• Journal of Institute of Control, Robotics and Systems
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• v.8 no.8
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• pp.639-648
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• 2002

The stewart platform manipulator is a manipulator that has the closed-loop structure with an upper plate end-effector and a base frame. The stewart platform manipulator has the merit of high working accuracy and high stiffness compared with a serial manipulator. However, this is a complex structure, so controllability of the system is not so good. In this paper, we introduce a new robust motion control algorithm using partial state feedback for a class of nonlinear systems in the presence of modelling uncertainties and external disturbances. The major contribution of this work introduces the development and design of robust observer for the state and the perturbation, which is integrated into a variable structure controller(VSC) structure. The combination of controller/observer improves the control performance, because of the robust routine called sliding mode control with sliding perturbation observer(SMCSPO). Simulation and experiment are performed to apply to the manipulator. And their results show a high accuracy and a good performance.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.2 s.179
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• pp.43-50
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• 2006

Recently, with rapid development of semiconductor and flat panel display, the manufacturing equipments are required to have large travel range, high productivity, and high accuracy. In this paper, an ultra precision decoupled dual servo (DDS) system is proposed to meet these requirements. And a control scheme for the DDS is studied. The proposed DDS consists of a $XY{\Theta}$ fine stage for handling work-pieces precisely and a XY coarse stage for large travel range. The fine stage consists of four voice coil motors (VCM) and air bearing guides. The coarse stage consists of linear motors and air bearing guides. The DDS is mechanically decoupled between coarse stage and fine stage. Therefore, both stages must be controlled independently and the performance of the DDS is mainly determined by the fine stage. For high performance tracking, the controller of fine stage consists of time delay control (TDC) and perturbation observer while the controller of coarse stage is TDC alone. With these individual controllers, two kinds of dual-servo control strategies are suggested: master-slave type and parallel type. By simulations and experiments, the performances of two dual-servo control strategies are compared.

• Water for future
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• v.24 no.2
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• pp.81-95
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• 1991

For investigation of the interaction of tide and river flow, the derived equations are solved analytically using the approximation method of perturbation. The convective inertia and nonlinear bottom friction terms are included in the derivations. The harmonic analysis is applied to decompose the complicated interaction of the freshwater discharge with various constituents of tide into its individual interaction with each constituent. In this study, four main constituents(M2, S2, Kl, 01) are included. The relations of dimensionless parameters of the tide, especially the dimensionless damping modulus, are then determined for each solution. The results show that analytical solution of dimensionless damping modulus underestimates the measured value obtained from harmonic analysis. Results of water level obtained by applying the analytical model to a tidal reach of the Keum River in the years 1981 and 1982 show very good agreement with those obtained from the harmonic analysis.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.4 no.4
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• pp.219-224
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• 1992

A numerical method using the truncated Fourier series is presented to predict the wave potential and water surface profile for two dimensional nonlinear standing waves. The unknown coefficients of the series are to be determined through the Newton solution of nonlinear simultaneous equations given by the governing equation and boundary conditions of the problem. In order to prove the effectiveness of the present method. an existing Stokes-like perturbation method is considered together, and a hydraulic experiment for measuring water surface profile and wave pressure is performed as well. The results are such that the present method can generally give exact solutions even for relatively big wave stiffness regardless of the water depth condition. It also demonstrates its validity by showing double humps in the crest of temporal wave pressure profile which normally appear in strongly nonlinear standing waves.

• Proceedings of the Korea Water Resources Association Conference
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• 2022.05a
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• pp.442-442
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• 2022

고해상도 시공간적 격자 형태의 레이더 강수는 돌발홍수(flash flood)와 같은 기상재해에 대비하기 위하여 실시간 예측정보로 활용된다. 그러나 대부분의 레이더 강수는 과소 추정되는 경향이 있어 정량적인 보정 과정인 QPE (Quantitative Precipitation Estimation)가 필요하다. 일반적으로 레이더 강수자료 보정은 지점 관측자료를 활용하지만, 본 연구에서는 지상 강수량 기반의 고해상도 격자 강수자료를 생산하여 레이더 강수자료와 직접적으로 비교하고자 한다. 이에 고도와 지형적 특성을 고려한 PRISM(Precipitation-elevation Regressions on Independent Slopes Model) 방법을 사용하여 고해상도 격자기반의 자료를 생성하였다. PRISM 방법은 고도와 지리정보를 독립변수로 갖는 회귀모형 기반의 기후인자 추정 모형이다. 생산된 고해상도 격자 강수자료와 레이더 강수자료를 QPF (Quantitative Precipitation Forecast) 모델의 입력자료로 사용하여 예측결과를 비교하였다. 해당 QPF 모델은 이류(advection)와 확률론적 섭동(stochastic perturbation)을 기반으로 하며, 강수 앙상블 자료를 생산한다. QPF 모델에 대해 투 트랙(two-track) 방법으로 생산된 예측정보를 통해 레이더 강수자료의 격자별 후처리 보정이 가능할 것으로 판단된다.

