• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.248-251
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• 2004

Stability of truck and trailer are the most significance in Thai automotive industry. This paper presents the mathematical model of a six-degree-of-freedom semi-trailer vehicle. Search method was implemented to obtain the optimum design variables of the trailer which are the distance from the fifth wheel to the centroid of the trailer and the distance from the centroid of the trailer to the trailer axel. The objective function is to minimize the steady side slip velocity, steady-state yawing velocity and steady-state angle between the tractor and the trailer. From the calculation , the optimum distance from the fifth wheel to the centroid of the trailer and the optimum distance from the centroid of the trailer to the trailer axle are 5.50 and 3.25 meters respectively. The stability of the optimal semi-trailer vehicle was also examined in steady state. The steady side slip velocity, yawing velocity and the angle between tractor and trailer are also obtained using linearization technique under unit step disturbance of the tractor front wheel steering angle.

• Fisheries and Aquatic Sciences
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• v.11 no.2
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• pp.103-112
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• 2008

Compressional sound velocities of shelf sediments in the South Sea of Korea, were measured in situ and in the laboratory for six cores. In situ sound velocity was measured using the Acoustic Lance (frequency of 7.5-15 kHz), while laboratory velocity was measured by the pulse transmission technique (frequency of 1MHz). Physical properties were relatively uniform with sediment depth, suggesting little effect of sediment compaction and/or consolidation. Average in situ velocity at each core site ranged from 1,457 to 1,488 m/s, which was less than the laboratory velocity of 1,503 and 1,604m/s. In muddy sediments the laboratory velocity was 39-47 m/s higher than in situ velocity. In sandy sediments, the difference was greater by an average of 116 m/s. Although the velocity data were corrected by the velocity ratio method based on bottom water temperature, the laboratory velocity was still higher than the in situ velocity (11-21 m/s in muddy sediments and 91 m/s in sandy sediments). This discrepancy may be caused by sediment disturbance during core collection and/or by the pressure of Acoustic Lance insertion, but it was most likely due to the frequency difference between in situ and laboratory measurement systems. Thus, when correcting laboratory velocity to in situ velocity, it is important to consider both temperature and frequency.

• Explosives and Blasting
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• v.33 no.1
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• pp.21-26
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• 2015

Several conversion formulas to convert peak particle velocity to vibration label were studied for their validity and applied to environmental dispute cases. Special cases like structural damage by blast vibration was accepted while mental damage was not accepted were discussed. Results show that inadequate formula was used or construction damage caused by subsidence or disturbance of ground were misidentified as vibration damage for some cases.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.5
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• pp.1011-1016
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• 2011

This paper presents a robust current controller for a surface-mounted permanent magnet synchronous motor(SPMSM) by using a PI observer. The decoupling PI(proportional-integral) controller combined with an additional feed-forward compensation has been used for the current controller. The classical feed-forward compensation using velocity information and system parameters is not expected to achieve a robust performance against parameter uncertainties. This paper has adopted a PI observer for the feed-forward compensation to cope with parameter uncertainties without using velocity information. A simple PI observer has been designed to compensate the disturbances that represent velocity coupled terms and parameter uncertainties. Experimental results as well as computer simulations with 630W SPMSM confirm that the proposed approach can deal with the effects of the disturbance and improve the control performance.

• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.309-311
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• 2006

This paper aims to provide a way to improve dynamic stability of biped robots against undesirable disturbances. By using an angular velocity sensor on its shoulder, we can make a medium-sized biped robot walk stably against an impulsive disturbance. The measured signal from the sensor in used for compensating the reference angles of ankle, knee, and pelvis joints. An experiment shows that the stability of the robot is much enhanced by using a cheap sensor and simple algorithm. This kind of research helps biped robots walk more stably in real environments.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.307-307
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• 2000

