• Journal of the Society of Naval Architects of Korea
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• v.60 no.3
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• pp.155-164
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• 2023

About 75% of vessel collision accidents are caused by human error, which causes enormous economic loss, environmental pollution, and human casualties, thus research on automatic collision avoidance of vessels is being actively conducted. In addition, vessels must comply with the COLREGs rules stipulated by IMO when performing collision avoidance with other vessels in motion. In this study, the collision risk was calculated by estimating the position and velocity of other vessels through the Probabilistic Data Association Filter (PDAF) algorithm based on RADAR sensor data. When a collision risk is detected, we propose an event-triggered Nonlinear Model Predict Control (NMPC) algorithm that geometrically creates waypoints that satisfy COLREGs and follows them. To verify the proposed algorithm, simulations through MATLAB are performed.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.999-1004
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• 2005

An algorithm for a hybrid controller consists of a sliding mode control part and a fuzzy logic part which ar purposely for nonlinear systems. The sliding mode part of the solution is based on "eigenvalue/vector"-type controller is used as the backstepping approach for tracking errors. The fuzzy logic part is a Mamdani fuzzy model. This is designed by applying sliding mode control (SMC) method to the dynamic model. The main objective is to keep the update dynamics in a stable region by used SMC. After that the plant behavior is presented to train procedure of adaptive neuro-fuzzy inference systems (ANFIS). ANFIS architecture is determined and the relevant formulation for the approach is given. Using the error (e) and rate of error (de), occur due to the difference between the desired output value (yd) and the actual output value (y) of the system. A dynamic adaptation law is proposed and proved the particularly chosen form of the adaptation strategy. Subsequently VSC creates a sliding mode in the plant behavior while the parameters of the controller are also in a sliding mode (stable trainer). This study considers the ANFIS structure with first order Sugeno model containing nine rules. Bell shaped membership functions with product inference rule are used at the fuzzification level. Finally the Mamdani fuzzy logic which is depends on adaptive neuro-fuzzy inference systems structure designed. At the transferable stage from ANFIS to Mamdani fuzzy model is adjusted for the membership function of the input value (e, de) and the actual output value (y) of the system could be changed to trapezoidal and triangular functions through tuning the parameters of the membership functions and rules base. These help adjust the contributions of both fuzzy control and variable structure control to the entire control value. The application example, control of a mass-damper system is considered. The simulation has been done using MATLAB. Three cases of the controller will be considered: for backstepping sliding-mode controller, for hybrid controller, and for adaptive backstepping sliding-mode controller. A numerical example is simulated to verify the performances of the proposed control strategy, and the simulation results show that the controller designed is more effective than the adaptive backstepping sliding mode controller.

• Clean Technology
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• v.24 no.3
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• pp.239-248
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• 2018

In this study, pervaporation experiments of water, ethanol and IPA (Isopropyl alcohol) single components and water/ethanol, water/IPA mixtures were carried out using zeolite 4A membranes developed by Fine Tech Co. Ltd. Those membranes were fabricated by hydrothermal synthesis (growth in hydrothermal condition) after uniformly dispersing the zeolite seeds on the tubular alumina supports. They have a pore size of about $4{\AA}$ by ion exchange of $Na^+$ to the LTA structure with Si/Al ratio of 1.0, and shows strong hydrophilic property. Physical characteristics of prepared membranes were evaluated by using SEM (surface morphology), porosimetry (macro- or meso- pore analysis), BET (micropore analysis), and load tester (compressive strength). Pervaporation experiments with various temperature and concentration conditions confirmed that the zeolite 4A membrane can selectively separate water from ethanol and IPA. Water/ethanol separation factor was over 3,000 and water/IPA separation factor was over 1,500 (50 : 50 wt%, initial feed concentration). Pervaporation behaviors of single components and binary mixtures were predicted using ACM (activity coefficient model), GMS (generalized Maxwell Stefan) model and DGM (Dusty Gas Model). The adsorption and diffusion coefficients of the zeolite top layer were obtained by parameter estimation using GA (Genetic Algorithm, stochastic optimization method). All the calculations were carried out using MATLAB 2018a version.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.23 no.4
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• pp.110-126
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• 2024

Several studies have focused on developing the safest and most efficient path from the current location to the available parking area for vehicles entering a parking lot. In the present study, the parking lot structure and parking environment such as the lane width, width, and length of the parking space, were vaired by referring to the actual parking lot with vertical and horizontal parking. An automatic parking path planning model was proposed by collecting path data by various setting angles and environments such as a starting point and an arrival point, by putting the collected data into a deep learning model. The existing algorithm(Hybrid A-star, Reeds-Shepp Curve) and the deep learning model generate similar paths without colliding with obstacles. The distance and the consumption time were reduced by 0.59% and 0.61%, respectively, resulting in more efficient paths. The switching point could be decreased from 1.3 to 1.2 to reduce driver fatigue by maximizing straight and backward movement. Finally, the path generation time is reduced by 42.76%, enabling efficient and rapid path generation, which can be used to create a path plan for autonomous parking during autonomous driving in the future, and it is expected to be used to create a path for parking robots that move according to vehicle construction.

