• Journal of Advanced Marine Engineering and Technology
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• v.17 no.5
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• pp.44-53
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• 1993

In this paper, we discuss on the control algorithm to make the wheeled inverse pendulum type mobile robot move in two dimensional plane. The robot considered in this paper has two independently driven wheels in same axel which suport and move it-self, and is assumed to have the fyro type sensor to know the inclination algle of the body and rotary encoders to know wheel's rotation angular velocity. The control algorithm is divided into three parts. The first part is for the posture and velocity control for forward-backward direction, the second is the steering control, and the last part is for the control of total system to track the given trajectory. We handle the running velocity control of the robot as part of the posture control to keep the balance because the posture relates deeply with the velocity and can be controlled by the velocities of the wheels. The control problem is analyzed as the tracking control, and the controller is realized with the state feedback and feed-forward of the reference velocity. Constructing the control system which contained one intergrator in forward path, we also realized the control system without observer for the estimation of the accumulated errors in the inclination angle of the body. To prevent the robot from being unstable state by sudden variation of the reference velocity when it starts and stops, or changes velocity, the reference velocity of which acceleration is slowly changing, is ordered to the robot. To control its steering, we give the different reference velocities for both wheels which are calculated from the desired angular velocity of the body. Finally, we presents the experimental results of the experimental robot Yamabico Kurara in which the proposed control algorithm had been implemented.

• Membrane Journal
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• v.23 no.5
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• pp.343-351
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• 2013

This study is to investigate the effects of the draw solution concentration on forward osmosis desalination performance using blended fertilizer as draw solution. As the concentration of blended fertilizer solution (draw solution) increased, the water permeate flux increased nearly linearly, but PR (performance ratio) was reduced. Using sea water and deionized water as the feed solution, respectively, at the blended fertilizer solution of 600 g/L $H_2O$, the PR obtained were 5.39 and 6.50, respectively. And as the concentration of blended fertilizer solution increased, the reverse solute flux for nitrogen (N), phosphorus (P), and potassium (K) increased nearly linearly, but specific reverse solute flux for them was reduced. The reverse solute flux and specific reverse solute flux became higher in the order of N > K > P.

• Journal of Korean Society of Water and Wastewater
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• v.35 no.1
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• pp.93-100
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• 2021

Forward osmosis (FO) process is a chemical potential driven process, where highly concentrated draw solution (DS) is used to take water through semi-permeable membrane from feed solution (FS) with lower concentration. Recently, commercial FO membrane modules have been developed so that full-scale FO process can be applied to seawater desalination or water reuse. In order to design a real-scale FO plant, the performance prediction of FO membrane modules installed in the plant is essential. Especially, the flux prediction is the most important task because the amount of diluted draw solution and concentrate solution flowing out of FO modules can be expected from the flux. Through a previous study, a theoretical based FO module model to predict flux was developed. However it needs an intensive numerical calculation work and a fitting process to reflect a complex module geometry. The idea of this work is to introduce deep learning to predict flux of FO membrane modules using 116 experimental data set, which include six input variables (flow rate, pressure, and ion concentration of DS and FS) and one output variable (flux). The procedure of optimizing a deep learning model to minimize prediction error and overfitting problem was developed and tested. The optimized deep learning model (error of 3.87%) was found to predict flux better than the theoretical based FO module model (error of 10.13%) in the data set which were not used in machine learning.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2000.04b
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• pp.365-370
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• 2000

A sliding mode fuzzy control (SMFC) algorithm is applied to design a controller for a benchmark problem on a wind- excited building. The structure is a 76-story concrete office tower with a height of 306 meters, hence the wind resistance characteristics are very important for the serviceability as well as the safety. A control system with an active tuned mass damper is assumed to be installed on the top floor. Since the structural acceleration is measured only at ,limited number of locations without measurement of the wind force, the structure of the conventional continuous sliding mode control may have the feed-back loop only. So, an adaptive least mean squares (LMS) filter is employed in the SMFC algorithm to generate a fictitious feed-forward loop. The adaptive LMS filter is designed based on the information of the stochastic characteristics of the wind velocity along the structure. A numerical study is carried out. and the performance of the present SMFC with the ,adaptive LMS filter is investigated in comparison with those of' other control, of algorithms such as linear quadratic Gaussian control, frequency domain optimal control, quadratic stability control, continuous sliding mode control, and H/sub ∞///sub μ/, control, which were reported by other researchers. The effectiveness of the adaptive LMS filter is also examined. The results indicate that the present algorithm is very efficient .

