• Journal of Mechanical Science and Technology
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• v.18 no.7
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• pp.1131-1139
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• 2004

A new impedance controller is proposed for bilateral teleoperation under a time delay. The proposed controller does not need to measure or estimate the time delay in the communication channel using the force loop-back. In designing a stable impedance controller, absolute stability is used as a stability analysis tool, which results in a less conservative controller than the passivity concept. Moreover, in order to remove the conservatism associated with the assumption of infinite port impedances, the boundaries of human and environment impedance are set to finite values. Based on this, this paper proposes a parameter design procedure for stable impedance controllers. The validity of the proposed control scheme is demonstrated by experiments with a 1-dof master/slave system.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.34 no.1
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• pp.37-42
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• 1998

Al alloy anode is mostly used for protecting marine structures such as pier steel piles and ship's body. Recently it has been reported that the life of Al alloy anode has been shortened significantly than the original design life. It is suggested that the suspected reasons for this problem mentioned above seems to be the improper protection design of alloy of anode on sea water regardless of environmental facotrs such as flow rate, temperature, contamination degree etc. However there is few paper about to the sea water contamination degree affecting to the life of Al alloy anode. In this study, the property of Al alloy anode was investigated as a parameter of sea water contamination degree such as variation of pH 2, 4, 6, 8, 10 and each sea port's contaminated waters.

• Journal of Navigation and Port Research
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• v.40 no.2
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• pp.83-87
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• 2016

The maritime industry is expanding at an alarming rate hence there is a perpetual need to improve situation awareness in the maritime environment using new and emerging technology. Tracking is one of the numerous ways of enhancing situation awareness by providing information that may be useful to the operator. The tracking module designed herein comprises determining existing states of high dynamic target warship, state prediction and state compensation due to random noise. This is achieved by first analyzing the process of tracking followed by design of a tracking algorithm that uses ${\alpha}-{\beta}-{\gamma}$ tracking filter under a random noise. The algorithm involves initializing the state parameters which include position, velocity, acceleration and the course. This is then followed by state prediction at each time interval. A weighted difference of the observed and predicted state values at the $n^{th}$ observation is added to the predicted state to obtain the smoothed (filtered) state. This estimation is subsequently employed to determine the predicted state in the next radar scan. The filtering coefficients ${\alpha}$, ${\beta}$ and ${\gamma}$ are determined from a pre-determined value of the damping parameter, ${\xi}$. The smoothed, predicted and the observed positions are used to compute the twice distance root mean square (2drms) error as a measure of the ability of the tracking module to manage the noise to acceptable levels.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.405-413
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• 2006

In general mechanical servo systems, friction deteriorates the performance of controllers by its nonlinear characteristics. Especially, friction phenomenon causes steady-state tracking errors and limit cycles in position and velocity control systems, even though gains of controllers are tuned well in linear system model. Even if sensor is used higher accuracy level, it is difficult to improve tracking performance of the position to the same level with a general control method such as PID type. Therefore, many friction models were proposed and compensation methods have been researched actively. In this paper, we consider that the variation of mover's mass is various by loading and unloading. The normal force variation occurs by it an other parameters. Therefore, the proposed control system is composed of main position controller and a friction compensator. A parameter estimator for a nonlinear friction model is designed by adaptive control law and adaptive backstepping control method.

• Journal of Navigation and Port Research
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• v.31 no.1 s.117
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• pp.55-64
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• 2007

In general mechanical servo systems, friction deteriorates the performance of controllers by its nonlinear characteristics. Especially, friction phenomenon causes steady-state tracking errors and limit cycles in position and velocity control systems, even though gains of controllers are tuned well in linear system model. Even if sensor is used higher accuracy level, it is difficult to improve tracking performance of the position to the same level with a general control method such as PID type. Therefore, many friction models were proposed and compensation methods have been researched actively. In this paper, we consider that the variation of mover's mass is various by loading and unloading. The normal force variation occurs by it and other parameters. Therefore, the proposed control system is composed of main position controller and a friction compensator. A parameter estimator for a nonlinear friction model is designed by adaptive control law and adaptive backstepping control method.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.29 no.1
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• pp.245-251
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• 2005