• Journal of Astronomy and Space Sciences
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• v.20 no.1
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• pp.29-42
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• 2003

The KSR-3 magnetometers consist of the fluxgate magnetometer (MAG/AIM) for acquiring the rocket flight attitude information, and the search-coil magnetometer (MAG/SIM) for the observation of the Earth's magnetic fluctuations. The position (latitude, longitude, and height) and flight condition (the transformation angle) of the rocket is measured after the data based on these two magnetometers are compared with IGRF The gap in the vector of magnetic field between the position of the launching point and an impact point is taken into account in data reduction. Angular variation of pitch, yaw, and roll can be researched when the data is applied to the coordinate system of the rocket.

• Journal of Space Technology and Applications
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• v.3 no.2
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• pp.101-117
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• 2023

Active debris removal, a technology that approaches and removes space debris in orbit, and the on-orbit service, a technology for extending the mission life of satellites by fuel charging or by exchanging the battery, are gaining interest with the growth of the space community. SaTReC plans to develop a satellite capable of capturing and removing Korean satellites orbiting in space after the end of their missions. In contrast to the previously launched satellites by Korea, which were mainly intended to observe Earth and the space environment, rendezvous/docking technologies, as required in the future during, for instance, space exploration missions, will be implemented and demonstrated. In this paper, an orbital transition method for next-generation small satellites that will capture and remove space debris will be introduced. It is assumed that a small satellite with a mass of approximately 200 kg will be injected into the mission orbit through Korea Space Launch Vehicle-II in 2027. Because the satellite must access the target using a minimum amount of fuel, an approaching technology using Earth's J2 perturbation force has been developed. This method is expected to enable space debris removal missions for relatively lightweight satellites and to serve as the basis for carrying out a new type of space exploration in what is termed the 'Newspace' era.

• Journal of Korea Water Resources Association
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• v.33 no.3
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• pp.365-374
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• 2000

This paper is to present the determination of the optimal Joss rate parameters and urnt bydrographs from the observed single rainfall-runoff event using optimization models coupled with a stochastic technique for the global solution. Two kinds of the linear program models are formulated to derive the optimal unit hydrographs and loss rate parameters for gaged basins; one mimmizes the summation of the absolute residual between predlCted and observed runoff ordinates and the other, the maximum absolute residuaL Multistart algorithm which is one or stochastic techniques for the global optimum is adopted to perturb the parameters of the loss rate equations. Multistart efficiently searches the feasIble region to identify the global optimlUll for loss rate parameters, which yields the optimal loss rate parameters and unit hydrograph for Kostiakov's, Plulip's, and Horton's equation. The unique unit hydrograph ordinates for a gIven rainfall-runoff event iS exclusrvely obtained WIth $\Phi$ index, but unit hydrograph ordinates depend upon the parameters [or each loss rate equations. The parameters of Green-Ampt's are determined through a trial and error method. In this paper the single rainfall-nmoff event observed from a watershed is considered to test the proposed method. The optimal unit hydrograph herein found has smaller deviations than the ones reported previously by other researchers.

• Economic and Environmental Geology
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• v.54 no.3
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• pp.373-387
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• 2021

In this study, the impact of clustered groundwater usage facilities and the proper amount of groundwater usage in the Daejeong-Hangyeong watershed of Jeju island were evaluated based on the data-driven analysis methods. As the applied data, groundwater level data; the corresponding precipitation data; the groundwater usage amount data (Jeoji, Geumak, Seogwang, and English-education city facilities) were used. The results show that the Geumak usage facility has a large influence centering on the corresponding location; the Seogwang usage facility affects on the downstream area; the English-education usage facility has a great impact around the upstream of the location; the Jeoji usage facility shows an influence around the up- and down-streams of the location. Overall, the influence of operating the clustered groundwater usage facilities in the watershed is prolonged to approximately 5km. Additionally, the appropriate groundwater usage amount to maintain the groundwater base-level was analyzed corresponding to the precipitation. Considering the recent precipitation pattern, there is a need to limit the current amount of groundwater usage to 80%. With increasing the precipitation by 100mm, additional groundwater development of approximately 1,500m³-1,900m³ would be reasonable. All the results of the developed data-driven estimation model can be used as useful information for sustainable groundwater development in the Daejeong-Hangyeong watershed of Jeju island.

• Journal of the Korean Magnetics Society
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• v.13 no.1
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• pp.1-5
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• 2003

Magnetic and structural properties of $(CoFe_2O_4)_{1-x}(Y_3Fe_5O_{12})_x$ powders (0 $\leq$ x $\leq$ 1) grown by a conventional ceramic method were investigated using X-ray diffractormeter (XRD), scanning electron microscopy (SEM), Mossbauer spectroscopy and vibrating sample magnetometer (VSM). The XRD results for the powders annealed at 120$0^{\circ}C$ indicated that no other peak was observed except for the ones from cobalt ferrite and the garnet powder. SEM micrographs indicated that cobalt ferrite and garnet powders were aggregated and completely formed together. It was hard to identify which part of the powders was the garnet or the cobalt ferrite. Mossbauer spectra for powders grown separately and mixed mechanically consisted of sub-spectra of cobalt ferrite and garnet, however, powders annealed together had an extra sub-spectrum, which was related with the interaction between iron ions at the grain surfaces of cobalt ferrite and the garnet: cobalt ferrite and garnet particles were located very closely. The value of the saturation magnetization measured by a VSM as a function of composition ratio agreed very well with the ones based on the theoretical calculation.