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.9
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• pp.1700-1707
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• 2011

Interior permanent magnet synchronous motor(IPMSM) adjustable speed drives offer significant advantages over induction motor drives in a wide variety of industrial applications such as high power density, high efficiency, improved dynamic performance and reliability. Since the fuzzy neural network(FNN) is recognized general approximate method to control non-linearities and uncertainties, the development of FNN control systems have also grown rapidly. The FNN controller is compounded of fuzzy and neural network. It has an advantage that is the robustness of fuzzy control and the ability to adapt of neural network. However, the FNN has static problem due to their feed-forward network structure. This paper proposes high performance speed control of IPMSM drive using the recurrent FNN(RFNN) which improved conventional FNN controller. The RFNN has excellent dynamic response characteristics because of it has internally feed-back structure. Also, this paper proposes speed estimation of IPMSM drive using ANN. The proposed method is analyzed and compared to conventional FNN controller in various operating condition such as parameter variation, steady and transient states etc.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.16 no.10
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• pp.981-991
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• 1991

LQG/LTR method suggested to improve robustness of LQG have a theoritical constraint that it cannot apply to nonminimum phase plant(NMP). In this paper, we suggest a new LQG/LTR method for NMP which consist of three design steps. The first step is design a additional feed-foward compensator which approximate the given NMP plant to minimum phase(MP) plant and the next step is design a target loop transfer function for approximated MP plant satisfying the design specifications such as robust-performance and robust-stability. The last step is loop transfor recovery(LTR) that the open loop transfer function recovers the terget loop. It was shown by simulation example that the suggested method can solve the NMP constraint in designing LQG/LTR.

• Journal of Ocean Engineering and Technology
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• v.32 no.5
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• pp.386-392
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• 2018

It is necessary to predict hydrodynamic derivatives when assessing the maneuverability of a submarine. The force and moment acting on the vehicle may affect its motion in various modes. Conventionally, the derivatives are determined by performing captive model tests in a towing tank or applying a system identification method to the free running model test. However, a computational fluid dynamics (CFD) method has also become a possible tool to predict the hydrodynamics. In this study, virtual captive model tests for a full-scale submarine were conducted by utilizing a Reynolds-averaged Navier-Stokes solver in ANSYS FLUENT version 18.2. The simulations were carried out at design speed for various modes of motion such as straight forward, drift, angle of attack, deflection of the rudder, circular, and combined motion. The hydrodynamic force and moment acting on the submarine appended rudders and stern stabilizers were then obtained. Finally, hydrodynamic derivatives were determined, and these could be used for evaluating the maneuvering characteristics of the submarine in a further study.

• 한국연소학회:학술대회논문집
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• 2015.12a
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• pp.131-134
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• 2015

국내 천연가스 열량제도를 현행 표준 열량제 $10,400kcal/Nm^3(43.54MJ/Nm^3)$에서 중간 조정기간을 두고 2012.07.01부터는 최저 $10,100kcal/Nm^3(42.28MJ/Nm^3)$을 유지하고 2015년 이후 $9,800(41.1MJ/Nm^3){\sim}10,600kcal/Nm^3(44.4MJ/Nm^3)$ 열량범위제도로 변경 추진되고 있다. 산업현장에서 열량변동을 측정하여 공연비 제어기술을 개발하고자 60ton Al 용해로에 열량대응기술 개발을 위한 내용으로 열량측정시스템설치 및 열량 값과 연계하여 공연비 제어기술개발연구 내용으로 결과는 다음과 같다. 단순히 표준열량으로 에 맞춰 프로그램된 제어로직에 열량변동에서 검출된 신호를 이용하여 연료보정 값을 추가한 로직을 재구성할 필요가 있다. 이 혀장의 경우는 용탕의 온도가 목표온도 근처까지 올리기가 어려워진 상황으로 주로 공급열량 저열량화에 따른 과잉공기영향으로 온도상승이 어려워 보이며 적절한 공연비로 최적화 되면 이러한 문제가 개선되리라 생각된다.

• Korean Journal of Food Science and Technology
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• v.41 no.4
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• pp.369-373
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• 2009

${\alpha}$-Waxy corn starch was used as a feed for twin-screw extrusion in order to enhance starch liquefaction with added thermostable ${\alpha}$-amylase (derived from Bacillus licheniformis). The residence time distribution and starch liquefaction were investigated. The starch liquefaction was analyzed in terms of reducing sugar contents, molecular size from gel permeation chromatography (GPC), and microstructure from scanning electron microscopy (SEM). The use of ${\alpha}$-starch contributed to the production of more reducing sugar than the use of raw starch use alone. From GPC, the effect of ${\alpha}$- starch on the molecular size reduction was shown to be small. From SEM, irregular and damaged surface were observed on the extrudate from ${\alpha}$-starch, as compared to those from raw starch. The spread of residence time distribution curves was greater with feed of ${\alpha}$-starch than raw starch, indicating that ${\alpha}$-starch was hard to flow forward during extrusion. This could be improved by increasing the feed moisture content and barrel temperature of extruder.

• Proceedings of the KIEE Conference
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• 2002.07b
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• pp.1091-1093
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• 2002

In this paper, the load torque observer is designed for speed and torque control of DC motor. Load torque is very sensitive to the variation and disturbance of the input parameters. The proposed system can accurately estimate the instantaneous speed even at the low speed range by using the load torque observer based on the torque component of DC motor. The system becomes robust against disturbances using a feed-forward control of the load torque estimated automatically at the speed observer.