• International Journal of Control, Automation, and Systems
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• v.5 no.3
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• pp.243-250
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• 2007

This paper presents a systematic method of estimating a velocity disturbance occurring in the fine seek control system of an optical disk drive. A fine seek loop gain adjustment algorithm is introduced to accurately estimate the velocity disturbance in spite of the uncertainties of the fine actuator. The velocity disturbance can be estimated from a measurable velocity, a fine seek controller output, and a compensated fine actuator model. A robust fine seek controller can be designed by considering a minimum fine seek open-loop gain, calculated by the estimated velocity disturbance. The proposed controller design method is applied to the fine seek control system of a DVD rewritable drive and is evaluated through the experimental results.

• The Bulletin of The Korean Astronomical Society
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• v.43 no.2
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• pp.58.1-58.1
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• 2018

In the solar atmosphere, below the region of temperature minimum, temperature decreases with height and above it, temperature increases with height. Therefore the inference of temperature minimum is a basis of the study about the solar atmosphere and heating problem. The temperature of the temperature minimum region can be inferred from acoustic cutoff frequency. According to a recent study the acoustic cutoff frequency is related to the peak frequency of the power spectrum the chromospheric three-minute velocity oscillations. Using this relationship, we infer the temperature of temperature minimum. The three minute velocity oscillation and its power spectrum are obtained for a pore observed with the Fast Imaging Solar Spectrograph (FISS) $H{\alpha}$ band. We present the inferred temperature and compare it with the temperature of Maltby model. We also investigate the effect of the inclination of magnetic field on the temperature minimum.

• Journal of the Korean Society of Safety
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• v.27 no.3
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• pp.71-76
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• 2012

The coflow velocity effect on the minimum extinguishing concentration(MEC) was investigated experimentally in heptane cup-burner flames. Various inert gases($N_2$, Ar, $CO_2$, He) were added into the oxidizer to find the critical concentration and the effectiveness of the agents on flame extinction. The experimental results showed that the MECs were increased with increasing coflow velocity for most inert gases except helium, but the higher coflow velocity induced the lower burning rates of heptane. This indicated that the increase of coflow velocity resulted in the decrease of fuel velocity evaporated from fuel surface, and hence the stain rate on the reaction zone was also decreased. In the case of helium as a additive, the extinguishing concentration was independent of the coflow velocity because the heat conductivity was ten times larger than the other inert gases and flow effect by a strain rate might be compensated for heat loss to the surroundings.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10b
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• pp.990-995
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• 1990

A minimum-time trajectory planning for two robot arms with designated paths and coordination is proposed. The problem considered in this paper is a subproblem of hierarchically decomposed trajectory planning approach for multiple robots : i) path planning, ii) coordination planning, iii) velocity planning. In coordination planning stage, coordination space, a specific form of configuration space, is constructed to determine collision region and collision-free region, and a collision-free coordination curve (CFCC) passing collision-free region is selected. In velocity planning stage, normal dynamic equations of the robots, described by joint angles, velocities and accelerations, are converted into simpler forms which are described by traveling distance along collision-free coordination curve. By utilizing maximum allowable torques and joint velocity limits, admissible range of velocity and acceleration along CFCC is derived, and a minimum-time velocity planning is calculated in phase plane. Also the planning algorithm itself is converted to simple numerical iterative calculation form based on the concept of neural optimization network, which gives a feasible approximate solution to this planning problem. To show the usefulness of proposed method, an example of trajectory planning for 2 SCARA type robots in common workspace is illustrated.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1609-1612
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• 1997

Kinematically redundantant manipulators have a nimber of potential advantages over nonredundant ones. Questions associated with manipulability measures for (non)redundant manipulators derived by minimum 2-norm solution and minimum infinity-norm solution in unit joint velocity are examined in detail.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.56.2-56
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• 2001

For the improvement of minimum sensing angular velocity of ring laser gyro, the influence of a low-scattering mirror application to laser resonator was investigated. Super polishing technique was employed for the fine mirror substrates of less than 1-${\AA}$-rms roughness. Mirror coating using ion-beam sputtering coating machine produced low-scattering mirror less than 30-ppm scattering. As a result of the mirror application to ring laser, the minimum sensing angular velocity of the gyro was improved down to about 0.1 deg/sec.

• Journal of Korea Water Resources Association
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• v.32 no.4
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• pp.469-478
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• 1999

Explicit equations of minimum velocity, energy slope and pipe diameter are developed to ensure the cleaning of sewerage pipes. The equations of power form are employed for the estimation of critical shear stress of sediment particles and the friction factor of commercial pipes. They are all based on the existing laboratory data. Several cases are tested to check the values suggested in the manual, using the equations developed in the present study.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.17 no.9
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• pp.805-812
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• 2007

This paper present a robust controller design method based on the estimation of velocity disturbance to construct a robust fine seek control system. A loop gain adjustment algorithm is introduced to accurately estimate the velocity disturbance in spite of the uncertainties of fine actuator. A weighting function is optimally selected from a minimum fine seek open-loop gain, calculated by estimating the velocity disturbance. A robust fine seek controller is designed by considering a robust $H_{\infty}$ control problem using the weighting function. The proposed controller design method is applied to the fine seek control system of a DVD rewritable drive and is evaluated through the experimental results.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.21 no.4
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• pp.688-697
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• 2017

It is very difficult to solve mathematically the optimal control problem for non - linear mobile robots to move to target points with minimum energy related to velocity, acceleration and angular velocity in minimum time. This paper proposes a method to obtain optimal control gains with which mobile robots move with minimum energy related to velocity, acceleration and angular velocity in minimum time using genetic algorithms. Mobile robots are non - linear systems so that their optimal control gains depend on initial positions. Hence initial positions are divided into some partition points and optimal control gains are obtained at each partition point with genetical algorithms. These optimal control gains are used to train neural networks that generate proper control gains at arbitrary initial position. Finally computer simulation studies have been conducted to verify the effectiveness of the method proposed in this paper.

• Economic and Environmental Geology
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• v.35 no.5
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• pp.445-454
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• 2002

3-D P-wave velocity model in the southern Korean Peninsula is investigated by using the earthquake tomography method. This velocity model would be used to locate the exact hypocenter position, and also useful for our understanding of the crustal structure. The simultaneous inversion is used to get the minimum 1-D model and hypo-center relocation, which are used as an initial 3-D velocity model. The velocities in the minimum 1-D model are 6.04 km/s, 6.45 km/s, and 7.78 km/s between the depth of 0-19 km, 19-32 km, and 32-55 km respectively. In the 3-D P-wave velocity model, Layer 1 (0~3 km) has high velocities in Kyongsang basin, Yonglam massif, and Okchon folded belt, and low velocities in Kyonggi massif. In layer 2 (3~19 km) high velocities are predominent around Kyonsang basin and Yongnam massif except Yonil basin, but low velocities exist around Kyonggi massif and Okchon folded belt. In Laye. 3 (19~32 km) high velocities prevail throughout the southern part of Korean Peninsula, but low velocity does throughout the middle except SNU, YIN station in Konggi massif. In Layer 4 (32 km), the maximum velocity is showed in the middle and southwestern part, while the minimum velocity in the southeastern and coastal area. The depth of the velocity boundary corresponds to the crustal structure of the southern Korean Peninsula which is calculated by gravity data.