When we design coastal and harbol facilities deepwater design wave and wind speed are the important design parameters. Especially, the analysis of these informations is a vital step for the point of disaster prevention. In this study, we made and an extreme value analysis using a series of deep water significant wave data arranged in the 16 direction and supplied by KORDI real-time wave information system ,and the wind data gained from Wan-Do whether Station 1978-2003. The probability distributions considered in this characteristic analysis were the Weibull, the Gumbel, the Log-Pearson Type III, the Normal, the Lognormal, and the Gamma distribution. The parameter for each distribution was estimated by three methods, i.e. the method of moments, the maximum likelihood, and the method of probability weight moments. Furthermore, probability distributions for the extreme data had been selected by using Chi-square and Kolmogorov-Smirnov test within significant level of 5%, i,e. 95% reliance level. From this study we found that Gumbel distribution is the most proper model for the deep water design wave height off the southwest coast of Korea. However the result shows that the proper distribution made for the selected site is varied in each extreme data set.

• Journal of Navigation and Port Research
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• v.30 no.9
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• pp.763-766
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• 2006

In this paper, the EM wave absorbers were designed and fabricated for X -band sensors using Carbon of dielectric material with CPE. The complex relative permittivity of samples is calculated by using measurement results of S-parameter. We simulated the double-layered type EM wave absorber with broad bandwidth using the measured complex relative permittivity by changing the thickness and layer, which was fabricated based on the simulated design The fabricated EM wave absorber consists of 1 mm first layer sheet facing metal with Carbon composition ratio 70 vol. % and 1.5 mm second layer sheet with Carbon composition ratio 60 vol. %. The measured results showed a good agreement to the simulated ones. It is found toot the optimized absorption ability of double-layered type EM wave absorber with thickness of 2.5 mm is higher than 10 dB from 7.8 GHz to 13.3 GHz.

• Journal of Navigation and Port Research
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• v.36 no.9
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• pp.729-735
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• 2012

The primary wave energy conversion by a three-dimensional bottom-mounted oscillating water column (OWC) wave power device in regular waves has been studied. The linear potential boundary value problem has been solved following the boundary matching method. The optimum shape parameters such as the chamber length and the depth of the front skirt of the OWC chamber obtained through two-dimensional numerical tests in the frequency domain have been applied in the design of the present OWC chamber. Time-mean wave power converted by the OWC device and the time-mean second-order wave forces on the OWC chamber structure have been presented for different wave incidence angles in the frequency-domain. It has been shown that the peak period of $P_m$ for the optimum damping parameter coincides with the peak period of the time.mean wave drift force when ${\gamma}=0$.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.1
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• pp.297-300
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• 2006

In this paper, the EM wave absorbers were designed and fabricated for X-band sensors using Carbon of dielectric material with CPE. The complex relative permittivity of samples is calculated by the measured S-parameter data. We simulated the double-layered type EM wave absorber with broad bandwidth using the measured complex relative permittivity by changing the thickness and layer, which was fabricated based on the simulated design. The fabricated EM wave absorber consist of 1mm first layer sheet facing metal with Carbon composition ratio 70 vol% and 1.5 mm second layer sheet with Carbon composition ratio 60 vol%. The comparisons of simulated and measured results are good agreement. As a result, the optimized absorption ability of double-layered type EM wave absorber with thickness of 2.5 mm is higher than 10 dB from 7.8 GHz to 13.3 GHz.

• Journal of Electrical Engineering and information Science
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• v.2 no.5
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• pp.17-26
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• 1997

Interconnect characterization on a wafer level was performed. Test patterns for single, two-coupled, and triple-coupled lines ere designed by using 0.5$\mu\textrm{m}$ CMOS process. Then interconnect capacitances and resistances were experimentally extracted by using tow port network measurements, Particularly to eliminate parasitic effects, the Y-parameter de-embedding was performed with specially designed de-embedding patterns. Also, for the purpose of comparisons, capacitance matrices were calculated by using the existing CAD model and field-solver-based commercial simulator, METAL and MEDICI. This work experimentally verifies that existing CAD models or parameter extraction may have large deviation from real values. The signal transient simulation with the experimental data and other methodologies such as field-solver-based simulation and existing model was performed. as expected, the significantly affect on the signal delay and crosstalk. The signal delay due to interconnects dominates the sub-micron-based a gate delay (e.g., inverter). Particularly, coupling capacitance deviation is so large (about more than 45% in the worst case) that signal integrity cannot e guaranteed with the existing methodologies. The characterization methodologies of this paper can be very usefully employed for the signal integrity verification or he electrical design rule establishments of IC interconnects in the industry.