• The Transactions of the Korean Institute of Electrical Engineers
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• v.39 no.8
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• pp.792-804
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• 1990

This paper describes an efficient optimization algorithm by calculating sensitivity function for power system stabilization. In power system, the dynamic performance of exciter, governor etc. following a disturbance can be presented by a nonlinear differential equation. Since a nonlinear equation can be linearized for small disturbances, the state equation is expressed by a system matrix with system parameters. The objective function for power system operation will be related to the system parameter and the initial state at the optimal control condition for control or stabilization. The object function sensitivity to the system parameter can be considered to be effective in selecting the optimal parameter of the system.

• 한국해양학회지
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• v.21 no.3
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• pp.131-135
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• 1986

Conversion of energy from potential to kinetic form is considered when a step-like initial disturbance is released to reach a final steady state. For small amplitute disturbances, linearization can be made and it is proved analytically that the conversion factor (ratio of generated kinetic to loss in potential energies) asymptotically approaches to 1/3 as the horizontal scale of disturbances becomes large.

• Geotechnical Engineering
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• v.11 no.2
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• pp.19-28
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• 1995

Based on the various test data acquired in the field, the large pressure chamber and the small pressure chamber, uplift behaviors and method of determining the ultimate uplift capacity of pile driven in small pressure chamber were studied. After uplift pile experienced 2 or 3 sudden slip due to increase of uplift load, complete pullout failure was occurred. Thus, it appears that the ultimate uplift capacity could be identified as the load at displacement where first slip occurs. The ultimate uplift capacity might be determined in every test and the disturbance after first uplift test could be recovered by adding one blow of the drop hammer, which had to depend on the model pile capacity.

• Proceedings of the KIEE Conference
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• 2006.07b
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• pp.877-878
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• 2006

In electric motor coaches, the rolling stocks move by the adhesive effort between rail and driving wheel. Generally, the adhesive effort is defined by the function of both the weight of electric motor coach and the adhesive effort between rails and driving wheel. The characteristics of adhesive effort is strongly affected by the conditions between rails and driving wheel. When the adhesive effort decreases suddenly, inertia conversion the electric motor coach has slip phenomena. This paper proposes a anti-slip control algorithm which uses the maximum adhesive effort by instantaneous estimation of adhesion force using load torque disturbance observer. Based on this estimated adhesive effort, the anti-slip control is performed to obtain the maximum transfer of the tractive effort.

• Steel and Composite Structures
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• v.6 no.2
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• pp.87-101
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• 2006

The deformation and dynamic behavior mechanism of submerged shell-like lattice structures with membranes are in principle of a non-conservative nature as circulatory system under hydrostatic pressure and disturbance forces of various types, existing in a marine environment. This paper deals with a characteristic analysis on quasi-periodic and chaotic behavior of a circular arch under follower forces with small disturbances. The stability region chart of the disturbed equilibrium in an excitation field was calculated numerically. Then, the periodic and chaotic behaviors of a circular arch were investigated by executing the time histories of motion, power spectrum, phase plane portraits and the Poincare section. According to the results of these studies, the state of a dynamic aspect scenario of a circular arch could be shifted from one of quasi-oscillatory motion to one of chaotic motion. Moreover, the correlation dimension of fractal dynamics was calculated corresponding to stochastic behaviors of a circular arch. This research indicates the possibility of making use of the correlation dimension as a stability index.

• Journal of Veterinary Clinics
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• v.19 no.2
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• pp.204-206
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• 2002

The effects of electroacupuncture on small intestinal motility in dogs were investigated. The acupoints used in the experiment were Shao Ze (SI-1), Hou Xi. (SI-3), Yang Lao (SI-6), Zhi Zheng (SI-7) and Xiao Hai (SI-8) which belong to small intestine meridian, Xiao Chang Shu (BL-27) which belongs to urinary bladder meridian, and Guan Yuan (CV-4) which belongs to conception vessel meridian. The anupoints were stimulated with 2-4 volt and 5 Hz for 20 minutes Electroacupuncture at Shao Ze, Yang Lao, and Xiao Hai acupoints increased the intestinal motility, but at Guan Yuan decreased the motility. The acupuncture at Hou Xi, Zhi Zheng and Xiao Chang Shu acupoints showed an increase or decrease of the intestinal movement. The results indicate that the electroacupuncture at Guan Yuan acupoint may depress intestinal motility in cases such as vomiting or diarrhea, and the acupuncture at Shao Ze, Yang Lao, and Xiao Hai acupoints to promote the motility in cases of digestive disturbance may be effective in veterinary practice.

