• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.1
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• pp.102-107
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• 2021

This paper discusses the containment control problem for multi-agent systems with input saturations. The goal of the containment control is to obtain swarming behavior by driving follower agents into the convex hull which is spanned by multiple leader agents. This paper considers multiple leader agents moving at the same constant speed. Then, to solve the containment problem for moving leaders, we propose a PI-based distributed control algorithm. We next analyze the convergence of follower agents to the desired positions. Specifically, we apply the integral-type Lyapunov function to take into account the saturation nonlinearity. Then, based on Lasalle's Invariance Principle, we show that the asymptotic convergence of error states to zero for any positive constant gains. Finally, numerical examples with the static and moving leaders are provided to validate the theoretical results.

• Advances in aircraft and spacecraft science
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• v.8 no.4
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• pp.345-372
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• 2021

The analysis of nonlinear vibrations, buckling, post-buckling, flutter boundary determination and post-flutter behavior of a homogeneous curved plate assuming cylindrical bending is conducted in this article. Other assumptions include simply-supported boundary conditions, supersonic aerodynamic flow at the top of the plate, constant pressure conditions below the plate, non-viscous flow model (using first- and third-order piston theory), nonlinear structural model with large deformations, and application of mechanical and thermal loads on the curved plate. The analysis is performed with constant environmental indicators (flow density, heat, Reynolds number and Mach number). The material properties (i.e., coefficient of thermal expansion and modulus of elasticity) are temperature-dependent. The equations are derived using the principle of virtual displacement. Furthermore, based on the definitions of virtual work, the potential and kinetic energy of the final relations in the integral form, and the governing nonlinear differential equations are obtained after fractional integration. This problem is solved using two approaches. The frequency analysis and flutter are studied in the first approach by transferring the handle of ordinary differential equations to the state space, calculating the system Jacobin matrix and analyzing the eigenvalue to determine the instability conditions. The second approach discusses the nonlinear frequency analysis and nonlinear flutter using the semi-analytical solution of governing differential equations based on the weighted residual method. The partial differential equations are converted to ordinary differential equations, after which they are solved based on the Runge-Kutta fourth- and fifth-order methods. The comparison between the results of frequency and flutter analysis of curved plate is linearly and nonlinearly performed for the first time. The results show that the plate curvature has a profound impact on the instability boundary of the plate under supersonic aerodynamic loading. The flutter boundary decreases with growing thermal load and increases with growing curvature.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.11
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• pp.53-67
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• 1998

This paper suggests a method designing the TSK fuzzy controller based on the TSK fuzzy model, which guarantees the stability of the closed loop system and makes the response of the closed loop system to be a desired one. This paper deals with the general type of TSK fuzzy model of which consequents are affine equations having a constant term. The TSK fuzzy controller suggested in this paper is designed by using the pole placement which developed for the linear systems and makes the closed loop system have the same behavior as a desired linear system. A reference input can be introduced to the suggested TSK fuzzy controller and an integral action also can be introduced. Simulation results reveal that the suggested methods are practically feasible. This paper deals with both the continuous systems and the discrete systems.

• International Journal of Industrial Entomology and Biomaterials
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• v.6 no.2
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• pp.191-196
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• 2003

Silkworm body and rearing seat disinfection is an integral part of effective silkworm rearing as it prevents the spread of various diseases through secondary contamination in the rearing bed. Many bed disinfectants are recommended by various research institutes in India. In the present study, eight bed disinfectants viz., Vijetha, Labex, Resham Jyothi, Sanjeevini, Suraksha, Reshamkeet Oushadh, Dithane M45 and Captan recommended by various Sericultural Research Institutions in the country against the spread of common diseases of silkworm were tested to determine their comparative efficacy. For the study, all the treatment batches were introduced with fixed number of specific diseased larvae so as to maintain a constant source of pathogen in the bed and then followed by treatment with respective bed disinfectants. Percent mortality/infection due to each disease was recorded to determine efficacy of bed disinfectant treatment against respective disease. The results show that all the bed disinfectants tested have considerable efficacy against the spread of various diseases in the rearing bed. However, Vijetha was distinctly superior in its efficacy against all four major diseases of silkworm. The study emphasize the role of bed disinfectants in silkworm rearing and the fact that they should be judiciously selected based on the efficacy of the bed disinfectant and the type of disease prevalent in a particular season and area.

