• Journal of Ocean Engineering and Technology
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• v.28 no.4
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• pp.363-369
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• 2014

In this paper, a practical controller for a group of USVs is proposed in order to avoid matrix inversion problems in computation. Using nonlinear mapping, a formation composed of nonholonomic agents can be stabilized even when the formation is stationary. Since there is no matrix inversion in computing the control law, the computation complexity can be resolved. A controller for stabilizing the formation errors in the presence of model uncertainty is considered using the Lyapunov redesign method. The asymptotic stability of the formation errors is shown. It is also shown that the proposed controller can be applied to guide a formation to a different shape without modification.

• Proceedings of the KIEE Conference
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• 1992.07a
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• pp.381-385
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• 1992

In this paper, dynamic modeling and adaptive control problems for a space robot system are discussed. The space robot consist of a robot manipulator mounted on a free-floating base where no attitude control is applied. Using an extended robot model, the entire space robot can be viewed as an under-actuated robot system. Based on nonlinear control theory, the extended space robot model can then be decomposed into two subsystems: one is input-output exactly linearizable, and the other is unlinearizable and represents an internal dynamics. With this decomposition, a normal form-augmentation approach and an augmented state-feedback control are proposed to facilitate the design of adaptive control for the space robot system against parameter uncertainty, unknown dynamics and unmodeled payload in space applications. We demonstrate that under certain conditions, the entire space robot can be represented as a full-actuated robot system to avoid the inclusion of internal dynamics. Based on the dynamic model, we propose an adaptive control scheme using Cartesian space representation and demonstrate its validity and design procedure by a simulation study.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.63.6-63
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• 2002

The technique of backstepping have can avoid cancellations of useful nonlinearities. It is widely used in nonlinear adaptive control. But it is difficult to use this technique for uncertain nonlinear systems. Sliding mode control has robustness and application with feedback linearization. This paper shows that the robustness can be used for back stopping technique to solve the uncertainty problem and to improve the scalar design problem using Control Lyapunov function which is the motivation of back stepping technique with recursive design for high-order systems. In the respect of SMC, the result of this paper does not need to satisfy the matching condition.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.11
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• pp.1038-1043
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• 2010

In this paper, an adaptive sliding-mode formation control and collision avoidance are proposed for electrically driven nonholonomic mobile robots with model uncertainties and external disturbances. A sliding surface based on the leader-follower approach is developed to achieve the desired formation in the presence of model uncertainties and disturbances. Moreover, by using the collision avoidance function, the mobile robots can avoid the obstacles successfully. Finally, simulations illustrate the effectiveness of the proposed control system.

• 한국전산유체공학회:학술대회논문집
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• 1998.05a
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• pp.110-115
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• 1998

An axisymmetric Navier-Stokes procedure has been developed to analyze the pulse jet flow in a ceramic filter unit for the dust dislodging process. Using Baldwin-Lomax turbulence model as a closure relationship, the SIAF(Scalar Implicit Approximate Factorization) algorithm together with the ${\delta}^k-Correction$ iterative time marching scheme is adopted to solve the unsteady compressible Navier-Stokes equations. After some validation tests, the code has been applied to solve the pulse jet flow and examine the effects of geometry and reservoir pressure condition on the pressure level inside the filter unit. To avoid dealing with the uncertainty of such factors as the cohesion of the collected dust and the adhesion of the dust to the medium and also to simplify the analysis, the filter wall is assumed to be impermeable. The results for various test cases are presented.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.65 no.3
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• pp.204-209
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• 2016

It is difficult to establish accurate modeling of PV power system because of various uncertainty. However, it is important work to modeling of PV for fault diagnosis. This paper proposes modeling and fault diagnosis method using correlation analysis and ELM(Extreme Learning Machine). Rather than using total data, we select optimal time interval with higher corelation between PV power and solar irradiation. Also, we use average value during 60 minute to avoid rapid variation of PV power. To show the effectiveness of the proposed method, we performed various experiments by dataset.

