• International Journal of Aeronautical and Space Sciences
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• 제12권1호
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• pp.16-23
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• 2011

In this paper, nonlinear model predictive control (NMPC) is addressed to develop formation guidance for multiple unmanned aerial vehicles. An NMPC algorithm predicts the behavior of a system over a receding time horizon, and the NMPC generates the optimal control commands for the horizon. The first input command is, then, applied to the system and this procedure repeats at each time step. The input constraint and state constraint for formation flight and inter-collision avoidance are considered in the proposed NMPC framework. The performance of NMPC for formation guidance critically degrades when there exists a communication failure. In order to address this problem, the modified optimal guidance law using only line-of-sight, relative distance, and own motion information is presented. If this information can be measured or estimated, the proposed formation guidance is sustainable with the communication failure. The performance of this approach is validated by numerical simulations.

• 대한전기학회논문지
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• 제43권6호
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• pp.971-981
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• 1994

In this paper, we consider feedback-linearizing control of VR (Variable Reluctance) motors which have been increasingly used in high performance direct-drive applications. We characterize all torque controllers that can make the generated torque of a VR motor linear to torque command but without torque ripple. The torque controlles maximize the range of torque commands which are admissible under the physical limitation in stator currents. The whole class of all such torque controllers is parameterized in the explicit form which contains a function to be chosen freely. This free function can be used to achieve other control objectives as well as linear dynamic characteristics. As the examples for optimal choices of the free function, we actually determine two optimal free functions, one for minimal rate of change in current commands and the other for minimal power loss due to stator resistance. To illuminate further the practical use of torque controllers proposed in this paper, we present some experimental results for the case of a commercially available VR motor.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 1998년도 추계학술대회논문집:21세기에 대비한 지능형 통합항만관리
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• pp.159-165
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• 1998

In this paper the sway-control problem of a container crane is investigated. The control loop is divided into two stages. The first stage is a modified time optimal control for trolley traversing. The velocity command for trolley traversing consists of three components ; a reference velocity and two feedback signals for compensating the deviations of trolley and sway angle from their desired trajectories. For trolley's exact positioning the trolley dynamics is identified via an error equation identifier structure. The second stage is a nonlinear residual sway control that starts at the end of first stage. The control design for the second stage is investigated from the perspective of controling an underactuated system, and the control law combines the feedback linearization and variable structure control.

• 동력기계공학회지
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• 제12권1호
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• pp.72-79
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• 2008

This paper designs a looper-tension controller for mass-flow stabilization in hot strip finishing mills. By Newton's 2nd law and Hooke's law, nonlinear dynamic equations on the looper-tension system are firstly derived, and linearized by a linearization algorithm using a Taylor's series expansion. Moreover, a tension calculation model is obtained from the nonlinear dynamic equations which is called as a soft sensor of strip tension between two neighboring stands. Next, a looper-tension servo controller is designed by an ILQ(Inverse Linear Quadratic optimal control) algorithm, and it is combined with a minimal disturbance observer which to attenuate speed disturbances by AGC and operator interventions, etc.. Finally, it is shown from by a computer simulation that the proposed ILQ controller with a disturbance observer is very effective in stabilizing the strip mass-flow under some disturbances, moreover it has a good command following performance.

• 대한산업공학회지
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• 제29권3호
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• pp.222-229
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• 2003

In this paper, we address a layout design problem, PTN[2], for determining an appropriate 2-class-based dedicated storage layout in a class of unit load storage systems. Our strong conjecture is that PTNI2] is NP-hard. Restricting PTN[2], we provide three solvable cases of PTN[2] in which an optimal solution to the solvable cases is one of the partitions based on the PAI(product activity index)-nonincreasing ordering. However, we show with a counterexample that a solution based on the PAI-non increasing ordering does not always give an optimal solution to PTN[2]. Utilizing the derived properties, we construct an effective heuristic algorithm for solving PTN[2] based on a PAI-non increasing ordering with performance ratio bound. Our algorithm with O($n^2$) is effective in the sense that it guarantees a better class-based storage layout than a randomized storage layout in terms of the expected single command travel time.

