• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.690-693
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• 2005

In this paper, a hybrid PD-servo state feedback control algorithm for swing up inverted pendulum system is proposed. It consists of two parts. The first part is the PD position control for swinging up the pendulum from the natural pendent position to around the upright position and the second part is the servo state feedback control for stabilizing the inverted pendulum in upright position. The first controller is PD controller and it is tuned to control the position of the pendulum by moving the cart back and forth until the pendulum swings up around the upright position. Then the second controller will be switched to stabilize the inverted pendulum in its upright position. The controller in this stage is the servo state feedback controller designed by pole placement. Experimental results of PD type swinging up control system, of stabilizing servo state feedback control system and of the proposed hybrid PD-servo state feedback control system to swing up and stabilize inverted pendulum show that the proposed method is effective and reliable for actual implementation while it is simple.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2116-2119
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• 2005

Inverted pendulum is a classical example and a famous tool for testing the effectiveness of many control schemes. Owing to their nonlinearity and unstable characteristic, a controller development either for swinging-up or stabilizing its upright position had been a great interest of many researchers. In this paper, the swinging-up control of the inverted pendulum using energy control will be presented. However, the saturation function in its control law could harm the experimental equipments. In addition, this swinging-up method did not consider limited sector of the arm angle to avoid another hazard, for instance, the twisted cable in the apparatus. Therefore, in this paper the position control of the arm angle using simple PD control in accordance with the energy control is proposed. Consequently, the limited arm sector angle can be achieved and the saturation function can also be replaced effectively by the PD control.

• Asian-Australasian Journal of Animal Sciences
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• v.28 no.1
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• pp.14-19
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• 2015

The genetic diversity of native chicken populations from Myanmar, Thailand, and Laos was examined by using 102 insertion and/or deletion (indels) markers. Most of the indels loci were polymorphic (71% to 96%), and the genetic variability was similar in all populations. The average observed heterozygosities ($H_O$) and expected heterozygosities ($H_E$) ranged from 0.205 to 0.263 and 0.239 to 0.381, respectively. The coefficients of genetic differentiation (Gst) for all cumulated populations was 0.125, and the Thai native chickens showed higher Gst (0.088) than Myanmar (0.041) and Laotian (0.024) populations. The pairwise Fst distances ranged from 0.144 to 0.308 among populations. A neighbor-joining (NJ) tree, using Nei's genetic distance, revealed that Thai and Laotian native chicken populations were genetically close, while Myanmar native chickens were distant from the others. The native chickens from these three countries were thought to be descended from three different origins (K = 3) from STRUCTURE analysis. Genetic admixture was observed in Thai and Laotian native chickens, while admixture was absent in Myanmar native chickens.

• Asian-Australasian Journal of Animal Sciences
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• v.5 no.2
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• pp.365-368
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• 1992

The experiment was carried out to estimate the energy and protein requirements of Khaki Campbell $\times$ Thai Native laying ducks. To estimate the energy requirement, 5 experimental diets were formulated at levels of 2.70, 2.75, 2.80, 2.85 and 2.90 Mcal ME/kg. These diets were equal in ME/CP ratio (170/l). A total of 150 18-week old laying ducks were assigned to 5 energy level treatments, each comprising 3 replicates of 10 birds each, and they were fed the diets for 18 weeks. To estimate the protein requirement, 90 18-week old laying ducks were divided into 9 groups of 10 birds each, and they were assigned to 3 protein level treatments, each comprising 3 replicates. The levels of protein in the diets were 13.5%, 15.0% and 16.5%, and all diets were isocaloric (2.8 Mcal ME/kg). As a result, the 16.5% protein diet gave significantly better egg production than the 13.5% and 15.0% protein diets, however, no significant difference in egg production was found among the energy levels. Feed cost to produce 1k eggs was lower in the 2.70 Mcal and 16.5%protein diets than in the higher ME and lower protein diets.

• Proceedings of the KSRS Conference
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• 2007.10a
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• pp.418-421
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• 2007

Using gridded wind-stress products constructed by satellite scatterometers (ERS-1, 2 and QSCAT) data and those by numerical weather prediction(NWP) model(NCEP-reanalysis), we estimate wind-driven transports of the North Pacific subtropical gyre, and compare them in the central portion of the gyre (around 300 N) with geostrophic transports calculated from historical hydrographic data (World Ocean Database 2005). Even if there are some discrepancies between the wind-driven transports by the QSCAT and NCEP products, they are both in good agreement with the geostrophic transports within reasonable errors, except for the regional difference in the eastern part of the zone. The difference in the eastern part is characterized by an anticyclonic deviation of the geostrophic transport resulting from an anti-cyclonic anomalous flow in the surface layer, suggesting that it is related to the Eastern Gyral produced by the thermohaline process associated with the formation of the Eastern Subtropical Mode Water. We also examine the consistency of the Sverdrup transports estimated from these products by comparing them with the transports of the western boundary current, namely the Kuroshio regions, in previous studies. The net southward transport, based on the sum of the Sverdrup transports by QSCAT and NCEP products and the thermohaline transport, agrees well with the net northward transport of the western boundary current, namely the Kuroshio transport. From these results, it is concluded that the Sverdrup balance can hold in the North Pacific subtropical gyre.