The swing motion of the spreader during and after movement causes an efficiency problem of position control in unmaned gantry crane. The objective of this research is to design implementable stabilizing controllers that minimize the swing motion of spreader in precise position control. The dynamic equations related to trolley, rope, and spreader are derived. For constitute a similar actual system, we introduced a conception of spring and damper in the connector. It is located between the trolley and link that is used in stead of rope. We derived dynamic equation by appliance that friction and external disturbance are occurred to the connector. We constituted of position servo system and velocity servo system for the control of position and velocity of the trolley and constituted of lag compensator system for the control of sway of the spreader. And we will show an effect of the proposed system in this research finally.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2011.04a
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• pp.206-211
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• 2011

In this paper, a control algorithm for the improvement of yaw and velocity stability of electrical vehicle with two or four in-wheel motors is proposed. The vehicle is modeled with independently operative in-wheel motor wheels. Different frictions on the wheels are regarded as disturbances, which causes driving instability. In this situation the proposed algorithm enables stabilizing the yaw motion and velocity of vehicle simultaneously. The proposed PID controller is composed with two techniques, which enhance the disturbance reject and point tracking performances. One is nonlinear gain function and the other one is improved integral controller operating as time based weight function. Simulation is conducted to reveal its efficient performance.

• Ocean Systems Engineering
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• v.8 no.2
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• pp.167-182
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• 2018

RTI (Rayleigh-Taylor instability) is investigated by a multi-liquid MPS (Moving Particle Semi-implicit) method for both viscous and inviscid flows for various density differences, initial-disturbance amplitudes, viscosities, and surface tensions. The MPS simulation can be continued up to the late stage of high nonlinearity with complicated patterns and its initial developments agree well with the linear theoretical results. According to the relevant linear theory, the difference between inviscid and viscous fluids is the rising velocity at which upward-mushroom-like RTI flow with vortex formation is generated. However, with the developed MPS program, significant differences in both growing patters and developing speeds are observed. Also, more dispersion can be observed in the inviscid case. With larger Atwood (AT) number, stronger RTI flows are developed earlier, as expected, with higher potential-energy differences. With larger initial disturbances, quite different patterns of RTI-development are observed compared to the small-initial-disturbance case. If AT number is small, the surface tension tends to delay and suppress the RTI development when it is sufficiently large. Interestingly, at high AT number, the RTI-suppressions by increased surface tension become less effective.

• Transactions of the Korean Society of Mechanical Engineers
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• v.13 no.4
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• pp.708-716
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• 1989

The purpose of this study is to investigate the breakup mechanism of a liquid jet in a coaxial air flow. By using the high speed camera, measured were the instantaneous change of the wave length, amuplitude of disturbance, propagation velocity of wave and breakup length, and the relationships between those data were examined. The shape of the surface of the liquid jet appeared to be rather complicated and irregular. The growth rate of disturbance was not constant, and was changed at the moment of 3ms prior to the disintegration of the liquid jet. Simultaneously at this moment, the propagation velocities of the sequential waves were reversed and the wave length was rapidly decreased.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.699-703
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• 2004

The autopilot system targets decreasing labor, working environment, service safety security and elevation of service efficiency. Ultimate purpose is minimizing number of crew for guarantee economical efficiency of shipping service. Recently, being achieving research about Course Keeping Control, Track Keeping Control, Roll-Rudder Stabilization, Dynamic ship Positioning and Automatic Mooring Control etc. which compensate nonlinear characteristic using optimizing control technique. And application research is progressing using real ship on actual field. Relation of Rudder angle which adjusted by Steering Machine and ship-heading angle are non-linear. And, Load Condition of ship acts as non-linear element that influence to Parameter of ship. Also, because the speed of a current and direction of waves, velocity and quantity of wind etc. that id disturbance act in non-linear form, become factor who make service of shipping painfully. Therefore, service system of shipping requires robust control algorithm that can overcome nonlinearity. In this paper, Using GA algorithm,design autopilot system of ship that could overcome the non-linear factor of ship and disturbance and examined result through simulation.