• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1999년도 제14차 학술회의논문집
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• pp.153-156
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• 1999

The technique is reported of identifying parameters in off-line process. The technique demands that closed-loop system consists of a reference and two-degree-of-freedom controllers (TDFC) in real process. A model process is the same as the real process except their parameters. Deviations are differences between the reference and the output of the plant or the model. The technique is based on minimizing identification error between the two deviations. The parameter differences between the plant and the model are characterized of mean value and of variance which are derived from the identification error. Consequently, the algorithm which identifies the unknown plant parameters is shown by minimizing the mean value and the variance, respectively, within double convergence loops. The technique is applied to course change of a ship. The plant deviation at the first trial is shown to occur in replacing the nominal parameters by the default parameters. The plant deviation at the second trial is shown to not occur in replacing the nominal parameters by the identified parameters. Hence, the identification technique is confirmed to be feasible in the real field.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.980-984
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• 1990

In order to find the optimal control law for the precise trajectory tracking of a robot manipulator, a perturbational control method is proposed based on a linearized manipulator dynamic model which can be obtained in a very compact and computationally efficient manner using the dual number algebra. Manipulator control can be decomposed into two parts: the nominal control and the corrective perturbational control. The nominal control is precomputed from the inverse dynamic model using the quantities of a desired trajectory. The perturbational control is obtained by applying the second-variational method on the linearized dynamic model. Simulation results for a PUMA-560 robot show that, by using this controller, the desired trajectory tracking performance of the robot can be achieved, even in the presence of large initial positional disturbances.

• Journal of the Korean Statistical Society
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• 제33권1호
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• pp.129-147
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• 2004

For square contingency tables with nominal categories, this paper proposes a measure to represent the degree of departure from the quasi-symmetry (QS) model and the Bradley-Terry (BT) model. The measure proposed is expressed by using the Cressie and Read (1984)'s power-divergence or Patil and Taillie (1982)'s diversity index. The measure lies between 0 and 1, and it is useful for comparing the degree of departure from QS or BT in several tables.

• International Journal of Naval Architecture and Ocean Engineering
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• 제12권1호
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• pp.270-282
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• 2020

Analysis: of the propulsion performance considering ship motion in waves is an important factor for the efficient operation of a ship. The interaction between the propeller and the free surface due to the ship motion in waves has a significant influence on the propulsion performance. However, most recent studies regarding the hydrodynamic performance of ships in waves focus on the added resistance, and experimental and numerical data on the propulsion performance considering the ship motion in waves are very rare. In this study, a numerical investigation of the nominal wake in regular head waves is performed for a KVLCC2 model ship for the fully-loaded condition. Phase-averaged wake fields for one period are compared with experimental data measured using Stereo PIV, showing good agreement. The effect of the ship motion on the characteristics of the wake field and the axial velocity in the propeller plane are investigated while varying the wave length.

• 대한가정학회지
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• 제20권4호
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• pp.45-52
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• 1982

This research is aimed at establishing nominal sizes for the clothes manufacturers by using the results from a comprehensive study with 6~9 year-old girls. From the results of the data analysis, we found the following points: 1) The stature and the weight, which have strong correlations with each part of the body, are selected as the independent variables. 2) The frequency-distribution was calculated from the variable quantities(Table 1~5). 3) The nominal size for the jacket, blouse, skirt, and trousers was estimated by the frequency-distribution(Table 6~9). 4) A multiple linear regression model to estimate the 18 items was formulated.

• Computers and Concrete
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• 제24권1호
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• pp.85-94
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• 2019

The ACI building code is allowing for higher strength reinforcement and concrete compressive strengths. The nominal strength of high-strength concrete columns is over predicted by the current ACI 318 rectangular stress block and is increasingly unconservative as higher strength materials are used. Calibration of a rectangular stress block to address this condition leads to increased computational complexity. A triangular stress block, derived from the general shape of the stress-strain curve for high-strength concrete, provides a superior solution. The nominal flexural and axial strengths of 150 high-strength concrete columns tests are calculated using the proposed stress distribution and compared with the predicted strength using various design codes and proposals of other researchers. The proposed triangular stress model provides similar level of accuracy and conservativeness and is easily incorporated into current codes.