• Journal of applied mathematics & informatics
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• v.9 no.1
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• pp.277-288
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• 2002

Influence of form errors of a chamber filled with a liquid on the movement and stability of a ball, rotating in the chamber, is studied. Two cases of the influence of the chamber form errors on the forces, acting on the ball, are defined. The first case describes the situation when limitations on the rotor shift are not imposed and disturbances of the chamber form are set by spherical harmonics not above the first order. In the second case disturbance of a chamber form is arbitrary and the rotor is supposed small. A rising here diflective moment tends to direct the angular speed vector along the small semiaxis of the ellipsoid, i.e., a stable position of the rotor appears.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.12
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• pp.993-1000
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• 2001

Configuration-dependent nonlinear coefficient matrices in the dynamic equation of robot manipulator impose computa- tional burden in real-time implementation of tracking control based on the inverse dynamics controller. However, parallel manipulators such as Stewart platform have relatively small workspace compared to serial manipulators. Based on the characteristics of small motion range. nonlinear coefficient matrices can be approxiamted to constant ones. The modeling errors caused by such approximation are compensated for by H-infinity controller that treats the modeling errors disturbance. The proposed inverse dynamics controller with approximate dynamics combined with H-infinity control shows good tracking performance even for fast tracking control in which computation of full inverse dynamics is not easy to implement.

• Journal of Veterinary Clinics
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• v.27 no.4
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• pp.440-444
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• 2010

A 7-year-old neutered male Shih Tzu dog weighing 5.2 kg was presented because of severe neurological signs (paddling, unconsciousness, blindness, seizure). ECG revealed accelerated idioventricular rhythm (AIVR) with ~140 bpm ventricular rate. Based on magnetic resonance imaging (MRI) study and cerebrospinal fluid (CSF) analysis, the neurological condition was tentatively diagnosed as disseminated granulomatous meningoencephalomyelitis (GME). The neurological signs were managed with steroids, anticonvulsive drugs, diuretics and antibiotics with 20% mannitol infusion. The rhythm disturbance (AIVR) was managed with oral medication of mexiletine. Because the heart rhythms were unstable without anti-arrhythmic therapy in spite of improvement of clinical signs after emergency treatment for neurological problems, the anti-arrhythmic therapy was maintained till the neurological signs were abolished.

• Journal of Astronomy and Space Sciences
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• v.26 no.1
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• pp.31-46
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• 2009

An Unscented Kalman Filter (UKF) for estimation of the attitude and rate of a spacecraft using only magnetometer vector measurement is developed. The attitude dynamics used in the estimation is the nonlinear Euler's rotational equation which is augmented with the quaternion kinematics to construct a process model. The filter is designed for small satellite in low Earth orbit, so the disturbance torques include gravity-gradient torque, magnetic disturbance torque, and aerodynamic drag torque. The magnetometer measurements are simulated based on time-varying position of the spacecraft. The filter has been tested not only in the standby mode but also in the detumbling mode. Two types of actuators have been modeled and applied in the simulation. The PD controller is used for the two types of actuators (reaction wheels and thrusters) to detumble the spacecraft. The estimation error converged to within 5 deg for attitude and 0.1 deg/s for rate respectively when the two types of actuators were used. A joint state parameter estimation has been tested and the effect of the process noise covariance on the parameter estimation has been indicated. Also, Monte-Carlo simulations have been performed to test the capability of the filter to converge with the initial conditions sampled from a uniform distribution. Finally, the UKF performance has been compared to that of the EKF and it demonstrates that UKF slightly outperforms EKF. The developed algorithm can be applied to any type of small satellites that are actuated by magnetic torquers, reaction wheels or thrusters with a capability of magnetometer vector measurements for attitude and rate estimation.