• Journal of the Korea Institute of Military Science and Technology
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• v.17 no.6
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• pp.853-860
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• 2014

This paper introduces a Korean rescue robot and presents a whole body kinematic control strategy. The mission of the rescue robot is to move and lift patients or soldiers with impaired mobility in the battlefields, hospitals and hazardous environments. In order for a robot to rescue and assist humans, reliable mobility in various environments, large load carrying capacity, and dextrous manipulability are required. For these objects the robot has variable configuration mobile platform with tracks, dual arm manipulator, and two types of grippers. The electric actuators provide the strength to lift a wounded soldier up to 120 kg using whole body joints. To control the robot with multi degree of freedom, we need to synthesize complex whole-body behaviors, and to manage multiple task primitives systematically. We are to present a whole body kinematic control methodology, and demonstrate its effectiveness through numerical simulations.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.18 no.4 s.119
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• pp.448-454
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• 2007

In this paper, the game theory based power control for CDMA system is studied, which has attained intensive interest as a core artificial intelligent technology fur cognitive Radio and its efficiency is evaluated using performance metrics such as system throughput and fairness. Utility Function for joint user centric and network centric power control is defined and simulation results show that game theory based power control is far better than closed loop power control. The contribution of this raper is to formalize the game theory based power control toward the cognitive radio that recognizes and adapts to the radio communication environments.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.10
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• pp.1908-1914
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• 1992

A significant drag reduction in the turbulent flow of CWM(coal Water Mixture) adding minute amounts of high molecular weight polymer additives has been obtained and it was compared with pure CWM.However, the rate of drag reduction could come down with flow time, which is caused by polymer degradation, The rate of drag reduction and polymer degradation is affected by polymer type, concentration, molecular weight, and flow velocity. In the present investigation, these important parameters were evaluated for their influences on polymer degradation in order to find out stable conditions for CWM transportation with time. It was necessary to determine the more effective type of polymer additives to guarantee the optimum conditions for CWM transport. Experiments were undertaken with a test section of pipe diameter 9.8mm and pipe length 3500mm(L/D=357) in a closed loop, and polyacrylamide and polyetylene oxide were utilized as polymer additives. The tests were carried out under the conditions of 200, 400, 700ppm of polymer concentrations. CWM concentrations utilized were 5% and 10% with flow velocities of 4.9m/s and 6.1m/s. Experimental data show that polyehylene oxide degraded faster than polyacrylamide in CWM transport, and polyacryamide is considered to be a more effective candidate as additive for long time-CWM transport. Polymer degradation is also found to be more likely at lower polymer concentrations, at higher flow velocities, and higher CWM concentrations.

• Proceedings of the Korea Technical Association of the Pulp and Paper Industry Conference
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• 2003.11a
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• pp.230-248
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• 2003

In this work an integrated model for paper plants combining wet-end and dry section is developed and a model predictive control scheme based on the plant model is proposed. Closed-loop process identification method is employed to produce a state-space model. Thick stock, filler flow, machine speed and steam pressure are selected as Input variables and basis weight, ash content and moisture content are considered as output variables. The desired output trajectory is constructed in the form of 1st-order dynamics. Results of simulations for control of grade change operations are compared with plant operation data collected during the grade change operations under the same conditions as in simulations. From the comparison, we can see that the proposed model predictive control scheme reduces the grade change time and achieves stable steady-state.

• Journal of the Korean Society for Railway
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• v.13 no.2
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• pp.152-158
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• 2010

Generally, the AC electrified railway systems have the power quality problems that are induced from the harmonic currents and the reactive power. This paper presents a single-phase hybrid active filter adopting a SRF(synchronous-reference-frame) control for improving power quality in the AC electrified railway systems. The single-phase hybrid active filter can compensate the harmonic currents and the reactive power through the proposed SRF control algorithm. The proposed control algorithm can extract the third and fifth harmonics through the MSRF(multiple-synchronous-reference-frames) which is used to apply the three-phase systems. Therefore, the hybrid active filter can compensates only the high-frequency harmonic currents whereas the passive filter compensates the low-frequency harmonic currents. Also, the proposed SRF control algorithm can compensate the reactive power by the closed-loop control. The Validity and the effectiveness of the proposed SRF control method for the hybrid active filter are illustrated through the simulation results.

