• 제어로봇시스템학회:학술대회논문집
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• 1993.10b
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• pp.179-184
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• 1993

In this paper, an optimal motion control scheme is proposed for robot manipulators. A simple explicit solution to the Hamilton-Jacobi equation is presented. The optimization of motion control is based on the mininization of the torque term affecting the kinetic energy and the augmented error which has the first-order stable dynamics for the position and velocity tracking error. In the presence of parametric uncertainty, an adaptive control scheme using the optimal principle is proposed. The global stability of the closed-loop system is guaranteed by the Lyapunov stability approach, The effectiveness and feasibility of the proposed control schemes are shown by simulation results.

• 한국전산유체공학회:학술대회논문집
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• 1998.05a
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• pp.138-144
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• 1998

The BGK equation, which is the kinetic model equation of Boltzmann equation, is solved using FDDO(finite difference with the discrete-ordinate method) to compute the rarefied flow of monatomic gas. Using reduced velocity distribution and discrete ordinate method, the scalar equation is transformed into a system of hyperbolic equations. High resolution ENO(Essentially Non-Oscillatory) scheme based on Harten-Yee's MFA(Modified Flux Approach) method with Strang-type explicit time integration is applied to solve the system equations. The calculated results are well compared with the experimental density field of NACA0012 airfoil, validating the developed computer code. Next. the computed results of circular cylinder flow for various Knudsen numbers are compared with the DSMC(Direct Simulation Monte Carlo) results by Vogenitz et al. The present scheme is found to be useful and efficient far the analysis of two-dimensional rarefied gas flows, especially in the transitional flow regime, when compared with the DSMC method.

• Atmosphere
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• v.25 no.1
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• pp.1-18
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• 2015

The most objective way to overcome the limitation of numerical weather prediction model is to represent the uncertainty of prediction by introducing probabilistic forecast. The uncertainty of the numerical weather prediction system developed due to the parameterization of unresolved scale motions and the energy losses from the sub-scale physical processes. In this study, we focused on the growth of model errors. We performed ensemble forecast to represent model uncertainty. By employing the multi-physics scheme (PHYS) and the stochastic kinetic energy backscatter scheme (SKEBS) in simulating typhoon Rusa (2002), we assessed the performance level of the two schemes. The both schemes produced better results than the control run did in the ensemble mean forecast of the track. The results using PHYS improved by 28% and those based on SKEBS did by 7%. Both of the ensemble mean errors of the both schemes increased rapidly at the forecast time 84 hrs. The both ensemble spreads increased gradually during integration. The results based on SKEBS represented model errors very well during the forecast time of 96 hrs. After the period, it produced an under-dispersive pattern. The simulation based on PHYS overestimated the ensemble mean error during integration and represented the real situation well at the forecast time of 120 hrs. The displacement speed of the typhoon based on PHYS was closest to the best track, especially after landfall. In the sensitivity tests of the model uncertainty of SKEBS, ensemble mean forecast was sensitive to the physics parameterization. By adjusting the forcing parameter of SKEBS, the default experiment improved in the ensemble spread, ensemble mean errors, and moving speed.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.4
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• pp.533-538
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• 2016

In a power grid that has a high penetration of wind power, the highly-fluctuating output power of wind turbine generators (WTGs) adversely impacts the power quality in terms of the system frequency. This paper proposes a power smoothing scheme of a variable-speed WTG that can smooth its fluctuating output power caused by varying wind speeds, thereby improving system frequency regulation. To achieve this, an additional loop relying on the frequency deviation that operates in association with the maximum power point tracking control loop, is proposed; its control gain is modified with the rotor speed. For a low rotor speed, to ensure the stable operation of a WTG, the gain is set to be proportional to the square of the rotor speed. For a high rotor speed, to improve the power smoothing capability, the control gain is set to be proportional to the cube of the rotor speed. The performance of the proposed scheme is investigated under varying wind speeds for the IEEE 14-bus system using an EMTP-RV simulator. The simulation results indicate that the proposed scheme can mitigate the output power fluctuation of WTGs caused by varying wind speeds by adjusting the control gain depending on the rotor speed, thereby supporting system frequency regulation.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.30 no.4 s.247
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• pp.320-327
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• 2006

The computations of chemically reacting laminar and turbulent flows are performed using the preconditioned Navier-Stokes solver coupled with turbulent transport and multi-species equations. A low-Reynolds number $k-\varepsilon$ turbulence model proposed by Chien is used. The presence of the turbulent kinetic energy tenn in the momentum equation can materially affect the overall stability of the fluids-turbulence system. Because of this coupling effect, a fully coupled formulation is desirable and this approach is taken in the present study. Choi and Merkle's preconditioning technique is used to overcome the convergence difficulties occurred at low speed flows. The numerical scheme used for the present study is based on the implicit upwind ADI algorithm and is validated through the comparisons of computational and experimental results for laminar methane-air diffusion flame and $ H_2/O_2$ reacting turbulent shear flow. Preconditioning formulation shows better convergence characteristics than that of non-preconditioned system by approximately five times as much.

