, namely 4.8 mm, 5.1 mm, and 5.5 mm; further, a direct measurement method is used wherein the sensor is attached to the inside of the chamber. Experiments are conducted to observe the phase change due to microleakage, which is the most linear in the sensor with the 4.8 mm thick first matching layer. This is assumed to be the result of stable signal transmission and reception with little phase deviations over time because the first matching layer is closest to the ultrasonic wavelength. The other sensors show nonlinear results with increasing thickness of the first matching layer. Through this study, it is found that appropriately selecting the thickness of the first matching layer of the ultrasonic sensor can greatly influence sensor reliability.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.44 no.2
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• pp.36-42
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• 2021

This paper deals with a vehicle routing problem with resource repositioning (VRPRR) which is a variation of well-known vehicle routing problem with pickup and delivery (VRPPD). VRPRR in which static repositioning of public bikes is a representative case, can be defined as a multi-objective optimization problem aiming at minimizing both transportation cost and the amount of unmet demand. To obtain Pareto sets for the problem, famous multi-objective optimization algorithms such as Strength Pareto Evolutionary Algorithm 2 (SPEA2) can be applied. In addition, a linear combination of two objective functions with weights can be exploited to generate Pareto sets. By varying weight values in the combined single objective function, a set of solutions is created. Experiments accomplished with a standard benchmark problem sets show that Variable Neighborhood Search (VNS) applied to solve a number of single objective function outperforms SPEA2. All generated solutions from SPEA2 are completely dominated by a set of VNS solutions. It seems that local optimization technique inherent in VNS makes it possible to generate near optimal solutions for the single objective function. Also, it shows that trade-off between the number of solutions in Pareto set and the computation time should be considered to obtain good solutions effectively in case of linearly combined single objective function.

• Journal of Korea Water Resources Association
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• v.48 no.12
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• pp.1051-1064
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• 2015

Currently, the H purification plant determines the hourly water intake amount based on operator experience and skill. Therefore, inevitably, there are deviations among operators. While meeting time-varying demand and maintaining the proper water level in the clean water reservoir, the methodology for minimizing electricity cost, when dealing with different electricity rate time zones, is a very complicated problem, which is beyond an operator's capability. To solve this problem, a linear programming (LP) model is proposed, which can determine the optimal hourly water intake amount for minimizing the daily electricity cost. It is shown that an inaccurate estimate for the hourly water usage in the demand areas causes the water level constraint to be violated, which is the weak point of the proposed LP method. However, several examples with real-field data show that we can practically and safely solve this problem with safety margins. It is also shown that the safety margin method still works effectively whether the estimate is accurate or not. The operators need not attend the site at all times under the proposed LP method, and we can additionally expect reductions in labor costs.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.15 no.4
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• pp.301-307
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• 2002

Direct bonded SOI wafer pairs with $Si ll SiO_2/Si_3N_4 ll Si$ the heterogeneous insulating layers of SiO$_2$-Si$_3$N$_4$are able to apply to the micropumps and MEMS applications. Direct bonding should be executed at low temperature to avoid the warpage of the wafer pairs and inter-diffusion of materials at the interface. 10 cm diameter 2000 ${\AA}-SiO_2/Si(100}$ and 560 $\AA$- ${\AA}-Si_3N_4/Si(100}$ wafers were prepared, and wet cleaned to activate the surface as hydrophilic and hydrophobic states, respectively. Cleaned wafers were pre- mated with facing the mirror planes by a specially designed aligner in class-100 clean room immediately. We employed a heat treatment equipment so called fast linear annealing(FLA) with a halogen lamp to enhance the bonding of pre mated wafers We kept the scan velocity of 0.08 mm/sec, which implied bonding process time of 125 sec/wafer pairs, by varying the heat input at the range of 320~550 W. We measured the bonding area by using the infrared camera and the bonding strength by the razor blade clack opening method, respective1y. It was confirmed that the bonding area was between 80% and to 95% as FLA heat input increased. The bonding strength became the equal of $1000^{\circ}C$ heat treated $Si ll SiO_2/Si_3N_4 ll Si$ pair by an electric furnace. Bonding strength increased to 2500 mJ/$\textrm{m}^2$as heat input increased, which is identical value of annealing at $1000^{\circ}C$-2 hr with an electric furnace. Our results implies that we obtained the enough bonding strength using the FLA, in less process time of 125 seconds and at lowed annealing temperature of $400^{\circ}C$, comparing with the conventional electric furnace annealing.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.700-705
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• 2005

The purpose of this project is the derivation and development of techniques for the new estimation of robustness for the systems having uncertainties. The basic ideas to analyze the system which is the originally nonlinear is Lyapunov direct theorems. The nonlinear systems have various forms of terms inside the system equations and this investigation is confined in the form of bounded uncertainties. Bounded means the uncertainties are with same positive/negative range. The number of uncertainties will be the degree of freedoms in the calculation of the stability region. This is so called the robustness bounds. This proposition adopts the theoretical analysis of the Lyapunov direct methods, that is, the sign properties of the Lyapunov function derivative integrated along finite intervals of time, in place of the original method of the sign properties of the time derivative of the Lyapunov function itself. This is the new sufficient criteria to relax the stability condition and is used to generate techniques for the robust design of control systems with structured perturbations. Using this relaxing stability conditions, the selection of Lyapunov candidate function is of various forms. In this paper, the quadratic form is selected. this generated techniques has been demonstrated by recent research interest in the area of robust control design and confirms that estimation of robustness bounds will be improved upon those obtained by results of the original Lyapunov method. In this paper, the symbolic algebraic procedures are utilized and the calculating errors are reduced in the numerical procedures. The application of numerical procedures can prove the improvements in estimations of robustness for one-and more structured perturbations. The applicable systems is assumed to be linear with time-varying with nonlinear bounded perturbations. This new techniques will be extended to other nonlinear systems with various forms of uncertainties, especially in the nonlinear case of the unstructured perturbations and also with various control method.

• Journal of Radiation Protection and Research
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• v.48 no.2
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• pp.100-106
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• 2023

Background: As breast tissue expanders consist of metallic materials in the needle guard and ferromagnetic injection port, irradiation can produce radioactivation. Materials and Methods: A CPX4 (Mentor Worldwide LLD) breast tissue expander was exposed using the Versa HD (Elekta) linear accelerator. Two photon energies of 6 and 10 MV-flattening filter free (FFF) beams with 5,000 monitor units (MU) were irradiated to identify the types of radiation. Furthermore, 300 MU with 10 MV-FFF beam was exposed to the CPX4 breast tissue expander by varying the machine dose rates (MDRs) 600, 1,200, and 2,200 MU/min. To assess the instantaneous dose rates (IDRs) solely from the CPX4, a tissue expander was placed outside the treatment room after beam irradiation, and a portable radioisotope identification device was used to identify the types of radiation and measure IDR. Results and Discussion: After 5,000 MU delivery to the CPX4 breast tissue expander, the energy spectrum whose peak energy of 511 keV was found with 10 MV-FFF, while there was no resultant one with 6 MV-FFF. The time of each measurement was 1 minute, and the mean IDRs from the 10 MV-FFF were 0.407, 0.231, and 0.180 μSv/hr for the three successive measurements. Following 10 MV-FFF beam irradiation with 300 MU indicated around the background level from the first measurement regardless of MDRs. Conclusion: As each institute room entry time protocol varies according to the working hours and occupational doses, we suggest an addition of 1 minute from the institutes' own room entry time protocol in patients with CPX4 tissue expander and the case of radiotherapy vaults equipped with a maximum energy of 10 MV photon beams.