• Journal of Advanced Marine Engineering and Technology
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• v.38 no.10
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• pp.1303-1309
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• 2014

In this paper, we present an iterative learning control (ILC) framework for tracking problems with predefined data points that are desired points at certain time instants. To design ILC systems for such problems, a new ILC scheme is proposed to produce output curves that pass close to the desired points. Unlike traditional ILC approaches, an algorithm will be developed in which the control signals are generated by solving an optimal ILC problem with respect to the desired sampling points. In another word, it is a direct approach for the multiple points tracking ILC control problem where we do not need to divide the tracking problem into two steps separately as trajectory planning and ILC controller.The strength of the proposed formulation is the methodology to obtain a control signal through learning law only considering the given data points and dynamic system, instead of following the direction of tracking a prior identified trajectory. The key advantage of the proposed approach is to significantly reduce the computational cost. Finally, simulation results will be introduced to confirm the effectiveness of proposed scheme.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.1
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• pp.8-14
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• 2009

A formation flight guidance logic that enables the leader-follower station keeping between two UAVs is presented in this paper. The logic is motivated by the investigation of the relation between the proportional navigation and the nonlinear trajectory tracking guidance law, The simplicity of the presented method provides computational efficiency and allows easy implementation. An excellent performance of the proposed logic is demonstrated via various numerical simulations for multiple UAVs environment.

• Journal of KSNVE
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• v.11 no.1
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• pp.147-155
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• 2001

This paper is concerned with the real-time automatic tuning of the multi-input multi-output positive position feedback controllers for smart structures by the genetic algorithms. The genetic algorithms have proven its effectiveness in searching optimal design parameters without falling into local minimums thus rendering globally optimal solutions. The previous real-time algorithm that tunes a single control parameter is extended to tune more parameters of the MIMO PPF controller. We employ the MIMO PPF controller since it can enhance the damping value of a target mode without affecting other modes if tuned properly. Hence, the traditional positive position feedback controller can be used in adaptive fashion in real time. The final form of the MIMO PPF controller results in the centralized control, thus it involves many parameters. The bounds of the control Parameters are estimated from the theoretical model to guarantee the stability. As in the previous research, the digital MIMO PPF control law is downloaded to the DSP chip and a main program, which runs genetic algorithms in real time, updates the parameters of the controller in real time. The experimental frequency response results show that the MIMO PPF controller tuned by GA gives better performance than the theoretically designed PPF. The time response also shows that the GA tuned MIMO PPF controller can suppress vibrations very well.

• International Journal of Aeronautical and Space Sciences
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• v.8 no.1
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• pp.10-20
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• 2007

For spacecraft attitude control, reaction wheel (RW) steering laws with more than three wheels for three-axis attitude control can be derived by using a control allocation (CA) approach.1-2 The CA technique deals with a problem of distributing a given control demand to available sets of actuators.3-4 There are many references for CA with applications to aerospace systems. For spacecraft, the control torque command for three body-fixed reference frames can be constructed by a combination of multiple wheels, usually four-wheel pyramid sets. Multi-wheel configurations can be exploited to satisfy a body-axis control torque requirement while satisfying objectives such as minimum control energy.1-2 In general, the reaction wheel steering laws determine required torque command for each wheel in the form of matrix pseudo-inverse. In general, the attitude control command is generated in the form of a feedback control. The spacecraft body angular rate measured by gyros is used to estimate angular displacement also.⁵ Combination of the body angular rate and attitude parameters such as quaternion and MRPs(Modified Rodrigues Parameters) is typically used in synthesizing the control command which should be produced by RWs.¹ The attitude sensor signals are usually corrupted by noise; gyros tend to contain errors such as drift and random noise. The attitude determination system can estimate such errors, and provide best true signals for feedback control.⁶ Even if the attitude determination system, for instance, sophisticated algorithm such as the EKF(Extended Kalman Filter) algorithm⁶, can eliminate the errors efficiently, it is quite probable that the control command still contains noise sources. The noise and/or other high frequency components in the control command would cause the wheel speed to change in an undesirable manner. The closed-loop system, governed by the feedback control law, is also directly affected by the noise due to imperfect sensor characteristics. The noise components in the sensor signal should be mitigated so that the control command is isolated from the noise effect. This can be done by adding a filter to the sensor output or preventing rapid change in the control command. Dynamic control allocation(DCA), recently studied by Härkegård, is to distribute the control command in the sense of dynamics⁴: the allocation is made over a certain time interval, not a fixed time instant. The dynamic behavior of the control command is taken into account in the course of distributing the control command. Not only the control command requirement, but also variation of the control command over a sampling interval is included in the performance criterion to be optimized. The result is a control command in the form of a finite difference equation over the given time interval.⁴ It results in a filter dynamics by taking the previous control command into account for the synthesis of current control command. Stability of the proposed dynamic control allocation (CA) approach was proved to ensure the control command is bounded at the steady-state. In this study, we extended the results presented in Ref. 4 by adding a two-step dynamic CA term in deriving the control allocation law. Also, the strict equality constraint, between the virtual and actual control inputs, is relaxed in order to construct control command with a smooth profile. The proposed DCA technique is applied to a spacecraft attitude control problem. The sensor noise and/or irregular signals, which are existent in most of spacecraft attitude sensors, can be handled effectively by the proposed approach.

