• Journal of Advanced Marine Engineering and Technology
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• 제17권5호
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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.

• 멤브레인
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• 제23권5호
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• pp.343-351
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• 2013

혼합 비료를 유도용액으로 하는 정삼투식 해수담수화에서 담수화 성능에 대한 유도용액 농도의 영향을 조사하였다. 혼합비료용액(DS)의 농도가 증가함에 따라 수투과선속은 거의 선형적으로 증가하였으나, PR (performance ratio)은 감소하였다. 또한 혼합비료용액의 농도가 600 g/L일 때, 해수 및 탈이온수를 각각 공급용액으로 하였을 경우 각각의 PR은 5.39 및 6.50이었다. 혼합비료용액의 농도가 증가함에 따라 N, P 및 K의 역용질선속은 거의 선형적으로 증가하였으나, 비역용질선속은 감소하였다. 역용질선속과 비역용질선속은 모두 질소(N) > 칼륨(K) > 인(P) 순으로 높게 나타났다.

• 상하수도학회지
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• 제35권1호
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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.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2000년도 봄 학술발표회논문집
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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 .

• 전기학회논문지
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• 제60권9호
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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.

• 한국통신학회논문지
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• 제16권10호
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• pp.981-991
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• 1991

LQG의 강인성 증진을 위하여 제안된 LGQ/LTR방법은 비 최소위상 플랜트에 대하여 적용할 수 없는 이론적 제한성을 갖는다. 본 논문에서는 비 최소위상 플랜트에 대해서도 적용될 수 있는 세 단계로 구성된 새로운 LQG/LTR방법을 제안한다. 첫번째 단계로 주어진 비 최소위상 플랜트를 최소위상 플랜트로 근사화 시키기 위한 부가적인 feed-forward 보상기를 설계하며 다음 단계에서 전개사양에 맞도록 근사화된 비 최소위상 플랜트에 대하여 목표 루우프를 설계한다. 마지막 단계로 개루우프의 전달함수가 목표 루우프로 회복시키는 LTR을 설계한다. 제안된 방법이 비 최소위상 플랜트에 대한 제약을 해결할 수 있음을 시뮬레이션 예제를 통하여 보인다.

• 한국해양공학회지
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• 제32권5호
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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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• 한국연소학회 2015년도 제51회 KOSCO SYMPOSIUM 초록집
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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.

• 한국식품과학회지
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• 제41권4호
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• pp.369-373
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• 2009

전분액화에 호화찰옥수수전분가 쌍축형 압출성형의 원료로 직접 사용되었다. 그 액화 효과와 체류시간분포를 분석하였다. 내열성 ${\alpha}$-amylase(Bacillus licheniformis로부터 분리)를 함께 첨가하여 사용하였다. 전분액화는 환원당측정, gel permeation chromatography(GPC), 주사전자현미경을 통하여 분석하였다. 배럴온도와 수분함량이 높을수록 환원당 함량은 증가하였고, 호화전분의 경우 생전분보다 더 많은 환원당이 생성되었다. GPC에서 호화전분의 사용에 의한 저분자화 효과는 뚜렷하지 않았으나, 효소 첨가없이 압출성형하는 경우에는 일부 효과가 있는 것으로 나타났다. 주사전자현미경의 미세구조에서는 호화전분을 쓸 경우 그 표면이 더 불규칙하고 침식되는 것을 관찰할 수 있었다. 종합적으로 호화전분의 사용이 전분액화에 효과가 있음을 알 수 있었다. 체류시간분포에서는 호화전분을 원료로 할 경우 그 분산도가 커지는 것으로 나타났다. 이는 호화전분은 압출성형의 흐름이 원만하지 않은 것을 의미하였으나, 배럴온도와 수분함량을 증가시킴에 따라 그 분산도를 감소시킬 수 있음을 알 수 있었다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 하계학술대회 논문집 B
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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.