• Journal of computational fluids engineering
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• v.13 no.4
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• pp.114-125
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• 2008

Current state and perspective of DNS of turbulence and turbulent combustion are discussed with feature trend of the fastest supercomputer in the world. Based on the perspective of DNS of turbulent combustion, possibility of perfect simulations of IC engine is shown. In 2020, the perfect simulation will be realized with 30 billion grid points by 1EXAFlops supercomputer, which requires 4 months CPU time. The CPU time will be reduced to about 4 days if several developments were achieved in the current fundamental researches. To shorten CPU time required for DNS of turbulent combustion, two numerical methods are introduced to full-explicit full-compressible DNS code. One is compact finite difference filter to reduce spatial resolution requirements and numerical oscillations in small scales, and another is well-known point-implicit scheme to avoid quite small time integration of the order of nanosecond for fully explicit DNS. Availability and accuracy of these numerical methods have been confirmed carefully for auto-ignition, planar laminar flame and turbulent premixed flames. To realize DNS of IC engine with realistic kinetic mechanism, several DNS of elemental combustion process in IC engines has been conducted.

• Journal of Microbiology
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• v.40 no.1
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• pp.33-37
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• 2002

An enzymatic reaction for the production of D-alanine from D-aspartic acid and pyruvate as substrates by a thermostable D-amino acid aminotransferase (D-AAT) was investigated at various conditions In the temperature range of 40-70$\^{C}$ and pH range of 6.0-9.5. The D-AAT was produced with recombinant E. coli BL21, which hosted the chimeric plasmid pTLK2 harboring the D-AAT from the novel thermophilic Bacillus sp. LK-2. The enzyme reaction was shown to follow the Ping Pong Bi Bi mechanism. The K$\_$m/ values for D-aspartic acid and pyruvate were 4.38 mar and 0.72 mM, respectively. It was observed that competitive inhibition by D-alanine, the product of this reaction, was evident with the inhibition constant K$\_$i/ value of 0.1 mM. A unique feature of this reaction scheme is that the decorboxylation of oxaloacetic acid, one of the products, spontaneously produces pyruvate. Therefore, only a catalytic amount of pyruvate is necessary for the enzyme conversion reaction to proceed. A typical time-course kinetic study skewed that D-alanine up to 88 mM could be produced from 100 mM of D-aspartic acid with a molar yield of 1.0.

• Advances in environmental research
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• v.1 no.4
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• pp.289-304
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• 2012

Tris (2-methyl-1-aziridinyl) phosphine oxide (MAPO) is extremely poisonous and persistent in aqueous media. An efficient UV/nano$TiO_2$ process was employed for its mineralization in a high duty falling film photo-reactor based on an experimental design scheme that considers interactions between the main variables. The influencing variables and their range were determined with preliminary studies. The results show substrate mineralization to some extent under mild conditions of: T = $30^{\circ}C$, pH = 8.5, $[MAPO]_0=60\;mg\;L^{-1}$ and $[TiO_2]=110\;mg\;L^{-1}$. The relative importance of the influencing parameters were initial pH > temperature > $[MAPO]_0$ > [$TiO_2$]; while the interdependence of all the parameters was significant. Accordingly, a reduced quadratic expression was developed. Meanwhile, mineralization kinetic studies, based on chemical oxygen demand, revealed a power law model with order of 2.6 during process time until 150 min.

• 한국전산유체공학회:학술대회논문집
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• 2008.03a
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• pp.359-366
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• 2008

Current state and perspective of DNS of turbulence and turbulent combustion are discussed with feature trend of the fastest supercomputer in the world. Based on the perspective of DNS of turbulent combustion, possibility of perfect simulations of IC engine is shown. In 2020, the perfect simulation will be realized with 30 billion grid points by 1EXAFlops supercomputer, which requires 4 months CPU time. The CPU time will be reduced to about 4 days if several developments were achieved in the current fundamental researches. To shorten CPU time required for DNS of turbulent combustion, two numerical methods are introduced to full-explicit full-compressible DNS code. One is compact finite difference filter to reduce spatial resolution requirements and numerical oscillations in small scales, and another is well-known point-implicit scheme to avoid quite small time integration of the order of nanosecond for fully explicit DNS. Availability and accuracy of these numerical methods have been confirmed carefully for auto-ignition, planar laminar flame and turbulent premixed flames. To realize DNS of IC engine with realistic kinetic mechanism, several DNS of elemental combustion process in IC engines has been conducted.

• 한국전산유체공학회:학술대회논문집
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• 2008.10a
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• pp.359-366
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• 2008

Current state and perspective of DNS of turbulence and turbulent combustion are discussed with feature trend of the fastest supercomputer in the world. Based on the perspective of DNS of turbulent combustion, possibility of perfect simulations of IC engine is shown. In 2020, the perfect simulation will be realized with 30 billion grid points by 1EXAFlops supercomputer, which requires 4 months CPU time. The CPU time will be reduced to about 4 days if several developments were achieved in the current fundamental researches. To shorten CPU time required for DNS of turbulent combustion, two numerical methods are introduced to full-explicit full-compressible DNS code. One is compact finite difference filter to reduce spatial resolution requirements and numerical oscillations in small scales, and another is well-known point-implicit scheme to avoid quite small time integration of the order of nanosecond for fully explicit DNS. Availability and accuracy of these numerical methods have been confirmed carefully for auto-ignition, planar laminar flame and turbulent premixed flames. To realize DNS of IC engine with realistic kinetic mechanism, several DNS of elemental combustion process in IC engines has been conducted.