• Journal of the Korean Society of Groundwater Environment
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• v.3 no.2
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• pp.51-59
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• 1996

In case waste disposal site is to be constructed close to the underground facilities such as LPG storage cavern which is completely maintained by groundwater pressure, it is generally requested that the possibility on leachate contamination of cavern area be reviewed and the countermeasure, if it is estimated cavern area is severely affected by leachate, be taken into consideration. Prediction was performed and leachate control plan was made using by analytical and the numerical analysis on the leachate migration which is likely to happen at the area between the proposed waste disposal site and the underground LPG storage cavern located at the U petrochemical complex. Analytical solutions were obtained by the conservative mass advection-diffusion equation and the effect of advection and dispersion factor on the leachate migration was reviewed through peclet number calculation and the functional relationship between the factors and leachate transport velocity was established, which leads to enable us to predict the leachate transport velocity without difficulties when different parameters (factors) are used for analytical solution. Numerical solutions were obtained by FEM using AQUA2D which is for the simulation of groundwater flow and contaminant transport. 3-D discrete fracture models were simulated and fracture flow analysis was performed and feasibility study on the water-curtain system was conducted through the fracture connectivity analysis in rock mass. As results of those analyses, it was interpreted that the leachate would trespass on the LPG storage cavern area in 30 years from the proposed wate disposal site and the vertical water-curtain system was effective mathod for the prevention of leachate's migration further into the cavern area.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.1
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• pp.7-14
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• 2015

To implement an automatic picking system (APS) in distribution center with high precision and high dynamics, this paper presents a high gain observer-based robust speed controller design for a linear induction motor (LIM) drive. The force disturbance as well as the mechanical parameter variations such as the mass and friction coefficient gives a direct influence on the speed control performance of APS. To guarantee a robust control performance, the system uncertainty caused by the force disturbance and mechanical parameter variations is estimated through a high gain disturbance observer and compensated by a feedforward manner. While a time-varying disturbance due to the mass variation can not be effectively compensated by using the conventional disturbance observer, the proposed scheme shows a robust performance in the presence of such uncertainty. A Simulink library has been developed for the LIM model from the state equation. Through comparative simulations based on Matlab - Simulink, it is proved that the proposed scheme has a robust control nature and is most suitable for APS.

• Transactions of the Korean Society of Mechanical Engineers
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• v.9 no.5
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• pp.590-597
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• 1985

A recursive geometric adaptive control method to compensate for machining straightness error in the finished surface due to tool deflection and guideway error generated by end milling process is developed. The relationship between the tool deflection and the feedrate is modeled by a modified Taylor's tool life equation. Without a priori knowledge on the variations off cutting parameters, time varying parameters are then estimated by an exponentially windowed recursive least squares method with only post-process measurements of the straightness error. The location error is controlled by shifting the milling bed in the direction perpendicular to the finished surface and adding a certain amount of feedrate with respect to the tool deflection model before cutting. The waviness error is compensated by adjusting the feedrate during machining. Experimental results show that location error is controlled within a range of fixturing error of the bed on the guideway and that about 60% reduction in the waviness error can be achieved within a few steps of parameter adaption under wide operating ranges of cutting conditions even if the parameters do not converge to fixed values.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.1
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• pp.31-37
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• 2011

Recently gantry-type robot with 3 axes rectangular coordinates have been studied in the many industrial production equipment and machinery fields. To acquire a good handling and motion performance of this robot, reducing the settling-time and securing the accurate-transfer positioning under high-speed conditions should be required. However when robot is moved in high-speed, the large inertia of robot can lead to serious vibration of robot's head. The time-delayed control characteristics of this robot can also lead to tracking error. In this research, the analysis of the effects of higher order positional-profile is carried out to assure high-speed performance and stiffness specifications. To remove the residual vibration caused by kinematic coupling effect of dual-servo gantry, we develop a dual-servo gantry of rotary type that moving frame of x-axis rotates about z-axis. In order to decrease the tracking error, the 3 type lead-filter through system identification was applied respectively. From the experimental results, it was shown that zero-order series leader-filter has the best performance about tracking error and settling time.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.9 no.7
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• pp.1588-1593
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• 2005

In coagulant control of water treatment plants, rule extraction, one of datamining categories, was performed for coagulant control of a water treatment plant. Clustering methods were applied to extract control rules from data. These control rules can be used for fully automation of water treatment plants instead of operator's knowledge for plant control. To perform fuzzy clustering, there are some coefficients to be determined and these kinds of studies have been performed over decades such as clustering indices. In this study, statistical indices were taken to calculate the number of clusters. Simultaneously, seed points were found out based on hierarchical clustering. These statistical approaches give information about features of clusters, so it can reduce computing cost and increase accuracy of clustering. The proposed algorithm can play an important role in datamining and knowledge discovery.

