• Journal of the Society of Disaster Information
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• v.5 no.2
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• pp.50-73
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• 2009

This paper is about the establishment of "Initial Response System." Initial response system is most important and should be treated urgently among all preparations for chemical terrorism. The objects of Initial response system are to protect civilians and the first responder who are exposed directly to chemical terrorism. Therefore, this paper suggests two main issues about Initial response system. One is to prepare immediate and exact information service system which assures the safety and survival of exposed people. The other is to build Scene Response System integrated with Command-Control Procedure for early finished situation. Compared to United States, overcoming the Chemical Terrorism requires to improve the contents of two categories: Counter Citizen Response part and Initial Scene Response part. For Counter citizen response part' s sake, the web-sites of Response leader agencies for searching information about chemical terrorism should be modified specifically. These web-sites have to be re-organized in detail. The existing Information service system which has been vaguely informed as "CBRNE Accident" needs to be divided as "CBRNE Accident" and "WMD terrorism." Further, each of them should be specialized in "Chemical', "Biological", and "Radiological" categories. There is a need to rearrange current Emergency Instruction for civilians against chemical terrorism in feasible way. At the same time, it should be applied consistently to all organizations through agreement between experts and related-organizations. For Initial Scene Response part's sake, "Initial scene response procedure (SOP)" and "Operational conception" should be produced through Simulated Exercises and workshops of all organizations related with initial response. These organizations have to cooperate with Ministry of Environment which is the main leader Agency as the center. Next, there is a need to develop a technology and Scene Response Equipments, and to standardize the response equipments which consider the capability of First Responders for chemical terrorism. Especially, improving capability of equipments is required to overcome the vulnerability of Scene Response Equipments.

• International Journal of Control, Automation, and Systems
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• v.5 no.4
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• pp.397-409
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• 2007

In this paper, we propose a nonlinear guidance law for missiles against maneuvering targets. First, we derive the equations of motion described in the line-of-sight reference frame and then we define the equilibrium subspace of the nonlinear system to guarantee target interception within a finite time. Using Sontag's formula, we derive a nonlinear guidance law that always delivers the state to the equilibrium subspace. If the speed of the missile is greater than that of the target, the proposed law has global capturability in that, under any initial launch conditions, the missile can intercept the maneuvering target. The proposed law also minimizes the integral cost of the control energy and the weighted square of the state. The performance of the proposed law is compared with the augmented proportional navigation guidance law by means of numerical simulations of various initial conditions and target maneuvers.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2012.05a
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• pp.529-532
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• 2012

This paper presents the system modeling, analysis, and controller design and implementation with a inverted pendulum system in order to test robust algorithm for sweeping machine. The balancing of an inverted pendulum by moving pendulum robot like as 'segway' along a horizontal track is a classic problem in the area of control. This paper will describe two methods to swing a pendulum attached to a cart from an initial downwards position to an upright position and maintain that state. The results of real experiment show that the proposed control system has superior performance for following a reference command at certain initial conditions.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.4
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• pp.209-218
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• 2001

Ultrasonic motors are newly developed motors which are expected to be useful as actuators in many practical systems such as robot arms or manipulators because of several advantages against the electromagnetic motors. However, the precise control of the ultrasonic motor is generally difficult due to the absence of appropriate and rigorous mathematical model. Furthermore, owing to heavy nonlinearity, the position control of a pendulum system driven by the ultrasonic motor has a problem that control method using multiple neural network controllers based on a fuzzy inference system that can determine the initial position of the pendulum in the beginning of control operation. In addition, and appropriate neural network controller that has been learned to operate well at the corresponding initial position is adopted by switching schemes. The effectiveness of the proposed method was verified and evaluated from real experiments.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1679-1680
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• 2008

DC motor has been widely used in industrial applications, because the performance is excellent on the speed and position system. However, when a system has parameter uncertainty, it is very difficult to guarantee its performance. Sliding mode control is robust for parameter uncertainty. However conventional sliding mode control can not have the properties of PID controller because its sliding surface has lower order dynamics than the original system. In this paper the sliding surface design method is proposed by using virtual state for DC motor speed control. Its design is based on the augmented system whose dynamics have one higher order than that of the original system. As a result, in spite of the parameter uncertainty, the proposed sliding surface can have the same dynamic of nominal system controlled by PID controller. And the reaching phase is removed by setting an initial state which makes the initial sliding surface equal to zero.

