• Transactions of the Korean Society of Mechanical Engineers B
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• v.37 no.5
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• pp.431-439
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• 2013

A cooling system is adopted to control the thermal load from the avionic equipments in an aircraft for stable operation. In this study, an avionic cooling system was designed and manufactured by adopting a vapor compression cycle with a closed-loop air-circulation system to investigate the operating characteristics of an alternative refrigerant. The performance characteristics of a cooling system adopting R236fa as an alternative refrigerant were experimentally determined by varying the refrigerant charging amount, expansion valve opening, and compressor rotation speed. The experimental results were analyzed and compared with those of a cooling system adopting R124 as a refrigerant. The possibility of the adoption of R236fa as an alternative refrigerant was verified, and design solutions were suggested to improve the system efficiency.

• Journal of Korean Society of Environmental Engineers
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• v.33 no.9
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• pp.636-643
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• 2011

Sludge solubilization using sonification has been increasingly used for sludge volume reduction along with enhancing digestion efficiency during anaerobic biogas production. In this study, either electric field or ultrasonification or in combination with were investigated using three types of sludge (return, excess and mixed at G sewage treatment facility) for the most efficient solubilization. As a the closed loop, 200 L of sludge was continuously passing through the solubilization system at an average flow rate of $0.7m^3/h$, which is equivalent to 3.5 times treated per hour for up to 84 times (24 h). Only implying electric field showed no variation for sCOD/tCOD before and after treatment on sludge solubilization regardless of types of sludge. However, employing the ultrasonic or combined system could both increasingly solubilize sludge with regard to the number of passing-through, which more enhanced by the combined. In addition, VSS/TSS was lowered to in the range of 2 and 6% while its particle size, diameter (0.9) and diameter (0.5) were more minimized than that of raw sludge. For return sludge, ultrasonification was more efficiently facilitated for solubilization, whereas electric field-ultrasonification was more preferably applied for excess and mixed sludge. It is concluded that depending on types of sludge, solubilization system must be selectively applied for the most efficient break-up of them.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.19 no.2
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• pp.608-616
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• 2018

If a general nonlinear system is linearized by the successive multiplication of the 1st and 2nd order systems, then there are four types of poles in this linearized system: the pole of the 1st order system and the equal poles, two distinct real poles, and complex conjugate pair of poles of the 2nd order system. Linear Quadratic (LQ) control is a method of designing a control law that minimizes the quadratic performance index. It has the advantage of ensuring the stability of the system and the pole placement of the root of the system by weighted matrix adjustment. LQ control by the weighted matrix can move the position of the pole of the system arbitrarily, but it is difficult to set the weighting matrix by the trial and error method. This problem can be solved using the characteristic equations of the Hamiltonian system, and if the control weighting matrix is a symmetric matrix of constants, it is possible to move several poles of the system to the desired closed loop poles by applying the control law repeatedly. The paper presents a method of calculating the state weighting matrix and the control law for moving the equal poles with Jordan blocks to two real poles using the characteristic equation of the Hamiltonian system. We express this characteristic equation with a state weighting matrix by means of a trigonometric function, and we derive the relation function (${\rho},\;{\theta}$) between the equal poles and the state weighting matrix under the condition that the two real poles are the roots of the characteristic equation. Then, we obtain the moving-range of the two real poles under the condition that the state weighting matrix becomes a positive semi-finite matrix. We calculate the state weighting matrix and the control law by substituting the two real roots selected in the moving-range into the relational function. As an example, we apply the proposed method to a simple example 3rd order system.

• Journal of the Korean Society of Marine Environment & Safety
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• v.26 no.5
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• pp.437-444
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• 2020

This study was focused on the stabilization of surge motions of a moored vessel under irregular head seas. A two-point moored vessel shows strong non-linearity even in regular sea, owing to its inherent non-linear restoring force. A long-crested irregular wave is subjected to the vessel system, resulting in more complex nonlinear behavior of the displacement and velocities than in the case of regular waves. Sliding mode control (SMC) is implemented in the moored vessel to control both surge displacement and surge velocity. The SMC can provide a closed-loop system with performance and robustness against parameter uncertainties and disturbances; however, chattering is the main drawback for implementing SMC. The goal of minimizing the chattering and state convergence with accuracy is achieved using a quasi-sliding mode that approximates the discontinuous function via a continuous sigmoid function. Numerical simulations were conducted to validate the effectiveness of the proposed control algorithm.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.47 no.6
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• pp.64-72
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• 2010

