• Journal of Institute of Control, Robotics and Systems
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• v.13 no.4
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• pp.304-308
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• 2007

This paper deals with ANN(Artificial Neural Networks) and its application to automatic ship berthing. Due to the characteristic of ship's manoeuvre comparing with other moving objects on land, it has been known that the automatic control for ship's berthing cannot cope with various berthing situations such as various port shape and approaching directions. for these reasons. the study on automatic berthing using ANN usually have been carried out based on one port shape and predetermined approaching direction. In this paper, new algorithm with ANN controller was suggested to cope with these problems. Under newly suggested algorithm, the controller can select appropriate weights on the link of neural networks according to various situations. so the ship can maintain stable berthing operation even in different situations. Numerical simulations are carried out with this control system to find its improvement.

• Journal of Mechanical Science and Technology
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• v.20 no.7
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• pp.917-928
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• 2006

In recent decades, Artificial Neural Networks (ANNs) have become the focus of considerable attention in many disciplines, including robot control, where they can be used to solve nonlinear control problems. One of these ANNs applications is that of the inverse kinematic problem, which is important in robot path planning. In this paper, a neural network is employed to analyse of inverse kinematics of PUMA 560 type robot. The neural network is designed to find exact kinematics of the robot. The neural network is a feedforward neural network (FNN). The FNN is trained with different types of learning algorithm for designing exact inverse model of the robot. The Unimation PUMA 560 is a robot with six degrees of freedom and rotational joints. Inverse neural network model of the robot is trained with different learning algorithms for finding exact model of the robot. From the simulation results, the proposed neural network has superior performance for modelling complex robot's kinematics.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.31B no.10
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• pp.44-52
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• 1994

In this paper, we assume that the dynamics of DC motor and nonlinear load are unknown. We propose an inverse dynamic model of DC motor and nonlinear load using the artificial neural network and construck speed control system based on the proposed dynamic model. We also propose another dynamic model with speed prediction scheme using the artificial neural network that removes the undesirable time delay effect caused by the computation time during the real-time control. We suggest a dynamic model which has arbitrary number of speed arguments and is especially effective when the motor and load has large moment of inertia. Next, we suggest a controller that combine the neurocontrol and PID control with constant gain. We show that the proposed neurocontrol systems have capabilities of noise rejection and generalization to have good velocity tracking through computer simulations and experiments.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.43 no.2
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• pp.126-139
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• 2007

In the autumn of 2000 and spring of 2001, field surveys were conducted to estimate the effectiveness of artificial reefs (type cube, $2{\times}2{\times}2m^3$) that were established in the four islands of Bangnyeong, Socheong, Daeyeonpyeong and Ganghwa in Kyonggi Bay, the west coast of Korea during 1995 and 1996. The condition of reefs was examined through SCUBA diving and a side-scan sonar. Much of the reefs in Daeyeonpyeong and Ganghwa area were buried in bottom sediment. Despite an intensive search in Bangnyeong area, even a cluster of reefs was not found and most of them seemed to be buried by sand waves. Thus an appropriate investigation on the sediment transport should be included in pre-assessment for the expected performance and protection of artificial reefs. Distribution of average CPUE in natural fishing ground (control) was estimated by bootstrapping simulation and possible comparison of CPUE between control and reef areas (treatment) were made in Bangnyeong and Socheong (Experiment I). Positive reef effect was detected in Socheong but CPUE of treatment in Bangnyeong was varied between or lower than the 99% CPUE confidence intervals of the control. Control/treatment abundance and biomass of fishes and invertebrates were tested by paired t-test and sign test (Experiment II). Only four cases among 22 showed significant positive effect. Based on the results, the cube artificial reef in Socheong was inferred as an affirmative one. Floor type was hypothesized to be one of the probable agents in determining the effectiveness of artificial reefs.

• Journal of Korean Society on Water Environment
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• v.29 no.5
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• pp.641-647
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• 2013

We installed mesocosms including zooplankton, fishs, artificial marshy land and aquatic macrophytes in Kyoungan stream to study the reduction effects of algae from Sep. 16 to Oct. 28, 2011. The control tendency of phytoplankton taxa was compared by analyzing community structure and dominant species in each mesocosm. Under the condition where Bluegill was absent, Daphnia similoides showed good effect of algal control since it has large food area and has high grazing pressure. Bluegill selectively preys upon large zooplankton, Daphnia similoides, as it also preys on small zooplanktons that flow in. In condition that Bluegill was absent, Daphnia similoides preyed selectively large phytoplankton (Cryptomonas ovata). Due to the shading of light, removal of nutrients and providing refuge for small zooplanktons, aquatic macrophytes and artificial marshy land showed high level of algal control. In corrals with aquatic macrophytes and artificial marshy land, the dominancy of genus Coelastrum and Pediastrum, which are difficult for small zooplanktons to feed on, relatively increased. In conclusion, under conditions of small number of predators such as Bluegill, Daphnia similoides is thought to be useful in algal bloom; however, when lots of predators are present, using small sized zooplanktons along with artificial marshy land and aquatic macrophytes is thought to be more useful than using large zooplanktons.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.30 no.1
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• pp.139-147
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• 1997