• 대한전기학회논문지
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• 제45권1호
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• pp.74-80
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• 1996

This paper describes current controlled PWM technique of PM synchronous motors for a wide variety of speed control applications. They are however limited in their ability to operate in the power limited regime where the available torque is reduced as the speed is increased above its base value. This paper reviews the operation of the PMSM drives when they are constrained to be within the permissible envelope of maximum inverter voltage and current to produce the rated power and to provide this with the highest attainable rotor speed. The optimal field-weakening control algorithm is the use of phase current and d-axis current feedback to reduce of error between the d-axis current command and real current and to improve the torque characteristics. The improved torque characteristics of speed control strategy with optimal field weakening control algorithm is analyzed and the performance is investigated by the computer simulation and experimental results. (author). refs., figs.

• 대한산업공학회지
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• 제16권1호
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• pp.99-106
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• 1990

With two-class-based storage assignment policy and dual command cycle in Automated Storage/Retrieval Systems(AS/RS), the problem of determining the region dedicated for class-one item is considered. First, the expected travel time of the S/R machine is derived when the boundary of the class-one region is square. Secondly, a heuristic procedure is proposed which determines sequentially the class-one region in a discrete rack. An application of the procedure generates leaf shape region which confirms that the L-shape partition is not necessarily optimal.

• 한국항해항만학회지
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• 제31권7호
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• pp.597-603
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• 2007

A predictive controller can solve a control problem related to a disturbance-dominant system such as roll stabilization of a ship in waves. In this paper, a predictive controller is developed for a fin stabilizer. Future wave-induced moment is modeled simply using two typical regular wave components for which six parameters are identified by the recursive Fourier transform and the least squares method using the past time series of the roll motion. After predicting the future wave-induced moment, optimal control theory is applied to discover the most effective command fin angle that will stabilize the roll motion. In the results, wave prediction performance is investigated, and the effectiveness of the predictive controller is compared to a conventional PD controller.

• 대한기계학회논문집A
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• 제34권6호
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• pp.781-787
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• 2010

고장의 특성을 예상하는 것은 미래의 고장을 예견하고 최적의 교체간격을 결정할 수 있도록 해주기 때문에 정비 계획에서 매우 중요하다. 본 연구에서는 신뢰도 해석에서 가장 전통적인 방법 중의 하나인 확률지에 도시하는 기법을 이용하여 J79 엔진 Transfer Gearbox의 고장 분포를 검토하였다. 고장 데이터에 대한 적절한 분포를 찾기 위해서 다양한 확률분포가 이용되었으며, 얻어진 상관계수는 고장데이터가 대수정규분포에 가장 근접함을 나타내었다. 예상되는 비계획 정비행위의 횟수와 다양한 비용 비율에 대해서 최적의 교체간격을 구하였다.

• 분석과학
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• 제30권6호
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• pp.319-328
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• 2017

The identification of explosive residues on specimens obtained from an explosion event is a crucial factor for assessing the cause of the explosion. In order to detect the components of explosives, the explosive residues deposited on surfaces are commonly extracted using swabbing materials pre-wetted with an organic solvent. The residues are then analyzed with analytical instruments such as LC/MS and CE/MS. Most conventionally used swabbing media such as cotton swabs or cotton tip swabs seem unsuitable for extracting explosive residues from the surface of a large area of clothes because the swabbing materials tend to be damaged easily, and because only a relatively small amount of explosives is collected. To overcome these problems, we have introduced a novel wiper ($215{\times}210mm$, single layer, Yuhan-Kimberly, Republic of Korea) as a swabbing material to recover representative organic explosives, namely, TNT, RDX, tetryl, HMX, PETN, and NG, from a large area of clothes. Different sides of the wiper, which was folded in half five times, was used to swab the surface of a clothing. We compared this novel wiper with a cotton swab and a cotton tip swab in terms of the recovery efficiency for the aforementioned organic explosives by pre-wetting with methanol, acetone, and acetonitrile, respectively. We identified that this novel wiper collected a significantly higher amount of organic explosive residues than a cotton swab or a cotton tip swab when using methanol as an extracting solvent.