• Proceedings of the Korean Powder Metallurgy Institute Conference
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• 2006.09b
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• pp.971-972
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• 2006

Mechanochemical synthesis of zinc ferrite, $ZnFe_2O_4$, was attempted from a powder mixture of iron (III) oxide, alpha-$Fe_2O_3$ and zinc (II) oxide, ZnO. Nanocrystalline zinc ferrite, $ZnFe_2O_4$ powders were successfully synthesized only bymilling for 30 hours. Evidence of the $ZnFe_2O_4$ formation was absent for the powders milled for 10 and 20 hours; the milling lowered the crystallinity of the starting materials. Heating after milling enhanced the formation of $ZnFe_2O_4$, crystal growth of $ZnFe_2O_4$ and the unreacted starting materials. The unreacted starting materials decreased their amounts by heating at higher temperatures.

• Membrane and Water Treatment
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• v.3 no.1
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• pp.63-76
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• 2012

Mother liquid discharged from a salt-manufacturing plant was electrodialyzed at 25 and $40^{\circ}C$ in a continuous process integrated with $SO_4{^{2-}}$ ion low-permeable anion-exchange membranes to remove $Na_2SO_4$ and recover NaCl in the mother liquid. Performance of electrodialysis was evaluated by measuring ion concentration in a concentrated solution, permselectivity coefficient of $SO_4{^{2-}}$ ions against $Cl^-$ ions, current efficiency, cell voltage, energy consumption to obtain one ton of NaCl and membrane pair characteristics. The permselectivity coefficient of $SO_4{^{2-}}$ ions against $Cl^-$ ions was low enough particularly at $40^{\circ}C$ and $SO_4{^{2-}}$ transport across anion-exchange membranes was prevented successfully. Applying the overall mass transport equation, $Cl^-$ ion and $SO_4{^{2-}}$ ion transport across anion-exchange membranes is evaluated. $SO_4{^{2-}}$ ion transport number is decreased due to the decrease of electro-migration of $SO_4{^{2-}}$ ions across the anion-exchange membranes. $SO_4{^{2-}}$ ion concentration in desalting cells becomes higher than that in concentration cells and $SO_4{^{2-}}$ ion diffusion is accelerated across the anion-exchange membranes from desalting cells toward concentrating cells.

• Journal of Information Processing Systems
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• v.4 no.4
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• pp.121-132
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• 2008

VLSI chips have been tested using various automatic test equipment (ATE). Although each ATE has a similar structure, the language for ATE is proprietary and it is not easy to convert a test program for use among different ATE vendors. To address this difficulty we propose a tester structure expression language, a tester language with a novel format. The developed language is called the general tester language (GTL). Developing an interpreter for each tester, the GTL program can be directly applied to the ATE without conversion. It is also possible to select a cost-effective ATE from the test program, because the program expresses the required ATE resources, such as pin counts, measurement accuracy, and memory capacity. We describe the prototype environment for the GTL and the tester selection tool. The software size of the prototype is approximately 27,800 steps and 15 manmonths were required. Using the tester selection tool, the number of man-hours required in order to select an ATE could be reduced to 1/10. A GTL program was successfully executed on actual ATE.

• Proceedings of the KSRS Conference
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• 2002.10a
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• pp.644-648
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• 2002

Though it was difficult of globally monitor latent heat flux aver the ocean for many years, the situation is rapidly changing by the use of satellite data. Since a bulk formula is used to estimate turbulent heat flux using satellite data, we need wind speed, sea surface temperature and specific humidity data. However, it is not easy to accurately estimate specific humidity using satellite data. Now several algorithms for estimating specific humidity have been proposed and applied to construct latent heat flux data sets. Latent heat flux data sets derived from satellite data such as J-OFURO, HOAPS and GSSTF are available at present. Since the algorithm and used satellite data are not the same between them. the characteristics of each data set may be different. Therefore, it is important to clarify the difference between each data set and investigate the cause of the difference in latent heat flux estimates. In this paper we summarize the present state of the art with regard to the turbulent heat flux estimation by using satellite data. Also we present the comparison results of latent heat flux fields including not only satellite-derived flux fields but also analysis fields.

• Journal of Veterinary Clinics
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• v.25 no.6
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• pp.537-539
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• 2008

A 6 month-old male Labrador retriever was presented for intermittent lameness on the left forelimb after exercise. The dog was suffering progressive lameness that had started two months before. On mediolateral radiographic view of the left elbow, proximal margin of the anconeal process was irregular. A lucent, indistinct line separating the anconeal process from the ulna was observed, when the elbow joint was flexed. The lateral approach to the elbow joint was used and the ununited anconeal process was removed. The limb was bandaged after surgery for 7 days to support soft tissue and exercises were restricted. The dog showed normal limb function 3 weeks after surgery. On a telephone conversation with the owner 18 months after surgery, the dog was reported to maintain normal function of the limb.