Sediment transport around artificial habitat which is induced by the change ol flow due to installation of the structure plays a role not only as a defect function of subsidence and burial but also bottom-environment control function. This study examined the characteristics of local scouring and deposition with sediment sizes, current velocities and installation direction of artificial habitat in flow field. Resultant subsidence and burial processes are investigated and discussed with Reynolds number. Together with sediment number and dimensionless time elapse, prediction formulas are established by combining these relationships. Bottom control function as cultivating effects is discussed with installation direction, and applicability of countermeasures is compared and stone pavement method is recommended.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1983-1989
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• 2005

Industrial robots are powerful, extremely accurate multi-jointed systems, but they are heavy and highly rigid because of their mechanical structure and motorization. Therefore, sharing the robot working space with its environment is problematic. A novel pneumatic artificial muscle actuator (PAM actuator) has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. Its main advantages are high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks. The PAM is undoubtedly the most promising artificial muscle for the actuation of new types of industrial robots such as Rubber Actuator and PAM manipulators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. In addition, the nonlinearities in the PAM manipulator still limit the controllability. Therefore, it is not easy to realize motion with high accuracy and high speed and with respect to various external inertia loads in order to realize a human-friendly therapy robot To overcome these problems a novel controller, which harmonizes a phase plane switching control method with conventional PID controller and the adaptabilities of neural network, is newly proposed. In order to realize satisfactory control performance a variable damper - Magneto-Rheological Brake (MRB) is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control using neural network brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control using neural network and without regard for the changes of external inertia loads.

• Korean Journal of Soil Science and Fertilizer
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• v.50 no.2
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• pp.127-134
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• 2017

Bottom ash (BA) has different macro- and micronutrients such as B, Mo, Fe, Ca, and Mg, providing useful resources for plant growth and soil quality. The objective of this study was to evaluate the applicability of artificial top-soil treated with BA in park area as a vegetation base material, especially for turfgrass growth. Collected BA was mixed with peat moss and clay at the ratio of 70:10:20 (w/w). In order to evaluate the park quality and turfgrass growth in park area, the artificial soil was applied with BA along with the control or without BA. Result showed that exchangeable K and P were increased by $11.4mg\;kg^{-1}$ and $163mg\;kg^{-1}$, respectively, compared to the control soil when the artificial soil was treated with BA. Microbial population and enzyme activity (Acid-phosphatase, APA) in artificial soil having BA also increased as 2 times and 10%, respectively, compared to the control soil. Comparing turfgrass growth and yield between general soil and artificial soil, about 2 times higher plant yield (fresh weight) was observed as artificial soil was applied comparing to general soil. Furthermore, nutrient concentration in turfgrass was averaged as 0.440% for $P_2O_5$, 0.456% for CaO, 1.198% for $K_2O$ and 0.188% for MgO that all values are higher than general soil (0.323% for $P_2O_5$, 0.416% for CaO, 0.610% for $K_2O$ and 0.173% for MgO). Application of BA can be useful for vegetation base material in park site.

• Journal of Bio-Environment Control
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• v.5 no.1
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• pp.43-49
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• 1996

This study was conducted to investigate the effects of artificial zeolite and various ion exchangers supplemented in rockwool on the ion exchangability of muskmelon. The results obtained were as follows ; Plant height was higher in the treatment of Ca type artificial zeolite as of 131.2cm than that of control as of 124cm, and same trends were shown in fresh weight of leaf and stem. Fruit weight was increased by supplement of artificial zeolite, but there were no significant differences in the sugar degree and external appearance as influenced by supplementing artificial zeolite. Supplement of artificial zeolite stabilized the pH and increased the ion exchange capacity of nutrient solution. Nutrient absorption was more favorable and led to growth promotion. This study was demonstrated that supplement of artificial zeolite in rockwool slab was improved the stabilization of root environment and increased ion uptake of muskmelon plant.

• Journal of Animal Science and Technology
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• v.65 no.4
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• pp.759-766
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• 2023

Visual estrus observation can only be confirmed at a rate of 50%-60%, which is lower than that obtained using a biosensor. Thus, the use of biosensors provides more opportunities for artificial insemination because it is easier to confirm estrus than by visual observation. This study determines the accuracy of estrus prediction using a ruminoreticular biosensor by analyzing ruminoreticular temperature during the estrus cycle and measuring changes in body activity. One hundred and twenty-five Hanwoo cows (64 with a ruminal biosensor in the test group and 61 without biosensors in the control group) were studied. Ruminoreticular temperatures and body activities were measured every 10 min. The first service of artificial insemination used gonadotropin-releasing hormone (GnRH)-based fixed-time artificial insemination protocol in the control and test groups. The test group received artificial insemination based on the estrus prediction made by the biosensor, and the control group received artificial insemination according to visual estrus observation. Before artificial insemination, the ruminoreticular temperature was maintained at an average of 38.95 ± 0.05℃ for 13 h (-21 to -9 h), 0.73℃ higher than the average temperature observed at -48 h (38.22 ± 0.06℃). The body activity, measured using an indwelling 3-axis accelerometer, averaged 1502.57 ± 27.35 for approximately 21 h from -4 to -24 h before artificial insemination, showing 203 indexes higher body activity than -48 hours (1299 ± 9.72). Therefore, using an information and communication techonology (ICT)-based biosensor is highly effective because it can reduce the reproductive cost of a farm by accurately detecting estrus and increasing the rate of estrus confirmation in cattle.