• Journal of Institute of Control, Robotics and Systems
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• v.4 no.5
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• pp.636-643
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• 1998

This paper is presents multivariable control scheme for industrial robot manipulators. The control scheme consists of two loops. The modeling error between linearized robot model and actual robot model is compensated in error compensation loop. The PID control loop is designed for pole assignment to stability of robot system and utilized for trajectory tracking. Alternatively computer simulation results are given for illustration purpose of suggested controller.

• Journal of Korean Academy of Fundamentals of Nursing
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• v.9 no.3
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• pp.349-359
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• 2002

Purpose: The purpose of this study was two-fold : to describe the level of recognition of nosocomial respiratory infections by ICU nurses and to compare self evaluation and objective evaluation of nosocomial respiratory infection control practices by ICU nurses. Method: Data were collected from 78 nurses in intensive care units in one university affiliated hospital in Kyung Ki Province. Data were collected from March 4 to March 18, 2002. The recognition and self evaluation data were collected through a self report questionnaire and an objective evaluation which was done by observing the actual behavior of the nurses. Result: The results of this study showed that there was a significant positive relationship between recognition scores and self evaluation scores. However, there was no significant relationship between level of recognition and objective evaluation, nor between self evaluation and objective evaluation of infection control Practices by ICU nurses. Conclusion: ICU nurses In this study gave higher scores on self evaluation of their practice than were shown in the observation evaluation of actual practice. Moreover, in the objective evaluation the nurses had the lowest score on the item, 'washing hands before taking care of patients'. The results indicate that it is necessary to develop a standardized practice manual on nosocomial respiratory infection control in the ICU. Also, it is necessary to have a program to transfer knowledge into actual practice.

• Proceedings of the Korea Concrete Institute Conference
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• 2003.05a
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• pp.1035-1040
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• 2003

This research investigates the actual data and construction technology of the massive bottom slab placed by $23,000m^3$ concrete quantity in site of the in-ground type LNG receiving terminal having 20,000kl storage capacity. The purpose of this study is to determine the optimum mix design and control the actual concreting procedures including concrete production, transportation, placement, vibrating and curing in site. For this purpose, the optimum mix design using ternary blended cement(furnace slag cement＋fly ash) and under piping method having 11 gates and 7 distributors are selected. As test results of actual construction, concrete placement is finished during 68hours with good success and obtained the good quality of the fresh and hardened concrete including slump, air contents, no-segregation, compressive strength and low hydration heat. Also, actual data for all of concrete procedures are proved successful and satisfied with our specifications.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.111-116
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• 1998

In this study, we try to coincide virtual robot system in an OLP(off-line programming) with actual robot system even though kinematic differences between them are made. The virtual robot in the OLP may be modeled according to kinematics of the actual robot system. However, it is a complicated problem to find exactly all kinematic parameters of actual robot and environment. In this paper, an automated calibration method is proposed In order to find some kinematical parameters which are necessary for the modeling of a robot and environment in the OLP. It is applicable to SCARA robot for assembly task. In this method, a well-marked worktable of environment Is regarded as reference coordinate frame. The robot detects some marks on the worktable through sensors attached to the end-effector. The necessary parameters are calculated from the data of the robot joint variables when the robot detects the mark. The model in the OLP is modified by the parameters.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.4
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• pp.257-261
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• 2001

Nonlinear pulse width modulation (PWM) controlled system is considered to achieve control performance of thruster controlled spacecraft. The actual PWM controlled motions occur, very closely, around the average model trajectory. Furthermore nonlinear PWM controller design can be directly applied to thruster controlled spacecraft to determine thruster on-time. Sliding mode control for attitude tracking of three-axis thruster-controlled spacecraft is presented. Simulation results are shown which use modified Rodrigues parameters and sliding mode control law to achieve attitude tracking of a three-axis spacecraft with thrusters.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.642-646
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• 1992

Trajectory tracking control problems are described for a two-link robot manipulator with artificial rubber muscle actuators. Under the assumption that the so-called independent joint control is applied to the control system, the dynamic model for each link is identified as a linear second-order system with time-lag by the step response. Two control laws such as the feedforward and the computed torque control methods, are experimentally applied for controlling the circular trajectory of an actual robot manipulator.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.281-286
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• 1992

This paper describes a duplexed process control system for a boiler-turbine system of power plant, which is composed of supervisor, controller, and simulater subsystems. Its embeded POL(Problem oriented language) as a structured control language enables this system to do a real-time distributed control and fault diagnosis by simple programming with the actual implementation of advanced control algorithms such as PID autotuning and GPC, etc, the performance of overall system has been greatly enhanced.

• Journal of Advanced Marine Engineering and Technology
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• v.18 no.2
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• pp.83-90
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• 1994

The container crane is still operated by skillfull human operators. So an automatic crane operation system is strongly required. In this paper, the digital control method is applied to position an anti-swing control for container crane. Two methods of digital optimal regulator control and digital redesign control are used for experiment. From these experimental results, it is respected that both methods can be applied effectively to an actual container crane operation.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.54 no.3
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• pp.154-161
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• 2005

This paper proposes a speed-sensorless induction motor control system using a rotor speed compensation. To explain the proposed system, this paper describes an induction motor model in the synchronous reference frame for the vector control. The rotor flux is estimated by the rotor flux observer using the reduced-dimensional state estimator technique. The estimated rotor speed is directly obtained from the electrical frequency, the slip frequency, and the rotor speed compensation with the estimated q-axis rotor flux. The error of the rotor time constant is indirectly reflected in the rotor speed compensation using the compensation of the flux error angle. To precisely estimate the rotor flux, the actual value of the stator resistance, whose actual variation is reflected, is derived. An implementation of pulse-width modulation (PWM) pulses using an effective space vector modulation (SVM) is briefly mentioned. For fast calculation and improved performance of the proposed algorithm, all control functions are implemented in software using a digital signal processor (DSP) with its environmental circuits. Also, it is shown through experimental results that the proposed system gives good performance for the speed-sensorless induction motor control.

• Korean Journal Plant Pathology
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• v.10 no.4
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• pp.284-291
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• 1994

In order to establish an appropriate spray schedule to reduce the infection, 11 kinds of chemicals were tested for their properties on the inhibition of spore germination at the surface of apple fruits and the duration of the inhibitory effect after spray of each chemical was examined from late June to early September with basically 10 day intervals. Actual control efficacy of each chemical by the 8 successive spray and the patterns of waterborne spore dispersals during that periods were also examined. Combining those results with the meteorological observation data, actual control efficacy of each chemical in the given periods could be estimated. It was revealed that folpet, Brodeaux mixture, mancozeb, oxine copper and imminoctadine-triacetate could be used at any time during the possible infection periods. Captan and dithianon could also be used except the rainy season due to the short duration of inhibitory efficacy against spore germination under heavy rain. However, the usefulness of propineb, benomyl and chlorothalonil against the apple white rot could not be demonstrated in this experiment. Thiram, even though has not been used for apple white rot, can also be used before or after the rainy season to control not only white rot but also alternaria blotch.