• Journal of Energy Engineering
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• v.2 no.3
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• pp.308-314
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• 1993

Both Vapor-liquid equilibrium data and boiling temperature have been measured for ternary and each corresponding binaries of n.dodecane-1.decanol-1.dodecanol mixture under constant pressure of 15 mbar. Measured vapor-liquid equilibrium data were correlated with the conventional g$\^$E/ model ; Margules, van Laar, Wilson, NRTL and UNIQUAC equations. Binary equilibrium data were thermodynamically tested by Redlich-Kister integral method and ternary data were also qualitatively checked by two point consistency test, suggested by McDermott-Ellis. Among the binary VLE data, only the system n.dodecane-1.decanol has minimum boiling azeotrope.

• Proceedings of the KIEE Conference
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• 2005.10b
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• pp.158-160
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• 2005

This paper presents a new approach to the problem of designing a cascaded three-parameters controller for a given linear time invariant (LTD plant in unity feedback system. We consider a proportional-integral-derivative (PID) and a first-order controller with specified overshoot and settling time. This problem is difficult to solve because there may be no analytical solution due to the use of low-order controller and furthermore. the zeros of controller just appear in the zeros of feedback system. The key idea of our method is to impose a constraint on the controller parameters so that the zeros of resulting controller are distant from the dominant pole of closed-loop system to the left as far as the given interval. Two methods realizing the idea are suggested. We have employed the characteristic ratio assignment (CRA) in order to deal with the time response specifications. It is noted that the proposed methods are accomplished only in parameter space. Several illustrative examples are given.

• Biomedical Science Letters
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• v.19 no.3
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• pp.180-187
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• 2013

Hypoxia is an integral part of the environment during luteolysis. In this study we examined whether hypoxia could directly stimulate endothelial cells to produce nitric oxide (NO). Endothelial cells were cultured in hypoxic (5% $O_2$) or normoxic (20% $O_2$) conditions and the levels of total NO, inducible NO and endothelial NO was measured. We found that hypoxia but not normoxia upregulated NO production. The increased NO levels correlated with increased inducible NO synthase (iNOS) expression whereas expression of endothelial NOS (eNOS) expression remained constant. Addition of the iNOS specific inhibitor 1400W to hypoxic cultures prevented NO production suggesting that hypoxia-induced NO production in endothelial cells was due mainly to upregulation of iNOS. We also found that prostaglandin $F_{2{\alpha}}$ (PGF) production was unaffected by hypoxia suggesting that upregulation of NO was not due to increased synthesis of PGF. In summary, we report that endothelial cells cultured under hypoxic conditions produce NO via the iNOS pathway. This study provides the importance of the relation between the hypoxic environment and the induction of NO by endothelial cells during regression of the corpus luteum in the ovary.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.923-928
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• 2003

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or comer. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and the results have proved that the mobile robot has enough ability to apply the lattice type welding line.

• Journal of Mechanical Science and Technology
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• v.16 no.1
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• pp.83-93
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• 2002

This paper presents a motion control method and its simulation results of a mobile robot for a lattice type welding. Its dynamic equation and motion control methods for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven for following straight line or curve. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider control. For the torch slider control, the proportional-integral-derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the corner with range of 90$^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and these results have proved that the mobile robot has enough ability to apply the lattice type welding line.

• Journal of the Korean Society for Precision Engineering
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• v.9 no.3
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• pp.73-82
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• 1992

An industrial robot, installed real manufacturing processes an element of the system autmation, can be considered as an uncertain system due to dynamic uncertainties in inertial parameters and varying payloads. Most difficuties in controlling a robot manipulator are caused by the fact that the dynamic equations describing the motions of the manipulator are inherently nonlinear and heavily coupled effects between joints and associated links. Existing robot conrol systems have constant predefined gains and do not cover the complex dynamic interactions between manipulator joints. As a result, the manipulator is severly limited in range of application, speed of operation and variation of payload. The proposed controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories defined by the desinger. The proposed manipulator studied has two loops, an inner loop of model reference adaptive controller and an outer loop of state feedback controller with integral action to guarantee the stability of the adaptive scheme. This adaptation algorithm is based on the hyperstailiy approach with an improved Lyapunov function. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance in practical working environment, various load variations and parameter uncertainties.