• Investigative Magnetic Resonance Imaging
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• v.18 no.2
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• pp.107-119
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• 2014

Purpose : To efficiently evaluate phased array coil performance using a software tool box with which we can make visual comparison of the sensitivity of every coil element between the real experiment and EM simulation. Materials and Methods: We have developed a $C^{{+}{+}}$- and MATLAB-based software tool called Phased Array Coil Evaluator (PACE). PACE has the following functions: Building 3D models of the coil elements, importing the FDTD simulation results, and visualizing the coil sensitivity of each coil element on the ordinary Cartesian coordinate and the relative coil position coordinate. To build a 3D model of the phased array coil, we used an electromagnetic 3D tracker in a stylus form. After making the 3D model, we imported the 3D model into the FDTD electromagnetic field simulation tool. Results: An accurate comparison between the coil sensitivity simulation and real experiment on the tool box platform has been made through fine matching of the simulation and real experiment with aids of the 3D tracker. In the simulation and experiment, we used a 36-channel helmet-style phased array coil. At the 3D MRI data acquisition using the spoiled gradient echo sequence, we used the uniform cylindrical phantom that had the same geometry as the one in the FDTD simulation. In the tool box, we can conveniently choose the coil element of interest and we can compare the coil sensitivities element-by-element of the phased array coil. Conclusion: We expect the tool box can be greatly used for developing phased array coils of new geometry or for periodic maintenance of phased array coils in a more accurate and consistent manner.

• Nuclear Medicine and Molecular Imaging
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• v.42 no.4
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• pp.275-284
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• 2008

Purpose: We intended to evaluate myocardial oxygen consumption ($MVO_2)$ by applying recirculation correction and modified one-compartment model to have a reference range of $MVO_2$ in normal young population and to reveal the effect of recirculation on time-activity curve (TAC). Materials and Methods: In nine normal male volunteers with mean age of $26.3{\pm}4.0$, $MVO_2$ was estimated with 925 MBq (25mCi) of $^{11}C$-Acetate (Neuroscience Research Institute, Gachon University of Medicine and Science, Incheon, Korea) and PET/CT (Biograph 6, Siemens Medical Solution, Germany). Analysis software such as $MATLAB^{(R)}$ v7.1 (Mathworks, Inc., United States), $Excel^{(R)}$ 2007 (Microsoft, United States), and $SPSS^{(R)}$ v12.0 (Apache Software Foundation, United States) were used. Twenty three frames were of $12{\times}10$, $5{\times}60$, $3{\times}120$, $2{\times}300's$ duration, respectively. The modified one-compartmental model and the recirculation correction method were applied. Statistical analysis was performed by using Test of Normality, ANOVA and Post-Hoc (Scheffe's) analysis, and p-value less than 0.05 was considered as significant. Results: The normal reference ranges of $MVO_2$ were presented as $3.18-4.64\;{\times}\;10^{-4}\;ml/g/sec$, $1.91-3.94\;{\times}\;10^{-4}\;ml/g/sec$, $4.31-6.40\;{\times}\;10^{-4}\;ml/g/sec$, $2.84-4.53\;{\times}\;10^{-4}\;ml/g/sec$ and $3.42-5.00\;{\times}\;10^{-4}\;ml/g/sec$ in the septum, the inferior wall, the lateral wall, the anterior wall and the entire wall, respectively. In addition, it was noted that the dual exponentiality of the clearance curve is due to the recirculation effect and that the characteristic of the curve is essentially mono-exponential. Conclusion: $^{11}C$-Acetate is a radiotracer worthwhile to assess $MVO_2$. Re-circulated $^{11}C$ can influence TAC of $^{11}C$ in myocadia and so the recirculation correction must be considered when measuring $MVO_2$.

• Journal of fish pathology
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• v.26 no.2
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• pp.65-75
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• 2013

Population growth equation of scuticociliate Miamiensis avidus was obtained from the experimental results of in vitro culture condition to estimate the growth rate and carrying capacity from the growth equation. In addition, intraperitoneal infections into olive flounder Paralichthys olivaceus were carried out into 2 different conditions: different concentrations of M. avidus in same water temperature and same concentration of M. avidus in different water temperatures. Olive flounder mortality was threshold dependent with both the temperature and M. avidus density parameters. In this paper, we propose a mathematical model to study M. avidus growth in olive flounder based upon the interactions between parasite and host. The mathematical model was logistic growth differential equation (1.2). The parameters were found with Matlab program through the Levenberge-Marquardt method. In theorem, equilibrium values between the infected fish population and dead population could found. Our equilibrium points were a stable equilibrium and an unstable equilibrium. From the equation (1.6), it was possible to predict the amount of cumulative mortality of olive flounder along with the time after M. avidus infection.

