• Journal of Navigation and Port Research
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• v.42 no.2
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• pp.87-96
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• 2018

A trajectory control system plays an important role in controlling motions of marine vehicle when a series of way points or a path is given. In this paper, a sliding mode control (SMC)-based trajectory tracking controller for marine vehicles is presented. A small-sized unmanned ship is considered as a control object. Both speed and heading angle of a ship should be controlled for tracking control. The common point of related researches was to separate ship's speed and heading angle in control methods. In this research, a new control law from a general sliding mode theory that can be applied to MIMO (multi input multi output) system is derived and both speed and heading angle of a ship can be controlled simultaneously. The propulsion force and rudder force are also applied in modeling stage to achieve accurate simulation. Disturbance induced by wind is also tackled in the dynamics considering robustness of the proposed control scheme. In the simulation, we employed a way-point method to generate ship's trajectory and applied the proposed control scheme to ship's trajectory tracking control. Our results confirmed that the tracking error was converged to zero, thus demonstrating the effectiveness of the proposed method.

• Asian Journal of Atmospheric Environment
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• v.12 no.1
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• pp.37-46
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• 2018

The Minamata Convention on Mercury entered into force on August 16, 2017. It requires Parties to the Convention to control and, where feasible, reduce mercury emissions from the listed sources. To implement the Convention, Japan amended the Air Pollution Control Law and added clauses that force operators to control their mercury emissions below emission limit values (ELVs). The ELVs have been established separately for new and existing sources, targeting the source categories listed in the Convention: coal-fired boilers, smelting and roasting processes used in the production of non-ferrous metals (lead, zinc, copper and industrial gold), waste incineration facilities and cement clinker production facilities. The factors used to establish the ELVs include the present state of mercury emissions from the targeted categories as well as the mercury content in fuels and materials, best available techniques (BATs) and best environmental practices (BEPs) to control and reduce mercury emissions and ELVs or equivalent standards to control mercury emissions in other countries. In this regard, extensive data on mercury emissions from flue gas and the mercury content of fuels and materials were collected and analyzed. The established ELVs range from $8{\mu}g/Nm^3$ for new coal-fired boilers to $400{\mu}g/Nm^3$ for existing secondary smelting processes used in the production of copper, lead and zinc. This paper illustrates the ELVs for the targeted source categories, explaining the rationales and approaches used to set the values. The amended Law is to be enforced on April 1, 2018. From future perspectives, checks of the material flow of mercury, following up on the state of compliance, review of the ELVs and of the measurement and monitoring methods have been noted as important issues.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.938-944
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• 1994

Active damping has been shown to offer increased suspension performance in terms of vehicle isolation, suspension packaging, and road-tire contract force. Many semi-active damping strategies have been introduced to approximate the response of active damping with the modulation of passive damping parameters. This study investigates the characteristics of semi-active suspension control through the simulation of passive, skyhook active, and semi-active damping models. A quarter car model is studied with the conrolled damping replacing both passive and active damping. A new semi-active scheme is suggested to eliminate the abrupt changes in semi-active damping force. It is shown that the new strategy performs almost identically to the so called "force controlled" semi-active law without steep changes in damping force or body acceleration.eleration.

• THE INTERNATIONAL COMMERCE & LAW REVIEW
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• v.67
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• pp.1-21
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• 2015

U. N. Convention on Contracts for the International Sale of Goods (hereinafter the 'CISG' or the 'Convention') has been in force more than 37 years. The CISG responds to the need for uniform sales law. First of all, the biggest barrier against the uniformity in sales law is so-called "homeward trend". Professor Honnold, who served as secretary of UNCITRAL during the time in which the CISG was developed, pointed out the danger of "homeward trend" like this in his Article. "One threat to international uniformity in interpretation is a natural tendency to read the international text through the lenses of domestic law." CISG Article 79 is the principal provision governing the extent to which a party is exempt from liability for a failure to perform any of his obligations due to an impediment beyond his control. So-called 'Manfred Forberich' decision regarding the article 79 represents the most extreme example of what is likely the most dangerous error that tribunals applying the CISG can make. CISG Article 79 only governs impossibility of performance, and there is a controversy whether a disturbance which does not fully exclude performance, but it considerably more difficult or onerous(hardship, change of circumstances, economic impossibility) can be considered as an impediment. Unlike PICC and PECL, the CISG governs contract of sale. Therefore, events such as a sudden increase in the price of raw materials or a dramatic devaluation of currency, will not allow the seller to avoid his liability for non-delivery of the goods or to require renegotiation of the terms of the contract of sale. We should bear in mind that the CISG should be interpreted and applied in the context of the CISG itself.

