• 대한임베디드공학회논문지
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• 제12권5호
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• pp.319-330
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• 2017

In remote USV (Unmanned Surface Vehicle) maritime operation, the remote operation and control technic and autonomous control technic is required and the emergency mode algorithm is needed certainly for sailing and accomplishing various surveillance, reconnaissance, and underwater search missions of USV. In this paper, we review the countermeasures in emergency situation of the existing USV system (Barracuda) and propose the emergency mode algorithm considering the operation and control, and autonomous control level for the stable USV operation in case of emergency. We analyzed the autonomous control level in view of the mission complexity and environmental difficulty, and human interface, and verified the performance of the autonomous control level when we apply four emergency mode algorithms. It is expected that more stable and reliable operation and cotrol are possible if the proposed algorithm is applied to the environments requiring the various multi-mission USV sailing and mission achievement.

• Journal of Oral Medicine and Pain
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• 제39권2호
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• pp.46-54
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• 2014

Purpose: The aim of this study was to investigate the effects of academic stress and self-control ability on temporomandibular disorder (TMD) of adolescents. Methods: Participants were 1,112 teenagers who were 1st grade students of middle and high school. After checking their academic stress and self-control ability through a self-administrated questionnaire, the students were examined their TMD by two trained dentists. We drew a comparison the level of their academic stress and self-control ability between the students with and without TMD. We divided them to four groups according to the level of academic stress and self-control. And we checked prevalence of TMD in each level. Results: The group of students with TMD was higher academic stress score level than the students without TMD (p<0.05). And they had lower self-control score level than the students without TMD (p<0.05). Even if they were under the same academic stress, the group of students with higher self-control score was less TMD prevalence than the students with lower score. Conclusions: Academic stress makes adolescents to increase TMD and high ability of self-control makes them to decrease it. And these tendencies are seemed to have a great influence on young male student.

• 자동차안전학회지
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• 제13권4호
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• pp.129-143
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• 2021

This paper proposes actuator fault detection and adaptive fault-tolerant control algorithms using performance index and human-like learning for longitudinal autonomous vehicles. Conventional longitudinal controller for autonomous driving consists of supervisory, upper level and lower level controllers. In this paper, feedback control law and PID control algorithm have been used for upper level and lower level controllers, respectively. For actuator fault-tolerant control, adaptive rule has been designed using the gradient descent method with estimated coefficients. In order to adjust the control parameter used for determination of adaptation gain, human-like learning algorithm has been designed based on perceptron learning method using control errors and control parameter. It is designed that the learning algorithm determines current control parameter by saving it in memory and updating based on the cost function-based gradient descent method. Based on the updated control parameter, the longitudinal acceleration has been computed adaptively using feedback law for actuator fault-tolerant control. The finite window-based performance index has been designed for detection and evaluation of actuator performance degradation using control error.

• 수산해양기술연구
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• 제60권1호
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• pp.71-79
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• 2024

In compliance with environmental regulations at sea and the introduction of unmanned autonomous ships, electric propulsion ships are garnering significant attention. Induction machines used as propulsion electric motor (PEM) have maintenance advantages, but speed control is very complicated and difficult. One of the most commonly used techniques for speed control is DTC (direct torque control). DTC is simple in the reference frame transformation and the stator flux calculation. Meanwhile, two-level and three-level voltage source inverters (VSI) are predominantly used. The three-level VSI has more flexibility in voltage space vector selection compared to the two-level VSI. In this paper, speed is controlled using the DTC method based on the specifications of the PEM. The speed controller employs a PI controller with anti-windup functionality. In addition, the characteristics of the two-level VSI and three-level VSI are compared under identical conditions. It was confirmed through simulation that proper control of speed and torque has been achieved. In particular, the torque ripple was small and control was possible with a low DC voltage at low speed in the three-level VSI. The study confirmed that the application of DTC, using a three-level VSI, contributes to enhancing the system's response performance.