• Korean journal of food and cookery science
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• v.25 no.1
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• pp.90-97
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• 2009

Changes in the quality characteristics of doenjang prepared with a meju containing components of Acanthopanax senticosus, Angelica gigas and Corni fructus during storage were evaluated. Three types of doenjang produced using each of these components showed lower Hunter's L and a values than the values of the control during the initial stage of storage: however, these values were similar to those of the control after 60 days of storage. Doenjang containing A. gigas showed a similar degree of browning to that of the control during the early stage of storage, while the degree of browning observed in the other samples was much higher than that og the control during this period. Despite these initial differences, the browning in all samples became similar after extended storage. The level of acidity increased gradually for up to 60 days, after which it decreased slightly. The pH of all treatments decreased with storage time. The amino-N contents of all types of doenjang increased gradually, reaching peak values after 60 days. Doenjang with A. senticosus and A. gigas had a strong characteristic flavor that reduced the native flavor of doenjang. Doenjang with C. fructus showed a similar overall palatability to that of the control.

• Journal of Biosystems Engineering
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• v.37 no.2
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• pp.106-112
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• 2012

Purpose: A lab-scale timber carriage using a servo motor system was built. When two motors move a carriage, wire tension is changed according to the different line speeds caused by a wire drum's changing diameter, leading to inappropriate traveling characteristics of the carriage. In order to overcome this problem, PID Control was used to control the motor speed. Methods: Ziegler-Nichols method was used to determine PID gains. Results: The initial PID gains were 1.8, 0.025, and 0.006, respectively, and optimal gains of 1.4 and 0.010 for P and I gain were obtained experimentally. Conclusions: The results showed that constant wire tension could be maintained by controlling the speed of the motor using PI control. Overshoot occurred at initial motor operation due to vibration and elasticity of the wire itself.

• Smart Structures and Systems
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• v.8 no.2
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• pp.205-217
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• 2011

This article describes the research work involving the implementation of an Active Bracing System aimed at the modification of the initial dynamics of a laboratorial building structure to a new desired dynamics. By means of an adequate control force it is possible to assign an entirely new dynamics to a system by moving its natural frequencies and damping ratios to different values with the purpose of achieving a better overall structural response to external loads. In Civil Engineering applications, the most common procedures for controlling vibrations in structures include changing natural frequencies in order to avoid resonance phenomena and increasing the damping ratios of the critical vibration modes. In this study, the actual implementation of an active system is demonstrated, which is able to perform such modifications in a wide frequency range; to this end, a plane frame physical model with 4 degrees-of-freedom is used. The Active Bracing System developed is actuated by a linear motor controlled by an algorithm based on pole assignment strategy. The efficiency of this control system is verified experimentally by analyzing the control effect obtained with the modification of the initial dynamic parameters of the plane frame and observing the subsequent structural response.

• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2310-2312
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• 2003

This paper describes a navigation system for an autonomous vehicle in outdoor environments. The vehicle uses vision system to detect coordinates and DGPS information to determine the vehicles initial position and orientation. The vision system detects coordinates in the environment by referring to an environment model. As the vehicle moves, it estimates its position by conventional DGPS data, and matches up the coordinates with the environment model in order to reduce the error in the vehicles position estimate. The vehicles initial position and orientation are calculated from the coordinate values of the first and second locations, which are acquired by DGPS. Subsequent orientations and positions are derived. Experimental results in real environments have showed the effectiveness of our proposed navigation methods and real-time methods.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.1694-1700
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• 2004

In this paper, we propose the AWLS/MFT (Adaptive Weighed Least Squares/ Modulation Function Technique) devised by A. E. Pearson et al. for the transfer function estimation of a modal system and investigate the performance of several algorithms, the Gram matrix method, a Luenberger Observer (LO), Least Squares (LS), and Recursive Least Squares (RLS), for the estimation of initial conditions. With the benefit of the Modulation Function Technique (MFT), we can separate the estimation problem into two phases: the transfer function parameters are estimated in the first phase, and the initial conditions are estimated in the second phase. The LO method produces excellent IC estimates in the noise free case, but the other three methods show better performance in the noisy case. Finally, we compared our result with the Prony based method. In the noisy case, the AWLS and one of the three methods - Gram matrix, LS, and RLS- show better performance in the output Signal to Error Ratio (SER) aspect than the Prony based method under the same simulation conditions.