In general, due to the interactions among subsystems, it is difficult to design an decentralized controller for nonlinear interconnected systems. In this study, the model of nonlinear interconnected systems is studied via decentralized fuzzy control method with time delay and polytopic uncertainty. First, the nonlinear interconnected system is represented by an equivalent Takagi-Sugeno type fuzzy model. And the represented model can be rewritten as Parameterized Linear Matrix Inequalities(PLMIs), that is, LMIs whose coefficients are functions of a parameter confined to a compact set. We show that the resulting fuzzy controller guarantees the asymptotic stability and disturbance attenuation of the closed-loop system in spite of controller gain variations within a resulted polytopic region by example and simulations.

• Journal of IKEEE
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• v.8 no.1 s.14
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• pp.96-107
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• 2004

In this paper, a new integral variable structure regulation controller(IVSRC) is designed by using a special integral sliding surface and a disturbance observer for the improved regulation control of highly nonlinear robot manipulators with prescribed output performance. The sliding surface having the integral state with a special initial condition is employed in this paper to exactly predetermine the ideal sliding trajectory from a given initial condition to origin without any reaching phase. And a continuous sliding mode input using the disturbance observer is also introduced in oder to effectively follow the predetermined sliding trajectory within the prescribed accuracy without large computation burden. The performance of the prescribed tracking accuracy to the predetermined sliding trajectory is clearly investigated in detail through the two theorems together with the closed loop stability. The design of the proposed IVSRC is separated into the performance design and robustness design in each independent link. The usefulness of the algorithm has been demonstrated through simulation studies on the regulation control of a two link manipulator under parameter uncertainties and payload variations, in view of no reaching phase, no overshoot, predetermined response with prescribed accuracy, easy change of output performance, separation of design phase, and so on.

• Journal of the Korean Geographical Society
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• v.45 no.1
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• pp.11-25
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• 2010

Green Growth was declared as a national development agenda in 2008. There are many contributing concepts and factors in the process of molding the agenda, such as climate change, sustainable development, globalization, the so-called 747 campaign pledges by President Lee in 2007, and the hunger for economic growth in Asia and the Pacific. Green Growth is rather growth-oriented and pays less attention to environmental conservation and social justice. Green Development would fit better as the name of the agenda, dealing with the weaknesses of Green Growth. Climate change itself is a testing ground for geographic knowledges, whose demand is growing rapidly. The contemporary issue increasingly bears complexity that Earth System Science and Sustainability Science have emerged as a research and applications program. Geography is widely recognized as a portal to these programs, where inter- and trans-disciplinary studies are required. Regional potentials should be evaluated from a holistic view so that proper development goals are chosen. Different development trajectory should be taken, depending on the amount of potential a region bears. Material loop should be closed for environmentally sound regions. Green way of life is essential for low carbon society. In the circumstances of climate change in Korean Peninsula and needing of energy efficiency, geographic insight or imagination is urgent for Green Development.

• Journal of the Institute of Electronics and Information Engineers
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• v.52 no.7
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• pp.135-142
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• 2015

Human-powered self-generating devices have been attractive with its operation characteristic independent from outer environment such as weather condition and wind speed. However, conventional self-generators have low electric power output due to their weakly-coupled electromagnetic structure. More importantly, rotary crank motion which is usually adopted by conventional self-generator to generate electricity requires specific skeletal muscles to maintain large torque circular motion and consequently, causes fatigue on those muscles before it can generate enough amount of electricity for any practical application. Without improvement in electric power output and usability, the human-powered self-generator could not be used in everyday life. This study aims to develop a human-powered self-generator which realized a strong electromagnetic coupling in a closed-loop tubular structure (hula-hoop shape) for easy and steady long-term driving as well as larger electric output. The performance and usability of the developed human-powered generator is verified through experimental comparison with a commercial one. Additionally, human workload which is a key element of a human-powered generator but not often considered elsewhere, is estimated based on metabolic energy expenditure measured respiratory gas analyzer. Further study will focus on output and portability enhancement, which can contribute to the continuous power supply of mobile equipments.