• 한국원자력학회:학술대회논문집
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• 한국원자력학회 1996년도 추계학술발표회논문집(1)
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• pp.85-90
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• 1996

In this paper, the self-organizing fuzzy logic controller is developed for water level control of steam generator. In comparison with conventional fuzzy logic controllers, this controller performs control task with no control rules at initial and creates control rules as control behavior goes on, and also modifies its control structure when uncertain disturbance is suspected. Selected parameters in the fuzzy logic controller are updated on-line by the gradient descent loaming algorithm based on the performance cost function. This control algorithm is applied to water level control of steam generator model developed by Lee, et al. The computer simulation results confirm good performance of this control algorithm in all power ranges. This control algorithm can be expected to be used for automatic control of feedwater control system in the nuclear power plant with digital instrumentation and control systems.

• 한국환경보건학회지
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• 제16권1호
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• pp.29-43
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• 1990

The purpose of this study is to investigate the vairous change in the toxicity of cadmium by the simultaneous administration of selenium and zinc, which have been reported to change -the toxicity of cadmium through the interaction with cadmium, to rat. For the experiment, 42 rats of Sprague-Dawley strain were used. The experimental groups were divided into 6 groups: a control group, a cadmium (100ppm) alone treatment group, a cadmium (100ppm) and zinc (100ppm) combined treatment group, and three cadmium (100ppm), zinc (100ppm) and selenium (1, 4, and 8ppm) combined treatment groups. The rats were allocated seven to each group and observed for seven weeks. The results of experiment are as follows: 1. The food consumptions of each group were reduced, compared with a control group, especially, in a cadmium and zinc combined treatment group and a cadmium $\cdot$ zinc and selenium(1ppm) combined treatment group to the significant level compared with a control group (p < 0.05). The water consumptions of each group were reduced to the very significant level compared with a control group (p < 0.01). The feed efficiencies of each group were lower than a control group, and among them the highest group was cadmium $\cdot$ zinc and selenium (8ppm) combined treatment group as 90% of a control group. 2. In all groups, the weight gains were highest in the second week and the total weight gains were reduced to the very significant level compared with a control group (p < 0.01). 3. In all groups, the relative weights of liver were reduced, compared with a control group, especially, a cadmium alone treatment group was reduced to the significant level (p < 0.05). The relative weight of kidney was high to the significant level in a cadmium alone treatment group (p < 0.05) compared with a control group. In all groups, the relative weights of testis were reduced, compared with a control group, but the levels were not significant. 4. The accumulation of cadmium was highest in the kidney and the order of height was in liver, testis and blood, respectively. In all groups, the amount of cadmium accumulation was high to the very significant level compared with a control group (p < 0.01). In liver, the amount of acdmium accumulation in. a cadmium alone treatment group was high to the significant level compared with a cadmium $\cdot$ zinc and selenium (8ppm) combined treatment group (p < 0.05), and in kidney, the amount of cadmium accumulation in a cadmium alone tretment group was high to the very significant level compared with the cadmium $\cdot$ zinc and selenium (4, 8ppm) combined treatment groups (p < 0.01). However, in testis, among the treatment groups the level was not significant and in blood, a cadmium alone treatment group was low to the significant level compared with the cadmium $\cdot$ zinc and selenium (4, 8ppm) combined treatment groups (p < 0.05). 5. According to the histopathological finding on the testis, some of the seminiferous tubules of a group treated with cadmium alone showed severe necrosis and atrophy. But the testis of cadmium $\cdot$ zinc and selenium (8ppm) combined treatment group was similar to that of a control group. From the results of this study, it can be concluded that the repeated simultaneous oral administration of large doses of selenium with the cadmium produces the partial amelioration of cadmium toxicity, whereas zinc does not.