• Korean Journal of Optics and Photonics
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• v.19 no.2
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• pp.132-139
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• 2008

In scanning laser optical tweezers, high speed scanning stages are used to manipulate a laser beam spot. Due to the inertia of the stage, the output scanning signal decreases with increased frequency of the input signal. This discrepancy in the signals is difficult to observe since most of the energy from the laser beam is blocked out to avoid CCD damage. In this paper, we propose two methods to alleviate these problems. Firstly, frequency responses of piezo stages are measured to analyze the signal drops and the input signal is compensated accordingly. Secondly, an overlay of the scanning path is drawn on the live monitoring screen to enhance the visibility of the scanning path. The result is a drop-compensated scanning with clear path view.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.6
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• pp.566-572
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• 2011

In recent semiconductor and FPD (Flat Panel Display) manufacturing processes, high clean-class delivery operation is required more and more for short working time and better product quality. Traditionally SLIM (Single-sided Linear Induction Motor) is widely used in the liner drive applications because of its simplicity in the rail structure. A magnetically levitated (Maglev) unmanned vehicle with SLIM traction, which is powered by a CPS (Contactless Power Supply) can be a high precision delivery solution for this industry. In this paper unmanned FPD-carrying vehicle, which can levitate without contacting the rail structure, is suggested for high clean-class FPD delivery applications. It can be more acceptable for the complex facilities composed with many processes which require longer rails, because of simple rail structure. The test setup consists of a test vehicle and a rounded rail, in which the vehicle can load and unload products at arbitrary position commanded through wireless communications of host computer. The experimental results show that the suggested vehicle and rail have reasonable traction servo and robust electromagnetic suspensions without any contact. The resolution of point servo errors in the SLIM traction system is accomplished under 1mm. The maximum gap error is ${\pm}0.25mm$ with nominal air gap length of 4.0mm in the electromagnetic suspensions. This type of automated delivery vehicle is expected to have significant role in the clean delivery like FPD glass delivery.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.6
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• pp.599-607
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• 2011

In this paper, a reaction-force compensation system for an XY linear motion stage, without an additional external isolation structure or extra motors, is developed. This system consists of a movable magnet track, a spring, a dummy weight, and a dedicated sensor module that measures the relative positions of the movable magnet track with respect to the motor coil. The reaction force compensation system is modeled, and simulations are carried out to optimize design parameters such as the moving distance of the magnet track, the transmission force, the dummy weight, and the allowed size of the mechanism. An XY linear motion stage is built, incorporating the reaction force compensation system, and the performance of the system is verified experimentally. For acceleration and deceleration values of 10 m/$s^2$, 85% of the reaction force is absorbed by the reaction force compensation system.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.10 no.11
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• pp.3066-3073
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• 2009

Joint paths of master and branch pipes are induced mathematically for many kinds of joint patterns between both pipes in 3-axis pipe profile-cutting machines. By compensating them with a kerf width, the real cutting paths are determined, and their CL-data are generated, and the tool paths generated by CL-data are verified by a ghost function. A bevelling of welds is implemented through tilting a cutting torch in the $\beta$-axis direction for 8 sections in the chuck rotation of $\alpha$-axis. A PLC controls simultaneously position and velocity in a real time for $\alpha$, X, $\beta$-axis by loading CL-data generated. We developed the PLC-controlled 3-axis pipe profile-cutting system which can cut a master or branch pipe along the cutting path and simultaneously do a bevelling process.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2017.05a
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• pp.5-13
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• 2017

To lunch the Korea Space Launch Vehicle-II(KSLV-II), the second launch complex will be constructed on the Naro Space Center and Kerosene Filling System (KFS) will be also installed newly. KFS of KSLV-II launch complex system is being designed based on Naro Launch Complex. But this must supply fuel to fuel tanks of the vehicle with only a supply pump because KSLV-II is a 3-stage launch vehicle unlike Naro Launch Vehicle or Test Launch Vehicle (TLV). A sudden rise of pump output pressure is recognized during fuel filling scenario selection process. This occurs because return flow can not actively deal with a lot of flow change using flow control method of orifice type. To solve this problem, it is verified that fuel can be stably supplied by installation of accumulator and an appropriate adjustment of filling mode change sequence through flow analysis of various cases.