• Journal of Microbiology and Biotechnology
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• v.8 no.2
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• pp.165-170
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• 1998

Lipase-catalyzed esterification of n-butyl oleate was carried out in n-hexane as a model reaction. The optimal activity of Candida rugosa lipase was shown in a water activity ($a_w$) range of 0.52 to 0.65 at $30^{\circ}C$. The water produced from the esterification was removed by a tubular type pervaporation system. The rate of ester formed from the enzymatic esterification was allowed to be the same as the rate of water removal by maintaining an optimal $a_w$ of the reaction system using an on-off dewatering control device. The reaction rate and yield with a$a_w$ control were increased two folds higher than the respective values for the uncontrolled reaction.

• Aerospace Engineering and Technology
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• v.13 no.1
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• pp.44-54
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• 2014

This paper suggests two kinds of reaction control system command generation methods for upper stage attitude control of launch vehicles. The reaction control system is assumed to consist of two sets of three nozzles. One operation technology is based on mixed attitude error functions, and the other is based on command mixing functions. Both are compared via simulations. The simulation results show that the latter is comparatively preferable in terms of interference among control axes, independency of controller design and analysis among axes, and prediction of flight performance of each control axis.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.92.1-92
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• 2001

Sliding mode control of spacecraft attitude tracking with actuator, especially reaction wheel, is presented. The sliding mode controller is derived based on quaternion parameterization for the kinematic equations of motion. The reaction wheel dynamic equations represented by wheel input voltage are presented. The input voltage to wheel is calculated from the sliding mode controller and reaction wheel dynamics. The global asymptotic stability is shown using a Lyapunov analysis. In addition the robustness analysis is taken for nonlinear system with parameter variations and disturbances. It is shown that the controller ensures control objectives for the spacecraft with reaction wheels.

• Journal of Mechanical Science and Technology
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• v.19 no.9
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• pp.1695-1705
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• 2005

Reaction wheels and thrusters are commonly used for the satellite attitude control. Since satellites frequently need fast maneuvers, the minimum time maneuvers have been extensively studied. When the speed of attitude maneuver is restricted due to the wheel torque capacity of low level, the combinational use of wheel and thruster is considered. In this paper, minimum time optimal control performances with reaction wheels and thrusters are studied. We first identify the features of the maneuvers of the satellite with reaction wheels only. It is shown that the time-optimal maneuver for the satellite with four reaction wheels in a pyramid configuration occurs on the fashion of single axis rotation. Pseudo control logic for reaction wheels is successfully adopted for smooth and chattering-free time-optimal maneuvers. Secondly, two different thrusting logics for satellite time-optimal attitude maneuver are compared with each other: constant time-sharing thrusting logic and varying time-sharing thrusting logic. The newly suggested varying time-sharing thrusting logic is found to reduce the maneuvering time dramatically. Finally, the hybrid control with reaction wheels and thrusters are considered. The simulation results show that the simultaneous actuation of reaction wheels and thrusters with varying time-sharing logic reduces the maneuvering time enormously. Spacecraft model is Korea Multi-Purpose Satellite (KOMPSAT)-2 which is being developed in Korea as an agile maneuvering satellite.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.1160-1165
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• 2004

The purpose of this study was to calculate three dimensional angular displacements, moments and joint reaction forces of the ankle joint during the waist pulling, and to assess the ankle joint reaction forces according to different perturbation modes and different levels of perturbation magnitude. Ankle joint model was assumed 3-D ball and socket joint which is capable of three rotational movements. We used 6 cameras, force plate and waist pulling system. Two different waist pulling systems were adopted for forward sway with three magnitudes each. From motion data and ground reaction forces, we could calculate 3-D angular displacements, moments and joint reaction forces during the recovery of postural balance control. From the experiment using falling mass perturbation, joint moments were larger than those from the experiment using air cylinder pulling system with milder perturbation. However, JRF were similar nevertheless the difference in joint moment. From this finding, we could conjecture that the human body employs different strategies to protect joints by decreasing joint reaction forces, like using the joint movement of flexion or extension or compensating joint reaction force with surrounding soft tissues. Therefore, biomechanical analysis of human ankle joint presented in this study is considered useful for understanding balance control and ankle injury mechanism.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.5
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• pp.419-424
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• 2006

In this study, a thermal control system which applied a Peltier device for the polymerase chain reaction(PCR) machine is to be designed. Here in order for it to easily follow the characteristics of the thermal cycle existing for gene amplification of the PCR sample, a PCR control board utilizing a thermal sensor, a Peltier, and a 8 bit microprocessor is made up. Especially a fuzzy type PD control algorithm is applied periodically in time response, and control system is implemented. For that matter, the characteristic data of subject system is obtained and analysed to begin with. Based on this analysed data, the proposed control algorithm is applied and an evaluation of the performance of the whole system take place through the PC.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2008.11a
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• pp.72-77
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• 2008

The function of the Reaction Control System include roll, pitch and yaw control of the launch vehicles and fine control maneuvers and precision upper stage orientation before separation of one or more payload. This paper describes the overview of commercial launchers, current technology trend for RCS of launch vehicles, and development status of medium class thruster for RCS.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.947-952
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• 1992

A batch reaction calorimeter is the device for estimating reaction heat along time. Reaction heat formation data are very imoprtant for batch reactor behavior analysis and operatoin. So, many types of reaction calorimeter have been introduced and used. In this study, we analyze the dynamic charateristics of the batch reaction calorimeter that is designed in our laboratory. And we introducde suitable temperature control system. As a result, we analyze reatin heat formation data obtained by simulation and introduce its application examples.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.05a
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• pp.233-236
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• 2004

In this paper, a new sensorless vibration control scheme is proposed for a flexible manipulator system. A robust sliding mode controller incorporating with a ‘reaction moment observer’ used for the estimation of the reaction moment reciprocally acting on flexible arm and hub inertia is introduced to achieve desired control target. The rigid body dynamics of the single-link flexible manipulator is simply considered in the design of the sliding mode controller. Then, the reaction moment is estimated by the proposed reaction moment observer to suppress the residual vibration of the flexible arm. The performance of the proposed control scheme is verified by computer simulation and experiment.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.20 no.2
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• pp.540-552
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• 1996

In this paper, a compensation method of disturbance using a disturbance observer is proposed for a force control of a pneumatic robot manipulator. The generated torque by a pneumatic actuator can be estimated based on the pressure signals. The inner torque control system is constructed by feeding back the generated torque to improve the dynamic characteristics of the actuator. In order to reduce the influence of disturbances comprising friction torque, parameter variations of plant and environment and so on, the reaction torque control system is constructed with a disturbance observer which estimates the disturbances based on the reference input to the inner torque control system and the reaction torque sensed with a forced sensor. From some simulations and experiments, it is confirmed that the proposed control system is effective to improve the robustness for the friction torque and the parameter change of object in the force control of a pneumatic robot manupulator.