• Journal of Digital Convergence
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• v.13 no.7
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• pp.341-347
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• 2015

Since the advent of Apple's iPhone, the smartphone industry has been producing new technologies and concepts at an accelerated pace. The speed of progress in this sector is exponentially increasing in accordance with Moore's Law, and smartphones are rapidly changing various aspects of human life. Especially, object control technologies using smartphones are being utilized in various sectors, including robots, home automation, and smart objects. However, the current smartphone object control technology is limited in terms of multicontrol. This study proposes the combined usage of the Bluetooth and Zigbee Modules for multiple object control using smartphones, and presents the necessary application design properties and the methodology for Zigbee communication. The study is an attempt at a territorial expansion of design, as a proposal of new methods for utilizing smartphones in the age of smart objects.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.40 no.5
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• pp.333-340
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• 2003

Doppler processing is the heart of pulsed Doppler radar. It gives a clutter elimination and coherent integration. With the improvement of digital signal processors (DPSs), the implementation using them is more widely used in radar systems. Generally, so as for Doppler processor to process the input data in real time, a parallel processing concept using multiple DSPs should be used. This paper implements a programmable Doppler processor, which consists of MTI filter, DFB and square-law detector, using 8 ADSP21060s. Formulating the distribution time of the input data, the transfer time of the output data and the time required to compute each algorithm, it estimates total processing time and the number of required DSP. Finally, using the TSG that provides radar control pulses and simulated target signals, performances of the implemented Doppler processor are evaluated.

• The Journal of Asian Finance, Economics and Business
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• v.7 no.10
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• pp.795-802
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• 2020

This study seeks to determine the effect of the application of accounting information system (AIS), internal control system, and human resource (HR) competency on the quality of local government financial statements (FS). This study uses agency theory and compliance theory. Agency theory is used to explain that there is a link between the society as the principal and the government as the agent. Compliance theory is a theory, which states that every agency is obliged to comply with regulations because the law-drafting authority has the right to dictate behavior. The population in this study were employees of the financial division of local government organizations in one of the districts in Central Java, Indonesia. The total samples in this study was 106 respondents. The data used are primary data taken from distributing questionnaires to respondents. The method of analysis used to test the hypothesis was multiple linear regression analysis. The results of hypothesis testing indicate that HR competency has an effect on the quality of FS; however, the application of AIS and internal control system has no effect on the quality of FS. The implication of this research underlines the importance of HR competency to improve the quality of local government FS.

• The Korean Society of Law and Medicine
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• v.19 no.1
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• pp.207-254
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• 2018

The major court rulings delivered in 2017 include the ruling that separated the legal character of denture production agreement signed together with medical care agreement and found a subcontracting dimension in the former, and the ruling that overcame the limitations of the theory of entire appearance of a fetus as discussed in civil law by using the legal principle of insurance which suggests that unborn child insurance takes effect after the contract is signed and the first installment of the premium is paid in. As more court rulings find the medical specialists responsible for accidents and injuries from drugs, some argue that medication counseling by the druggist who makes and dispenses drugs should be upgraded. And with respect to a court ruling that denied the hospital's responsibility for an infection-involving accident even if there were no records on specific measures taken in infection management, some criticized the court for being too conservative in recognizing responsibilities. And with respect to infectious disease management, some criticized the court for its interpretation and application of the facts in the direction of denying the negligence. In addition, some claimed that it is necessary to establish institutional system for hospital infection control and its aid for victims, and to improve the system including the reversal of the burden of proof given the special nature of hospital infections. A number of rulings on the duty to disclose included the one which stated that the specific matter did not require a doctor's explanation as it was explained or the specific medical service would have been performed even if no explanation had been given. There was a greatly controversial ruling over the scope of indemnification, which accepted the occurrence of multiple scars and deformation as disorders while regarding breast as a thoracic organ. And a Supreme Court ruling over interpreting Medical Service Act was criticized as overstepping the boundary allowed in the law.

• Journal of the Korean Society of Safety
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• v.37 no.5
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• pp.80-88
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• 2022

The Korean nuclear industry had developed the SPACE (Safety and Performance Analysis Code for nuclear power plants) code, which adopts a two-fluid, three-field model that is comprised of gas, continuous liquid and droplet fields and has the capability to simulate three-dimensional models. According to the revised law by the Nuclear Safety and Security Commission (NSSC) in Korea, the multiple failure accidents that must be considered for the accident management plan of a nuclear power plant was determined based on the lessons learned from the Fukushima accident. Generally, to improve the reliability of the calculation results of a safety analysis code, verification is required for the separate and integral effect experiments. Therefore, the goal of this work is to verify the calculation capability of the SPACE code for multiple failure accidents. For this purpose, an experiment was conducted to simulate a Control Element Drive Mechanism (CEDM) break with a safety injection failure using the ATLAS test facility, which is operated by Korea Atomic Energy Research Institute (KAERI). This experiment focused on the comparison between the experiment results and code calculation results to verify the performance of the SPACE code. The results of the overall system transient response using the SPACE code showed similar trends with the experimental results for parameters such as the system pressure, mass flow rate, and collapsed water level in component. In conclusion, it can be concluded that the SPACE code has sufficient capability to simulate a CEDM break with a safety injection failure accident.

• Journal of The Korean Association For Science Education
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• v.26 no.3
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• pp.367-375
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• 2006

This study investigated the effects of varying visuals in drawing and writing as methods to assist students in connecting and integrating multiple external representations provided in learning the particulate nature of matter. Seventh graders (N=233) at a coed middle school were assigned to control, static drawing (SO), dynamic drawing (DD), static writing (SW), and dynamic writing (DW) groups. The students were taught about "Boyle's Law" and "Charles's Law" for two class periods. Two-way ANCOVA results revealed that the scores of a conception test for the two drawing (SD, DD) groups and the two writing (SW, DW) groups were significantly higher than those for the control group. Within the writing groups, students of lower spatial visualization ability in the DW group scored significantly higher than those in the SW group. However, no significant differences were found in the scores of the conception test for the two drawing (SD, DD) groups regardless of students' visualization ability. Researchers also found that most students in both DD and DW groups had respectively positive perceptions of dynamic visuals in drawing or writing.