• Advances in concrete construction
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• 제7권1호
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• pp.1-9
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• 2019

The conventional ACI rectangular stress block is developed on the basis of normal-strength concrete column tests and it is still being used for the design of high-strength concrete members. Many research papers found in the literature indicate that the nominal strength of high-strength concrete members appears to be over-predicted by the ACI rectangular stress block. This is especially true for HSC columns. The general shape of the stress-strain curve of high-strength concrete becomes more likely as a triangle. A triangular stress block is, therefore, introduced in this paper. The proposed stress block is verified using a database which consists of 52 tested singly reinforced high-strength concrete beams having concrete strength above 55 MPa (8,000 psi). In addition, the proposed model is compared with models of various design codes and proposals of researchers found in the literature. The nominal flexural strengths computed using the proposed stress block are in a good agreement with the tested data as well as with that obtained from design codes models and proposals of researchers.

• International Journal of Naval Architecture and Ocean Engineering
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• 제10권5호
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• pp.596-608
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• 2018

The present study aims to assess test uncertainty assessment method of nominal wake field measurement by a Stereoscopic Particle Image Velocimetry (SPIV) system in a towing tank. The systematic uncertainty of the SPIV system was estimated from repeated uniform flow measurements. In the uniform flow measurement case, time interval between image frames and uniform flow speed were varied to examine the effects of particle displacement and flow around the SPIV system on the systematic standard uncertainty. The random standard uncertainty was assessed by repeating nominal wake field measurements and the estimated random standard uncertainty was compared with that of laser Doppler velocimetry. The test uncertainty assessment method was applied to nominal wake measurement tests of a very large crude oil carrier model ship. The nominal wake measurement results were compared with existing experimental database by other measurement methods, with its assessed uncertainty.

• Journal of Advanced Marine Engineering and Technology
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• 제30권7호
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• pp.791-799
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• 2006

The aim of this paper is to design an adaptive speed control system of a marine diesel engine by fusion of hard computing based proportional integral derivative (PID) control and soft computing based fuzzy control methods. The model of a marine diesel engine is considered as a typical non oscillatory second order system. When its model and the actual marine diesel engine ate not matched, it is hard to control the speed of the marine diesel engine. Therefore, this paper proposes two methods in order to obtain the speed control characteristics of a marine diesel engine. One is an efficient method to determine the PID control parameters of the nominal model of a marine diesel engine. Second is a reference adaptive speed control method that uses a fuzzy controller and derivative operator for tracking the nominal model of the marine diesel engine. It was found that the proposed PID parameters adjustment method is better than the Ziegler & Nichols' method, and that a model reference adaptive control is superior to using only PID controller. The improved control method proposed here, could be applied to other systems when a model of a system does not match the actual system.

• 대한조선학회논문집
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• 제53권5호
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• pp.371-379
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• 2016

In the ship design process, ship motion and propulsion performance in sea waves became very important issues. Especially, prediction of ship propulsion performance during real operation is an important challenge to ship owners for economic operation in terms of fuel consumption and route-time evaluation. Therefore, it should be considered in the early design stages of the ship. It is thought that the averaged value and fluctuation of effective inflow velocity to the propeller have a great effect on the propulsion performance in waves. However, even for the nominal velocity distribution, very few results have been presented due to some technical difficulties in experiments. In this study, flow measurements near the propeller plane using a stereo PIV system were performed. Phase-averaged flow fields on the propeller plane of a KVLCC2 model ship in waves were measured in the towing tank by using the stereo PIV system and a phase synchronizer with heave motion. The experiment was carried out at fully loaded condition with making surge, heave and pitch motions free at a forward speed corresponding to Fr=0.142 (Re=2.55×106) in various head waves and calm water condition. The phase averaged nominal velocity fields obtained from the measurements are discussed with respect to effects of wave orbital velocity and ship motion. The low velocity region is affected by pressure gradient and ship motion.