• International Commerce and Information Review
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• v.19 no.3
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• pp.153-174
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• 2017

The cultural values of the traditional way and the current cultural values of young people are very different, and the rejection of cross-cultural contact is greatly reduced because Korean young people easily accommodate other cultures of the US, Europe or Asia. At present, the cultural values of the traditional way and the current cultural values of young people are very different, and the youthfulness of Korean young people easily accepts other cultures of the US, Europe or Asia, so the resistance to cross - cultural contact is greatly reduced. The purpose of this study is to find out how the younger Korean youths are forming the change of the foreign culture and how the negotiation will proceed according to the formation of these cultures. The results of the analysis show that Korean young people have collectivism cultural rights and that they are consistent with the previous research that there is tendency to avoid uncertainty. On the other hand, there is a tendency of opposition as a result of the empirical analysis that the Koreans have a strong orientation, a high power interval, and strong masculinity. Also, as a result of analyzing the changes in Korean culture that belongs to the high background culture, Korean young people tend to be centered in the past and decision makers tend to decide by the chief executive. On the other hand, Korean young people were denied all the verifiable cultural attributes that cultural properties and communication that maintain openness to share space exposures and office space are non - verbal, tacit communication and time observation are very long and uncertain.

• Korean Journal of Construction Engineering and Management
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• v.18 no.2
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• pp.91-98
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• 2017

Due to climate change, countries around the world are actively investing in renewable energy, reducing fossil fuel use. 23.7% of world electricity is supplied by renewable energy. As the technology continues to develop, it is in a level to compete in terms of power generation cost, and investment conditions are improving. However, investment in renewable energy projects is not easy. This study analyzed trends of domestic and international researches on economics assessment applying real options analysis to investment decisions of hydro, solar, and wind power projects, which account for a large portion of renewable energy. This study provides (1) the difference between the traditional economic method and the real options analysis, (2) the application process, and (3) the uncertainty elements and option type of the renewable energy project presented by many studies. The real options analysis is suitable for the detailed investment strategy by considering the uncertainties of the renewable energy project and applying the option to improve the profit or to avoid the risk.

• Journal of Korea Port Economic Association
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• v.31 no.4
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• pp.151-168
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• 2015

Shippers face uncertainty and risks until the delivery of goods to the buyer (importer). To avoid these uncertainty and risks, shippers use the abroad logistics center and then try to construct continuous contract relations. From this viewpoint, this study examines the motivations of shippers to take advantage of the logistics center and perception difference for service quality according to the characteristics of shippers. For this purpose, T-test and ANOVA analyses are conducted using SPSS 21.0. The results suggest the following implications. First, there are no differences in perception regarding the motivation to take advantage of the logistics center for the size and characteristics of products. Second, the main motivating factors are maneuver to competitors and meeting buyers' demands by using the abroad logistics center. Furthermore, there is the level of perception for service quality regarding packaging and labeling in the logistics center. In contrast, the problem process and the quality of the order progress information is higher. Finally, specific logistics services are required depending on individual products because each product's characteristics are different.

• Mass Spectrometry Letters
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• v.5 no.2
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• pp.57-61
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• 2014

A gravimetric standard addition method combined with internal standard calibration has been successfully developed for the accurate analysis of total arsenic in a laver candidate reference material. A model equation for the gravimetric standard addition approach using an internal standard was derived to determine arsenic content in samples. Handlings of samples, As standard and internal standard were carried out gravimetrically to avoid larger uncertainty and variability involved in the volumetric preparation. Germanium was selected as the internal standard because of its close mass to the arsenic to minimize mass-dependent bias in mass spectrometer. The ion signal ratios of $^{75}As^+$ to $^{72}Ge^+$ (or $^{73}Ge^+$) were measured in high resolution mode ($R{\geq}10,000$) to separate potential isobaric interferences by high resolution ICP/MS. For method validation, the developed method was applied to the analysis of arsenic content in the NMIJ 7402-a codfish certified reference material (CRM) and the result was $37.07mg{\cdot}kg^{-1}{\pm}0.45mg{\cdot}kg^{-1}$ which is in good agreement with the certified value, $36.7mg{\cdot}kg^{-1}{\pm}1.8mg{\cdot}kg^{-1}$. Finally, the certified value of the total arsenic in the candidate laver CRM was determined to be $47.15mg{\cdot}kg^{-1}{\pm}1.32mg{\cdot}kg^{-1}$ (k = 2.8 for 95% confidence level) which is an excellent result for arsenic measurement with only 2.8 % of relative expanded uncertainty.