• 대한약침학회지
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• 제9권1호
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• pp.33-44
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• 2006

Objectives : We performed this study in order to investigate the effects of Sedang-hwan(世糖丸) on the diabetes mellitus. Methods : We injected a vein with 65mg/kg of streptozotocin(STZ) on the rats. And then administered Sedang-hwan; 18.7mg/kg/day to sample groups and observed the weight and glucose level, insulin, C-peptide, triglyceride, albumin, T-protein, BUN(Blood Urea Nitrogen) and creatinine in blood. Results : 1. The sample groups showed a high suppressive effect of weight loss(P=0.002). 2. The sample groups' glucose level showed a effective in lowering level(P=0.001). 3. The sample groups showed a higher insulin level than control groups. 4. The sample groups showed a higher C-peptide level than control groups(P=0.001). 5. The sample groups' triglyceride level showed a effective in lowering level. 6. The sample groups showed a higher HDL-cholesterol level than control groups(P<0.001). 7. The sample groups showed a higher T-protein level than control groups(P=0.04). 8. The sample groups showed a higher albumin level than control groups(P<0.001). 9. The sample groups' creatinine level showed a effective in lowering level(P=0.04). 10. The sample groups' BUN level showed a effective in lowering level(P=0.03). Conclusions : Conclusively, Sedang-hwan was recognized to have decrease effect of serum glucose, triglyceride, creatinine, BUN of the diabetic rats induced by streptozotocin. It was suggested that Sedang-hwan can be used for effective diabetes mellitus medical treatment. It is also required to study further about detailed principles of blood-sugar dropping effect by Sedang-hwan, and recovery by diabetes mellitus.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2011년도 정기총회 및 추계학술대회 논문집
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• pp.1066-1076
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• 2011

The subsystems of HSR train control system in each country has developed and operated till early 2000, however 2001/16/EC ERTMS is issued for inter-operability among European train control systems in 2001. So it is trend that ERTMS/ETCS has been applied to not only low-speed train system but high-speed train system over 300km/h in many countries of Europe. According to the government policies of the Honam HSR, metropolitan HSR and test lines, incoming on-board signal control system has been required caused by speed limit to 160km/h on the ground signal system. As ETCS-Level 1 system has applied in our railways from 2003, so our train control system has depended on foreign technologies. In this paper, we analyzed to localize train control system for being ready to protect foreign policies and obtaining core technologies of HSR train control system for instance ETCS-Level2.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1987년도 한국자동제어학술회의논문집; 한국과학기술대학, 충남; 16-17 Oct. 1987
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• pp.658-663
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• 1987

The new controller developed here, which is the facility with only one measurement, is a new concept for the level controller of the existing nuclear steam generator. A MACS (Microcomputer-based Adaptive Control System of a Steam Generator) is quite practical and efficient, and has also simple structure and higher flexibility in the installment for actual plant. A key ingredient of this system is adaptive regulator which can calculate adaptive, optimal valve position in response to changes in the dynamics of the process and the disturbances. In spite of many difficulties in the steam generator water level control at low power, it can be concluded from the experimental and simulation results, that the MACS can provide optimal, robust steam generator level control from zero to full power. The amount of the control input effort can be reduced by adjusting the weighting factor. However, the steady state water level errors are generated. To avoid the steady errors, the different adaptive algorithm should be investigated in the future. The 3 second sampling time is acceptable for this system. However, action should be taken to shorten the sampling time for better digital control.

• Journal of Mechanical Science and Technology
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• 제19권spc1호
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• pp.473-480
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• 2005

A three axes marine satellite antenna has been developed. As a design step, a CAD model for the antenna has been created according to the design requirements. Kinematic analyses are carried out to insure design specification and to check collision detection of the CAD model. Marine satellite antennas experience base motions, and a relevant control system should control the three antenna axis to point to the satellites accurately. A sensor fusion algorithm and a PIDA (Proportional, Integral, Derivative, Acceleration) control algorithm are designed and implemented to control the yaw, level, and cross-level angle of a small size satellite marine antenna. Antenna stabilization control experiments are performed using a test simulator which gives the antenna base motions. Experimental results show small pointing errors, which is less than 0.2 degree for the level, cross-level, and yaw axis.