• Journal of Institute of Control, Robotics and Systems
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• v.12 no.3
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• pp.208-220
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• 2006

Energy of wheeled mobile robot is usually supplied by batteries. In order to extend operation time of mobile robots, it is necessary to minimize the energy consumption. The energy is dissipated mostly in the motors, which strongly depends on the velocity profile. This paper investigates various 3-step (acceleration - cruise - deceleration) speed control methods to minimize a new energy object function which considers the practical energy consumption dissipated in motors related to motor control input, velocity profile, and motor dynamics. We performed an analysis on the energy consumption various velocity profile patterns generated by standard control input such as step input, ramp input, parabolic input, and exponential input. Based on these standard control inputs, we analyzed the six 3-step velocity profile patterns: E-C-E, P-C-P, R-C-R, S-C-S, R-C-S, and S-C-R (S means a step control input, R means a ramp control input, P means a parabolic control input, and E means an exponential control input, C means a constant cruise velocity), and suggested an efficient iterative search algorithm with binary search which can find the numerical solution quickly. We performed various computer simulations to show the performance of the energy-optimal 3-step speed control in comparison with a conventional 3-step speed control with a reasonable constant acceleration as a benchmark. Simulation results show that the E-C-E is the most energy efficient 3-step velocity profile pattern, which enables wheeled mobile robot to extend working time up to 50%.

• Journal of Distribution Science
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• v.12 no.8
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• pp.43-54
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• 2014

Purpose - This study was based on a theoretical consideration of the structural relationship between the support and control of the franchisor and the satisfaction and strategic response (voice, loyalty, exit, neglect) of the franchisee. First, based on the preceding research, this study systematically organized the type of support and control of the franchisor. Second, the study examined the effects of a franchisor's support and control on the expectancy disconfirmation between affiliated franchisees' expectations before a franchise agreement and performance after operating an affiliated store. Third, the study looked into the effects of expectancy disconfirmation relating to a franchisor's support and control on an affiliated franchisees' general satisfaction. Fourth, this study examined the influence of the general satisfaction of a franchisee on affiliated franchisees' response strategies. Research design, data, and methodology - In this study, the population comprised the nation's franchisors, and the sample comprised franchisees conducting business in Seoul and Gyeonggi-do. A self-administered questionnaire was used; the author and examiner explained the study's parameters to the interviewees in advance, to lessen the rate of rejection of the answers and to maintain reliability. The author distributed 350 copies of the questionnaire and collected 327 copies (93.4%). The author removed 54 copies of the sample, as these copies belonged to franchisees that were not registered by the Fair Trade Commission and/or were thought to have either defects or inadequate answers. The author selected an effective sample of 273 copies to enter data and to do the statistical analysis. Results - Both a reliability analysis and a confirmatory factor analysis were performed to measure reliability and validity, and a structural equation model was used to conduct the hypothesis test and investigate the models. The hypothesis was tested (Table 5). The models had a suitable fit, for instance, χ² = 447.663(df = 212, p = .000), χ²/df = 2.112, GFI = .881, AGFI = .858, RMR = .083, RMSEA = .067, NFI = .932, and CFI = .961. The hypothesis test results were as follows. Hypothesis 1 was accepted (C.R. = -2.339, p = .019). Hypothesis 2 was accepted (C.R. = 15.213, p = .000). Hypothesis 3 was accepted (C.R. = -2.631, p = .006). Hypothesis 4 was accepted (C.R. = 16.271, p = .000). Hypothesis 5 was accepted (C.R. = 2.391, p = .017). Hypothesis 6 was accepted (C.R. = 5.777, p = .000). Hypothesis 7 was accepted (C.R. = 17.153, p = .000). Hypothesis 8 was accepted (C.R. = 24.746, p = .000). Hypothesis 9 was accepted (C.R. = -10.150, p = .000). Hypothesis 10 was accepted (C.R. = -12.124, p = .000). Conclusions - The research results showed that expectations for a franchisor's support and control had a significant influence on expectation disconfirmation in a negative way, whereas the performance of support and control were found to have a significant influence on expectation disconfirmation in a positive way. In addition, the expectation disconfirmation of support and control was found to have a significant influence on satisfaction of franchisees in a positive way. Generally, regarding the research on control, control is found to have a negative influence on the satisfaction of franchisees, but this study proves that control is found to affect it in a positive way through conformity.

• 한국정보통신설비학회:학술대회논문집
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• 2003.08a
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• pp.215-217
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• 2003

본 논문에서는 음악이나 동영상과 같은 디지털 미디어 컨텐츠의 유통과 보안을 위하여 개인 사용자의 접속 권한을 부여하고 제한을 가할 수 있는 OpenIPMP에 대하여 살펴본다. 그리고 본 논문은 디지털 미디어 컨텐츠의 저작권보호와 복제 방제를 위해 워터마킹 기술을 OpenIPMP에 연동시켰다. 아울러 디지털 미디어 권한에 대하여 표현하고 처리하고자 하는 목적으로 MPEG-21 REL을 역시 OpenIPMP에 연동시켰다.