• International Journal of Aeronautical and Space Sciences
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• v.8 no.1
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• pp.10-20
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• 2007

For spacecraft attitude control, reaction wheel (RW) steering laws with more than three wheels for three-axis attitude control can be derived by using a control allocation (CA) approach.1-2 The CA technique deals with a problem of distributing a given control demand to available sets of actuators.3-4 There are many references for CA with applications to aerospace systems. For spacecraft, the control torque command for three body-fixed reference frames can be constructed by a combination of multiple wheels, usually four-wheel pyramid sets. Multi-wheel configurations can be exploited to satisfy a body-axis control torque requirement while satisfying objectives such as minimum control energy.1-2 In general, the reaction wheel steering laws determine required torque command for each wheel in the form of matrix pseudo-inverse. In general, the attitude control command is generated in the form of a feedback control. The spacecraft body angular rate measured by gyros is used to estimate angular displacement also.⁵ Combination of the body angular rate and attitude parameters such as quaternion and MRPs(Modified Rodrigues Parameters) is typically used in synthesizing the control command which should be produced by RWs.¹ The attitude sensor signals are usually corrupted by noise; gyros tend to contain errors such as drift and random noise. The attitude determination system can estimate such errors, and provide best true signals for feedback control.⁶ Even if the attitude determination system, for instance, sophisticated algorithm such as the EKF(Extended Kalman Filter) algorithm⁶, can eliminate the errors efficiently, it is quite probable that the control command still contains noise sources. The noise and/or other high frequency components in the control command would cause the wheel speed to change in an undesirable manner. The closed-loop system, governed by the feedback control law, is also directly affected by the noise due to imperfect sensor characteristics. The noise components in the sensor signal should be mitigated so that the control command is isolated from the noise effect. This can be done by adding a filter to the sensor output or preventing rapid change in the control command. Dynamic control allocation(DCA), recently studied by Härkegård, is to distribute the control command in the sense of dynamics⁴: the allocation is made over a certain time interval, not a fixed time instant. The dynamic behavior of the control command is taken into account in the course of distributing the control command. Not only the control command requirement, but also variation of the control command over a sampling interval is included in the performance criterion to be optimized. The result is a control command in the form of a finite difference equation over the given time interval.⁴ It results in a filter dynamics by taking the previous control command into account for the synthesis of current control command. Stability of the proposed dynamic control allocation (CA) approach was proved to ensure the control command is bounded at the steady-state. In this study, we extended the results presented in Ref. 4 by adding a two-step dynamic CA term in deriving the control allocation law. Also, the strict equality constraint, between the virtual and actual control inputs, is relaxed in order to construct control command with a smooth profile. The proposed DCA technique is applied to a spacecraft attitude control problem. The sensor noise and/or irregular signals, which are existent in most of spacecraft attitude sensors, can be handled effectively by the proposed approach.

• Economic and Environmental Geology
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• v.39 no.5 s.180
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• pp.607-613
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• 2006

For the reasonable use of low grade-shallow geothermal energy by Standing Column Well(SCW) system, the basic requirements are depth-wise increase of earth temperature like $2^{\circ}C$ per every 100m depth, sufficient amount of groundwater production being about 10 to 30% of the design flow rate of GSHP with good water quality and moderate temperature, and non-collapsing of borehole wall during reinjection of circulating water into the SCW. A closed loop type-vertical ground heat exchanger(GHEX) with $100{\sim}150m$ deep can supply geothermal energy of 2 to 3 RT but a SCW with $400{\sim}500m$ deep can provide $30{\sim}40RT$ being equivalent to 10 to 15 numbers of GHEX as well requires smaller space. Being considered as an alternative of vertical GHEX, many numbers of SCW have been widely constructed in whole country without any account for site specific hydrogeologic and geothermal characteristics. When those are designed and constructed under the base of insufficient knowledges of hydrgeothermal properties of the relevant specific site as our current situations, a bad reputation will be created and it will hamper a rational utilization of geothermal energy using SCW in the near future. This paper is prepared for providing a guideline of SCW design comportable to our hydrogeothermal system.