• Structural Engineering and Mechanics
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• v.16 no.3
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• pp.327-340
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• 2003

Variations in system parameters due to uncertainties of parameters may result in system performance deterioration and create system internal stability problems. Uncertainties in structural modeling of structures are often considered to ensure that the control system is robust with respect to response errors. So the uncertain concept plays an important role in the analysis and design of the engineering structures. In this paper, the active control of the intelligent structures with the uncertainties is studied and a new method for analyzing the robustness of systems with the uncertainties is presented. Firstly, the system with uncertain parameters is considered as the perturbation of the system with deterministic parameters. Secondly, the feedback control law is designed on the basis of deterministic system. Thirdly, perturbation analysis and robustness analysis of intelligent structures with uncertainties are discussed when the feedback control law is applied to the original system and perturbed system. Combining the convex model of uncertainties with the finite element method, the analysis theory of the robustness of intelligent structures with the uncertainties can be developed. The description and computation of the robustness of intelligent structures with uncertain parameters is obtained. Finally, a numerical example of the application of the present method is given to show the validity of the method.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.42 no.12
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• pp.997-1003
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• 2014

This paper describes modeling process to obtain precise landing gear model which is necessary to design a control law for ground auto-taxi, auto take-off/landing of UAV. In this paper, landing gear side force modeling is studied to complete a landing gear model of UAV. Side force modeling is performed by calculating cornering angle including steering angle. And ground directional controller is designed by using nose wheel steering and rudder steering at the same time to control course angle error. Accuracy of landing gear side force modeling and ground directional controller is proved by comparing of auto-taxi test results with simulation results.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.21 no.9
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• pp.858-867
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• 2011

As applying an active control technique to a pneumatic vibration isolation system, the settling time for the payload excitation could be remarkably reduced as well as the improvement of isolation performance for the ground vibration. Some previous researches were dealt with the settling time through the simulation or experiment but, the discussion on the simulation or experimental results including moving parts, such as a XY-stage, on the isolation table rarely exists. As considering the moving part, the dynamic model could be time varying system and in such a case the force imposed on pneumatic vibration isolation table could be described by inertial forces of moving parts according to Newton's 3rd law, the action and reaction law. In this paper, the simulation procedure of the 3-DOF active pneumatic vibration isolation system including moving parts by TDC(time delay control) technique is proposed and the effectiveness through simulation results are also shown.

• Structural Engineering and Mechanics
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• v.1 no.1
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• pp.119-135
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• 1993

The paper presents a generalized optimal active control algorithm for earthquake-resistant structures. The study included the weighting matrix configuration, stability, and time-delays for achieving control effectiveness and optimum solution. The sensitivity of various time-delays in the optimal solution is investigated for which the stability regions are determined. A simplified method for reducing the influence of time-delay on dynamic response is proposed. Numerical examples illustrate that the proposed optimal control algorithm is advantageous over others currently in vogue. Its feedback control law is independent of the time increment, and its weighting matrix can be flexibly selected and adjusted at any time during the operation of the control system. The examples also show that the weighting matrix based on pole placement approach is superior to other weighting matrix configurations for its self-adjustable control effectiveness. Using the time-delay correction method can significantly reduce the influence of time-delays on both structural response and required control force.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.51 no.12
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• pp.562-570
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• 2002

The Purpose of this paper is to design and manufacture an educational system in order to demonstrate the causes and effects of electromagnetic induction.'rho educational system described in this study is a "jumping ring apparatus". This system demonstrates the principle of electromagnetic induction, a force from AC sources, Lenz's law of repulsion and transformer. The educational system is composed of a jumping ring apparatus, a sensor array, encoder, A/D converter, D/A converter and nonlinear controller. The educational system is controlled by 586 PC using Turbo C program. The sensor array is composed of 20 optical sensors. The nonlinear controller consists of nonlinear control algorithm and control board included SCR, FET and phase controller. The A/D converter is used to show the height of ring position to analog for an education purpose. The control signal calculated from the nonlinear control of algorithm send control board through 8 bit D/A convertor. Experiment results are given to verify that Proposed nonlinear controller is useful in on line control of the educational system.al system.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.9
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• pp.846-851
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• 2010

In this paper, we newly propose a novel control strategy of a three joints-robot finger for the purpose of artificial hands. The robot finger is specifically modeled by using a 3D CAD program (CATIA), considering human fingers, and then the proposed control method is verified through the dynamic simulation tool (Simulink and Recurdyn R2). Each slider is individually controlled to be located at the optimal positions where the maximal joint torque can be generated. To prove the effectiveness of the proposed control method, we devise two cases for the reference position of sliders. By comparing the control performance of two cases, the validity of the proposed control method will be verified.