• 한국전산유체공학회지
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• 제21권2호
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• pp.90-98
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• 2016

A numerical study is conducted on thermal performance of a large-area hot plate specially designed as a heating and cooling tool for thermal nanoimprint lithography process. The hot plate has a dimension of $240mm{\times}240mm{\times}20mm$, in which a series of cartridge heaters and cooling holes are installed. The material is stainless steel selected for enduring the high molding pressure. A numerical model based on the ANSYS Fluent is employed to predict the thermal behavior of the hot plate both in heating and cooling phases. The PID thermal control of the device is modeled by adding user defined functions. The results of numerical computation demonstrate that the use of cartridge heaters provides sufficient heat-up performance and the active liquid cooling in the cooling holes provides the required cool-down performance. However, a crucial technical issue is raised that the proposed design poses a large temperature non-uniformity in the steady heating phase and in the transient cooling phase. As a remedy, a new hot plate in which heat pipes are installed in the cooling holes is considered. The numerical results show that the installation of heat pipes could enhance the temperature uniformity both in the heating and cooling phases.

• 수산해양기술연구
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• 제33권1호
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• pp.46-58
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• 1997

The energy saving is one of the most important factors for profit in marine transportation. In order to reduce the fuel oil consumtion the ship's propulsion efficiency must be increased as possible. The propulsion efficiency depends upon a combination of an engine and a propeller. The propeller has better efficiency as lower rotational speed. This situation led the engine manufacturers to design the engine that has low speed, long stroke and a small number of cylinders. Consequently, the variation of rotational torque became larger than before because of the longer delay-time in fuel oil injection process and an increased output per cylinder. As this new trends the conventional mechanical-hydrualic governors for engine speed control have been replaced by digital speed controllers which adopted the PID control or the optimal control algorithm. But these control algorithms have not enough robustness to suppress the variation of the delay-time and the parameter perturbation. In this paper we consider the delay-time and the perturbation of engine parameters as the modeling uncetainties. Next we design the robust servo controller which has zero offset in steady state engine speed, based on H sub($\infty$) control theory. The validity of the controller was investigated through the response simulation. We used a personal computer and an analog computer as the digital controller and the engine (plant) part respectively. And, we could certify that the designed controller maintains its robust servo performance even though the engine parameters may vary.

• Ocean Systems Engineering
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• 제6권3호
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• pp.265-287
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• 2016

The change of the global performance of a turret-moored FPSO (Floating Production Storage Offloading) with DP (Dynamic Positioning) control is simulated, analyzed, and compared for two different internal turret location cases; bow and midship. Both collinear and non-collinear 100-yr GOM (Gulf of Mexico) storm environments and three cases (mooring-only, with DP position control, with DP position+heading control) are considered. The horizontal trajectory, 6DOF (degree of freedom) motions, fairlead mooring and riser tension, and fuel consumptions are compared. The PID (Proportional-Integral-Derivative) controller based on LQR (linear quadratic regulator) theory and the thrust-allocation algorithm which is based on the penalty optimization theory are implemented in the fully-coupled time-domain hull-mooring-riser-DP simulation program. Both in collinear and non-collinear 100-yr WWC (wind-wave-current) environments, the advantage of mid-ship turret is demonstrated by the significant reduction in heave at the turret location due to the minimal coupling with pitch mode, which is beneficial to mooring and riser design. However, in the non-collinear WWC environment, the mid-turret case exhibits unfavorable weathervaning characteristics, which can be reduced by employing DP position and heading controls as demonstrated in the present case studies. The present study also reveals the plausible cause of the failure of mid-turret Gryphon Alpha FPSO in milder environment than its survival condition.

• BMB Reports
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• 제41권1호
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• pp.41-47
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• 2008

Fe65 is characterized as an adaptor precursor (APP) through its PID2 element, as well as with the other members of the APP protein family. With the serum- and glucocorticoid-induced kinase 1 (SGK1) substrate specificity information, we found that the putative site of phosphorylation in Fe65 by SGK1 is present on its $Ser^{566}$ residue in $^{560}CRVRFLSFLA^{569}$(X60469). Thus, we demonstrated that Fe65 and the fluorescein-labeled Fe65 peptide $FITC-^{560}CRVRFLSFLA^{569}$ are phosphorylated in vitro by SGK1. Phosphorylation of the $Ser^{566}$ residue was also demonstrated using a $Ser^{566}$ phospho-specific antibody. The phospho Fe65 was found mainly in the nucleus, while Fe65 S556A mutant was localized primarily to the cytoplasm. Therefore, these data suggest that SGK1 phosphorylates the $Ser^{566}$ residue of Fe65 and that this phosphorylation promotes the migration of Fe65 to the nucleus of the cell.

• 농업과학연구
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• 제47권1호
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• pp.43-58
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• 2020

Mulching plastic is used for the purpose of maintaining soil temperature, moisture, and weed and pest prevention in agriculture. Any remaining plastic after use may contaminate the soil and damage crop growth. To solve this problem, mulching plastic wrappers have been studied and developed, but the actual use rate is quite low due to their poor performance and frequent tearing of the plastic on the field. In this study, we developed a tractor attachable mulching plastic wrapper to minimize the tearing of the mulched plastic. The developed mulching plastic wrapper consists of hydraulic motors and pumps, valves, a microcontroller, and sensors. The collecting speed of the plastic mulch was calculated considering the tractor's travel speed and the radius of the collecting drum. A proportional controller was designed to control the rotating speed of the hydraulic motor as the plastic was wound around the collection drum and the radius increased. The performance of an indoor experiment was quite promising because the difference between the collecting speed predicted by the calculation and the actual collecting speed was 2.71 rpm. Based on a field verification test, the speed difference was max. 14.28 rpm; thus, the, proportional integral derivative (PID) controller needs to be considered to control the drum speed precisely. Another issue was found when the soil covered at the edge of the plastic was hardened or the road surface was uneven, the speed control was unstable, and the plastic was torn. In future research, vibrational plows will be equipped to break-up the harden soil for collecting the plastic smoothly.