• 전기의세계
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• v.17 no.4
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• pp.7-12
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• 1968

In recent years the development of the SCR has made possible the control of the power system. It is one example that the speed control of the induction motor can be done by changing the frequency with the S.C.R. This paper is devoted primarily to a study of the running characteristics of the single phase induction motor through the experimental and theoretical methods when the speed of the motor is controlled by varying the conduction period in current with S.C.R. under the constant frequency. We conclude from the experiments that the adjustment of the phase angle in current is equivalent to the change of the supply voltage to the motor. Therefore, the speed control of the motor such as a fan duty motor is possibly by this methods.

• Korean Journal of Poultry Science
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• v.33 no.1
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• pp.33-39
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• 2006

This study was conducted to investigate the feeding effect of $bio-silverlite^{(R)}$ on growth performance, organ phenomenon and cecum microflora in broiler chicks. The $bio-silverlite^{(R)}$ was made by an ion exchange between illite and $silver(Ag^+)$. There were four treatment groups: negative control group(non-treatment), antibiotic supplement group (positive control), 0.5% $bio-silverlite^{(R)}$ supplment group and 1.5% $bio-silverlite^{(R)}$ supplement group. Total 200 birds was assigned for this five replication tests, allocating 10 birds into each treatment. Experimental diets were formulated on isocalories and isonitrogen for the whole experimental period. Body weight gain was higher in antibiotic supplementation (+C) and $bio-silverlite^{(R)}$ supplement groups(S 0.5% and 51.5%) than the negative control group(-C), and feed efficiency was significantly enhanced with increase of the level of $bio-silverlite^{(R)}$ supplement. The length of small intestine was longer in +C than in -C and $bio-silverlite^{(R)}$ supplement groups (P<0.05), and the weight of small intestine was proportional to the level of $bio-silverlite^{(R)}$ supplement. Crop weight was lower in $bio-silverlite^{(R)}$ supplement group than in -C and +C groups (P<0.05), and the cecum weight was heavier in $bio-silverlite^{(R)}$ supplementation group. Intestinal villi height was longer in 51.5% group at 3 weeks and 6 weeks of age than in -C and +C groups. With the respect of the formation of intestinal microflora, TBC and CBC was not affected by age and feed additive. However, the number of LAB was slightly higher in $bio-silverlite^{(R)}$ supplement group than in -C and +C groups.

• Journal of the Korean Institute of Telematics and Electronics
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• v.20 no.5
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• pp.31-36
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• 1983

The indirect M.R.A.C. method using the W.L.S. algorithm is applied to the speed control of a D.C. motor on the assumption that the motor is the 1-st order, completely controllable and observable, non-minimum phase plant. By the help of M6809 microprocessor system the experiments are performed with respect to the sinusoidal and square reference input. The results show that the speed of a D.C. motor is well controlled by the indirect M.R.A.C. method using W.L.S, algorithm, and that the W.L.S. algorithm is quite suitable to the time-varying plant.

• Proceedings of the Korea Concrete Institute Conference
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• 1995.04a
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• pp.130-135
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• 1995

We can consider that the study on early evaluation of strength of concrete is useful to raise safety of building and utility of quality control of concrete is useful to raise safety of building and utility of quality control of concrete. In this paper, was proposed to method early to predict strength of concrete with key parameters, such as Water/Cement(W/C) ratio and Sand / Aggregate(S/A) ratio. Through a series of experiment, the obtained results are summarized as follow. $\circled1$ The ratio of resistance was decteased as the increase of W/C ratio. $\circled2$ The maximum value for the ratio of resistance and compressive strength was presented in the case of 40% S/A ratio. $\circled3$ The relationship. of the ratio of resistance and compressive strength on 28days according to the change of W/C and S/A ratio is to be: $F_{28}=-0.00104R^2 + 2.263R - 935.5$ (W/C Ratio) $F_{28} = 0.007R^2 - 10.693R - 4269.1$ (S/A Ratio)

• Proceedings of the KIEE Conference
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• 1997.07a
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• pp.373-375
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• 1997

In this paper, we present IGBT VVVF inverters as a 1C1M propulsion system for electric car. These inverters are composed of high power IGBT's and controlled by compact control units. The control unit performs full digital control by using 32bit DSP and microcontroller. By using CAN-bus, high speed network is constructed within four control units. The stack is simplified and optimized by using plate bus and IGBT driver units of hybrid-type.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1063-1065
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• 1996

As PLC has become central to today's FA environment, the importance of developing and providing special-module of PLC such as Analog-module, PID-module, Temperature Control-module has increased. In this paper introduces the Temperature Control-module which is developed by LGIS R&D lab. and presents the availability of PLC-control system with Temperature Control-module.

• Proceedings of the KIEE Conference
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• 1994.07a
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• pp.249-251
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• 1994

This paper introduces an implementation of high performance voltage source inverter system based on 16bit micro-processor and DSP for the application to modem rolling stock traction system. In contrast with other industry oriented inverter system, this system requires precise control action complying with various load condition and high overload capability. An asynchronous PWM generation and 3' pulse mode technology are adopted in order to improve compliant starting torque characteristics at starting phase and soft backward-forward starting motion.