• Journal of the Korea Institute of Information and Communication Engineering
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• v.19 no.7
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• pp.1694-1704
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• 2015

In this paper, a robust trajectory tracking control method of a wheeled mobile robot is newly proposed combining the PDC and the ISMC. The PDC is a relatively simple and easy control method for nonlinear system compared to the other non-linear control methods. And the ISMC can have robust and stable control characteristics against model uncertainties and disturbances from the initial time by placing the states on the sliding plane with desired nominal dynamics. Therefore, the proposed PDC+ISMC trajectory tracking control method shows robust trajectory tracking performance in spite of external disturbance. The tracking performance of the proposed method is verified through simulations. Even though the disturbance increases, the proposed method keeps the performance of the PDC method when there is no disturbance. However, the PDC trajectory tracking control method has increasing tracking error unlike the proposed method when the disturbance increases.

• Journal of Bio-Environment Control
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• v.13 no.4
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• pp.226-232
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• 2004

This experiment was conducted to investigate the effect of night and daytime temperatures on growth and yield of paprika 'Fiesta' and 'Jubilee' under soil culture experiment in the vinyl houses during the 2003 and 2004 season. Total fruit yield was greater in 'Fiesta' than 'Jubilee' Marketable yield was not different between two cultivars, due to lower $\%$ marketable fruits in 'Fiesta'. mean Fruit weight was not different between two cultivars. Difference of yield between cultivars was due to fruit number, harves time and root condition. It was caused by cracked fruits to decrease $\%$ marketable fruits. Total yield was greater in nighttime temperature of $18^{\circ}C\;than\;15^{\circ}C$ and marketable yield was considerably greater because of $\%$ marketable fruits was higher. Mean fruit weight was slightly greater in nighttime temperature of $15^{\circ}C\;than\;18^{\circ}C$. Difference of fruit yield in treatments of nighttime temperature was due to fruit number and harvest time. There was not significant difference of yield between daytime temperature of $28^{\circ}C\;and\;31^{\circ}C$, but in $34^{\circ}C$, total and marketable yields were the least and mean fruit weight was the smallest because of decreased $CO_2$ concentration in the house, accerated vegetative growth, and the least chlorophyll content. There were no significant difference in photosynthetic rate, transpiration rate, maximal photochemical efficiency and antioxidant enzyme activities of all temperature treatments in this experiment. However it was clear that a little difference in error range of these results affects the source of crops in any case. It was not acknowledged that compensation effect by high temperature in daytime to the low temperature treatment in nighttime.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.4 no.1
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• pp.77-88
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• 2000

In this paper, the 3-mode variable gain high power amplifier for a transmitter of INMARSAT-B operating at L-band(1626.5-1646.5 MHz) was developed. This SSPA can amplify 42 dBm in high power mode, 38 dBm in medium power mode and 36 dBm in low power mode for INMARSAT-B. The allowable errol sets +1 dBm as the upper limit and -2 dBm as the lower limit, respectively. To simplify the fabrication process, the whole system is designed by two parts composed of a driving amplifier and a high power amplifier. The HP's MGA-64135 and Motorola's MRF-6401 were used for driving amplifier, and the ERICSSON's PTE-10114 and PTF-10021 for the high power amplifier. The SSPA was fabricated by the RP circuits, the temperature compensation circuits and 3-mode variable gain control circuits and 20 dB parallel coupled-line directional coupler in aluminum housing. In addition, the gain control method was proposed by digital attenuator for 3-mode amplifier. Then il has been experimentally verified that the gain is controlled for single tone signal as well as two tone signals. In this case, the SSPA detects the output power by 20 dB parallel coupled-line directional coupler and phase non-splitter amplifier. The realized SSPA has 41.6 dB, 37.6 dB and 33.2 dB for small signal gain within 20 MHz bandwidth, and the VSWR of input and output port is less than 1.3:1. The minimum value of the 1 dB compression point gets more than 12 dBm for 3-mode variable gain high power amplifier. A typical two tone intermodulation point has 36.5 dBc maximum which is single carrier backed off 3 dB from 1 dB compression point. The maximum output power of 43 dBm was achieved at the 1636.5 MHz. These results reveal a high power of 20 Watt, which was the design target.