• 대한기계학회논문집A
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• 제20권1호
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• pp.115-126
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• 1996

In the time optimal control problem, bang-bang control has been used becaese it is the theoretical time minimum solution. However, to improve tracking speed performance in the time optimal control, it is important to select a switching point accurately which makes the velocity zero near the target track. But it is not easy to select the swiching point accurately because of the damping coefficient variation and uncertainties of modeling an actual system. The Adaptive model following control(AMFC) is implemented to relieve the difficulty and inconvenience of this task. The AMFC and make the controlled plant follow as closely as possible to a desired reference model whose switching point can be calculated easily and accurately, assuring the error between the states of the reference model and those of the controlled plant appoaches zero. The hybrid control method composed of AMFC and PID is applied to a tracking actuator of the magneto optical disk drive(MODD) in random access devices to improve its slow tracking performance. According to the simulaion and experimental results, the average tracking time as small as 20ms is obtained for a 3.5 magneto-optical disk drive. The AMFC also can be applied for other random access devices to improve the average tracking performance.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2006년도 춘계학술대회 논문집
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• pp.289-290
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• 2006

In general, atomic force microscope (AFM) used for metrological purpose has measuring range less than a few hundred micrometers. We design and fabricate an AFM with long measuring range of $200mm{\times}200mm$ in X and Y axes. The whole stage system is composed of surface plate, global stage, microstage. By combining global stage and microstage, the fine and long movement can be provided. We measure the position of the stage and angular motions of the stage by laser interferometer. A piezoresistive type cantilever is used for compact and long term stability and a flexure structure with PZT and capacitive sensor is used for Z axis feedback control. Since the system is composed of various actuators and sensors, a real time control program is required for the implementation of AFM. Therefore, in this work, we designed a multi-axis control program using a FPGA module, which has various functions such as interferometer signal converting, PID control and data acquisition with triggering. The control program achieves a loop rate more than 500 kHz and will be applied for the measurement of grating pitch and step height.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 추계학술대회 논문집(제1권)
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• pp.405-413
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• 2006

본 논문에서는 비선형 동적 마찰 성분을 효과적으로 보상하고 적응적으로 제어함으로써 차세대 항만 자동화 이송시스템으로 주목받고 있는 LMTT(linear motor-based transfer technology)의 위치 정밀도를 향상시키는 것을 목적으로 하고 있다. 셔틀카(shuttle car)와 컨테이너들의 다양한 중량과, 이로 인해 발생하는 동적 마찰 특성 파라미터들을 정확하게 추정할 수 있는 관측기를 설계하였다. 적응 backstepping 제어 기법을 적용하여 시스템이 안정하게 제어될 수 있도록 하는 제어기를 설계하였다. 시스템은 변화하는 환경에 대하여 높은 적응성을 가질 수 있어 여러 종류의 부하는 물론 마찰 특성의 변화에도 양호한 제어 특성을 유지할 수 있었다. 제안한 제어시스템의 타당성을 보여주기 위해 축소된 형태의 LMTT 시뮬레이터를 제작하여, 이에 대해 시뮬레이션과 실험만을 수행하여 제안하는 방법의 타당성과 실현성을 입증하고자 하였다.

• 한국항해항만학회지
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• 제31권1호
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• pp.55-64
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• 2007

일반적으로 서보 제어 시스템에서 비선형 동적 특성을 갖는 마찰력은 제어기 성능에 악영향을 미친다. 특히, 선형으로 고려된 시스템에 제어기 이득을 잘 설계한다 하더라도 마찰 현상에 포함된 동적으로 변화하는 dead zone에 의한 정상상태 오차 및 리미트 사이클(limit Cycle) 등을 야기한다. 따라서, 본 논문에서는 비선형 동적 마찰 성분을 효과적으로 보상하고 적응적으로 제어함으로써 차세대 항만 자동화 이송시스템으로 주목받고 있는 LMTT(linear motor-based transfer technology) 시스템의 위치 정밀도를 향상시키는 것을 목적으로 하고 있다. 본 제어대상은 셔틀카(shuttle car)와 컨테이너들의 다양한 중량과, 이로 인해 발생하는 동적 마찰 특성 파라미터들의 변화가 발생하므로 마찰력 내부 파라미터들의 추정이 요구된다. 제안하는 방법은 적응 backstepping 제어 기법으로 시스템이 안정하게 제어될 수 있는 조건으로 내부 파라미터 추정기를 설계하여 비선형 동적 마찰력을 보상하도록 하였다.

• 한국정보통신학회논문지
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• 제20권11호
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• pp.2162-2166
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• 2016

본 논문은 해저탐사에서 소나영상 촬영을 위한 무인자율항법(AUSV)시스템 구현에 관한 연구이다. 자율항법 시스템은 선체에 모션센서, DGPS에 의한 현재 경위도 좌표와 목표지 경위도 좌표의 차를 가지고 선체 추진체의 항로를 FFPID 알고리즘으로 제어한다. 실험결과, 목적지 좌표에 대한 제어좌표 오차는 전체 항법거리 1km 에서 6 m 이하로 우수하다. 또한 자율항법 모드에서의 소나영상 촬영 결과물은 유인선 촬영 결과물과의 차이는 12 화소 이하로 전체 영상 차이는 거의 식별할 수 없이 동일하다. 개발된 시스템은 유인선으로 촬영 불가능한 해저 지형에 대한 소나영상 촬영을 위한 새로운 방법으로 활용 가능하다.