• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1060-1065
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• 2005

An Independent Administrative Corporation Japan Agency for Marine-Earth Science and Technology (JAMSTEC) is developing light-and-small Autonomous Underwater Vehicles (AUV)$^{1)}$, named 'MR-X1' (Marine Robot Experimental 1), which can cruise, investigate and observe by itself without human's help. In this paper, we consider the motion control problem of 'MR-X1' and derive a controller. Since the dynamic property of 'MR-X1' is changed by the influence of the speed, the mathematical model of 'MR-X1' becomes the nonlinear model. In order to design a controller for 'MR-X1', we generally apply nonlinear control theories or linear control theories with some constant speed situation. If we design a controller by applying Linear Quadratic (LQ) optimal control theory, the obtained controller only compensates t e optimality at the designed speed situation, and does not compensate the stability at another speed situations. This paper proposes a controller design method using Linear Matrix Inequalities (LMIs)$^{2),3),4)}$, which can adapt the speed variation of 'MR-X1'. And examples of numerical analysis using our designed controller are shown.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.19-24
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• 2003

A new method for designing critical control systems is proposed in this paper. The controller structure is chosen as a Davison type integral controller with an observer. The proposed method consists of two steps. First, the state feedback critical control system is designed using a quadratic performance index with tunable parameters. Second, the observer gain matrix is determined by the formal LTR procedure using a Riccati equation. Consequently, the search space can be reduced considerably compared with the conventional approach. Although the proposed method sacrifices a large freedom for the choice of controller structure provided by the principle of matching, the controller structure used in this paper is not excessively complex and can be used for most applications. An illustrative design example is presented.

• Proceedings of the KIEE Conference
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• 1999.07c
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• pp.1183-1185
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• 1999

The basic purpose of economic dispatch problem is that minimize fuel cost with inequality constraint of generator output. To solve this problem it is very important to express power loss equation that have quadratic function of generator output power included B-coefficient. This Paper presents a method in determining B-coefficient by use A-matrix that is calculated by loss re-distribution algorithm (LRDA) considering voltage dependent load model (VDLM)s. The Proposed algorithm is tested with IEEE 6 bus sample system, which shows the result in each cases by the change of load component factor.

• Proceedings of the KIEE Conference
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• 1997.11a
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• pp.218-220
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• 1997

In power system, economic dispatch problem is to minimize fuel cost with inequality constraints of generator output. To solve this problem it is very important to express power loss equation that have Quadratic function of generator power included B-coefficient. This paper presents a method in determining B-coefficient by use A-matrix that is calculated by power flow considering voltage dependent static load model. The proposed algorithm is tested with IEEE 6 bus sample system, which shows the result in each cases by the change of load component factor.

• Architectural research
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• v.8 no.2
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• pp.37-42
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• 2006

Starting from the quadratic optimal control algorithm, this study obtains the relation of the performance index for constrained systems and Gauss's principle. And minimizing a function of the variation in kinetic energy at constrained and unconstrained states with respect to the velocity variation, the dynamic equation is derived and it is shown that the result compares with the generalized inverse method proposed by Udwadia and Kalaba. It is investigated that the responses of a 10-story building are constrained by the installation of a two-bar structure as an application to utilize the derived equations. The structural responses are affected by various factors like the length of each bar, damping, stiffness of the bar structure, and the junction positions of two structures. Under an assumption that the bars have the same mass density, this study determines the junction positions to minimize the total dynamic responses of the structure.

• Journal of Korean Port Research
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• v.14 no.4
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• pp.451-461
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• 2000

The design and maintenance of navigation channel and water facilities of an harbor which is located at the mouth of river or at the estuary area are difficult due to the complexity of estuarial water and sediment circulation. Effects of deepening navigable waterways, of changing coastline configurations, or of discharging dredged material to the open sea are necessary to be investigated and predicted in terms of water quality and possible physical changes to the coastal environment. A borad analysis of the transport mechanism in the estuary area was made in terms of sediment property, falling velocity, concentration and flow characteristics. In order to simulate the transport processes, a two-dimensional finite element model is developed, which includes erosion, transport and deposition mechanism of suspended sediments. Galerkin’s weighted residual method is used to solve the transient convection-diffusion equation. The fluid domain is subdivided into a series of triangular elements in which a quadratic approximation is made for suspended sediment concentration. Model could deal with a continuous aggregation by stipulating the settling velocity of the flocs in each element. The model provides suspended sediment concentration, bed shear stress, erosion versus deposition rate and bed profile at the given time step.

• Journal of the Korea Organic Resources Recycling Association
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• v.15 no.4
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• pp.115-124
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• 2007

The material compressions in the vertical composting reactor affect to the biodegradation rates of the organic wastes. This study investigated the variations of physical properties of the composting materials according to the height of reactor due to affect to the settlement in the vertical composting reactor. The variations of decreased temperature after peak temperature showed the different patterns depending on the reactor heights. The variation width of re-increased temperature after peak temperature was reduced as the mixing operations were increased, and increased as the height of reactor elevated. The moisture content and the variation width of the moisture content were increased higher as the height of the reactor became higher. The variations of the bulk density at each height of vertical reactor showed the same tendency comparing with those of the moisture content. The relationship between bulk density and moisture content had shown the quadratic equation (r2=0.94). The dry solid contents at each reactor height were decreased as the height of reactor were increased. The results of the variation of the physical properties during the composting process were caused by the downward compression of the material into the reactor. Settlement rate in the vertical composting reactor was estimated about 2.184cm/day. To increase the biodegradation efficiency in the vertical reactor, the conditions of air path in the composting material matrix have to be investigated afterwards.