• Journal of the Korean Institute of Gas
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• v.5 no.1
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• pp.7-14
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• 2001

In this work, the chemical composition of the exhaust gas from domestic gas boiler has been analysed in the point of thermodynamics and CO sensor has been characterized. We proposed that the combustion condition can be estimated by the exhaust gas composition, i.e., the excess air ratio and combustion temperature can be calculated simply by the measurement of the $O_{2}$ fraction and $H_{2}/CO$ in the exhaust gas. By analyse the on site situation domestic boiler, the excess air ratio is about $55\~110\%$. Therefore, the CO may be produced in domestic gas boiler by luminous(yellow) flames rapidly lose heat by radiation, turbulent flames may be partially quenched by the action of steep velocity gradients, and flames burning very close to a cold wall may be partial1y quenched by heat conductivity to the wall. The output voltage of CO sensor is lineally depend on the CO and $H_{2}$concentration. And the exhaust CO from boiler can be reduced by closed loop control with CO sensor

• IE interfaces
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• v.13 no.3
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• pp.378-387
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• 2000

As the globalization of manufacturing companies continues, the scope of dependence between these companies and distributors, and other suppliers are growing very rapidly since no one company manufactures or distributes the whole product by themselves. And, the need to increase the efficiency of the whole supply chain is increasing. This paper deals with a multi-plant lot-sizing problem(MPLSP) which happens in a decentralized manufacturing system of a supply chain. In this study, we assume that the whole supply chain is driven by a single source of independent demand and many levels of dependent demands among manufacturing systems in the supply chain. We consider setup cost, transportation cost and time, and inventory holding cost as a decision factor in the MPLSP. The MPLSP is decomposed into two sub-problems: a planning problem of the whole supply chain and a lot-sizing problem of each manufacturing system. The supply chain planning problem becomes a pure linear programming problem and a Generalized Goal Decomposition method is used to solve the problem. Its result is used as a goal of the lot-sizing problem. The lot-sizing problem is solved using the CPLEX package, and then the coefficients of the planning problem are updated reflecting the lot-sizing solution. This procedure is repeated until termination criteria are met. The whole solution process is similar to Lagrangian relaxation method in the sense that the solutions are approaching the optimum in a recursive manner. Through experiments, the proposed closed-loop hierarchical planning and traditional hierarchical planning are compared to optimal solution, and it is shown that the proposed method is a very viable alternative for solving production planning problems of decentralized manufacturing systems and in other areas.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2003.05a
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• pp.132-137
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• 2003

This performance is motivated to develop a tracking antenna system for receive the satellite broadcasting signal in the coast sailing ship. Therefore, this system is made to small size, light weight and simple operation which is must to low cost system for popularization of small size ship and adaptive possibilities with useful on a ship in the coast using 1 axis Az-mount. The antenna mount structure is a compact size and easy operation to the Az-axis type which is operated by step motor. The antenna unit is a domestic made plate type of patch array and ship's moving detection is using the gyro sensor for ship's moving control. We are designed to algorithm, which walking is abreast for step track and ship's moving compensation. Ship's moving compensation is adapted to the closed loop control method by detection from gyro sensor. This system is consisted of micro processor, ADC, comparative amplifier, step motor driver, mount mechanism and algorithm. We have analysised the tracking performance of prototype on sailing ship board.

• Journal of Soil and Groundwater Environment
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• v.21 no.6
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• pp.114-127
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• 2016

An increase of groundwater flux in BHE system creates that ground temperature (locT) becomes lower in summer and higher in winter time. In other words, it improves significantly the performance of BHE system. The size of thermal plume made up by advection driven-flow under the balanced energy load is relatively small in contrast to the unbalanced energy load where groundwater flow causes considerable change in the size of thermal plume as well ground temperature. The ground temperatures of the up gradient and down gradient BHEs under conduction only heat transport are same due to no groundwater flow. But a significant difference of the ground temperature is observed between the down gradient and up gradient BHE as a result of groundwater flow-driven thermal interference took placed in BHE field. As many BHEs are designed under the obscure assumption of negligible groundwater flow, failure to account for advection can cause inefficiencies in system design and operation. Therefore including groundwater flow in the design procedure is considered to be essential for thermal and economic sustain ability of the BHE system.

• Journal of Energy Engineering
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• v.7 no.2
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• pp.163-171
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• 1998

Degradation of polymer additives is enhanced at higher temperature of the test solutions. The degradation of Co-polymer solution was investigated experimentally in a closed loop at the temperature of 6$0^{\circ}C$ and 8$0^{\circ}C$ with various polymer concentrations of 100, 200, 400, 600 ppm in order to see the effect of temperature and polymer concentration with time. The degradation effect were found to be more dependent on temperature than mechanical shear. The friction factor versus Reynolds number curves show that in the range of Reynolds number number 50,000~150,000 the friction was decreased as Reynolds number increased and the friction of solution at low temperature approached to Virk's maximum drag reduction asymptote. For constant flowrates and temperatures the degradation effect was found to be less likely in higher polymer concentration. For constant flowrates and polymer concentrations the degradation rates are affected mainly by temperature. At the temperature of 8$0^{\circ}C$ and polymer concentration of 100 ppm, drag reduction effect was disappeared after 4 hours. However, this thermal degradation could be avoided with additional materials such as surfactants which are supposed to enhance the bonding forces between polymer molecules.