• Journal of Radiation Protection and Research
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• v.28 no.4
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• pp.311-319
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• 2003

We developed a grid-based Gaussian plume model to evaluate tracer release data measured at Young Gwang nuclear site in 1996. Downwind distance was divided into every 10m from 0.1km to 20km, and crosswind distance was divided into every 10m centering released point from -5km to 5km. We determined dispersion factors, ${\sigma}_y\;and\;{\sigma}_z$ using Pasquill-Gifford method computed by atmospheric stability. Forecasting ability of the grid-based Gaussian plume model was better at the 3km away from the source than 8km. We confirmed that dispersion band must be modified if receptor is far away from the source, otherwise P-G method is not appropriate to compute diffusion distance and diffusion strength in case of growing distance. So, we developed an empirical equation using linear programming. An objective function was designed to minimize sum of the absolute value between observed and computed values. As a result of application of the modified dispersion equation, prediction ability was improved rather than P-G method.

• Nuclear Engineering and Technology
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• v.54 no.12
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• pp.4571-4584
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• 2022

The analysis of rapid flow transients in Reactor Coolant Pumps (RCP) is essential for a reactor safety study. An accurate and precise analysis of the RCP coastdown is necessary for the reactor design. The coastdown of RCP affects the coolant temperature and the colloidal crud in the primary coolant. A realistic and kinetic model has been used to investigate the behavior of activated colloidal crud in the primary coolant and steam generator that solves the pump speed analytically. The analytic solution of the non-dimensional flow rate has been determined by the energy ratio β. The kinetic energy of the coolant fluid and the kinetic energy stored in the rotating parts of a pump are two essential parameters in the form of β. Under normal operation, the pump's speed and moment of inertia are constant. However, in a coastdown situation, kinetic damping in the interval has been implemented. A dynamic model ACCP-SMART has been developed for System Integrated Modular and Advanced Reactor (SMART) to investigate the corrosion due to activated colloidal crud. The Fickian diffusion model has been implemented as the reference corrosion model for the constituent component of the primary loop of the SMART reactor. The activated colloidal crud activity in the primary coolant and steam generator of the SMART reactor has been studied for different equilibrium corrosion rates, linear increase in corrosion rate, and dynamic RCP coastdown situation energy ratio b. The coolant specific activity of SMART reactor equilibrium corrosion (4.0 mg s^-1) has been found 9.63×10^-3 µCi cm^-3, 3.53×10^-3 µC cm^-3, 2.39×10^-2 µC cm^-3, 8.10×10^-3 µC cm^-3, 6.77× 10^-3 µC cm^-3, 4.95×10^-4 µC cm^-3, 1.19×10^-3 µC cm^-3, and 7.87×10^-4 µC cm^-3 for ²⁴Na, ⁵⁴Mn, ⁵⁶Mn, ⁵⁹Fe, ⁵⁸Co, ⁶⁰Co, ⁹⁹Mo, and ⁵¹Cr which are 14.95%, 5.48%, 37.08%, 12.57%, 10.51%, 0.77%, 18.50%, and 0.12% respectively. For linear and exponential coastdown with a constant corrosion rate, the total coolant and steam generator activity approaches a higher saturation value than the normal values. The coolant and steam generator activity changes considerably with kinetic corrosion rate, equilibrium corrosion, growth of corrosion rate (ΔC/Δt), and RCP coastdown situations. The effect of the RCP coastdown on the specific activity of the steam generators is smeared by linearly rising corrosion rates, equilibrium corrosion, and rapid coasting down of the RCP. However, the time taken to reach the saturation activity is also influenced by the slope of corrosion rate, coastdown situation, equilibrium corrosion rate, and energy ratio β.

• Progress in Medical Physics
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• v.28 no.4
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• pp.135-143
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• 2017

Chemical Exchange Saturation Transfer (CEST) imaging is a method to detect solutes based on the chemical exchange of mobile protons with water. The solute protons exchange with three different patterns, which are fast, slow, and intermediate rates. The CEST contrast can be obtained from the exchangeable protons, which are hydroxyl protons, amine protons, and amide protons. The CEST MR imaging is useful to evaluate tumors, strokes, and other diseases. The purpose of this study is to review the mathematical model for CEST imaging and for measurement of the chemical exchange rate, and to measure the chemical exchange rate using a 3T MRI system on several amino acids. We reviewed the mathematical models for the proton exchange. Several physical models are proposed to demonstrate a two-pool, three-pool, and four-pool models. The CEST signals are also evaluated by taking account of the exchange rate, pH and the saturation efficiency. Although researchers have used most commonly in the calculation of CEST asymmetry, a quantitative analysis is also developed by using Lorentzian fitting. The chemical exchange rate was measured in the phantoms made of asparagine (Asn), glutamate (Glu), ${\gamma}-aminobutyric$ acid (GABA), glycine (Gly), and myoinositol (MI). The experiment was performed at a 3T human MRI system with three different acidity conditions (pH 5.6, 6.2, and 7.4) at a concentration of 50 mM. To identify the chemical exchange rate, the "lsqcurvefit" built-in function in MATLAB was used to fit the pseudo-first exchange rate model. The pseudo-first exchange rate of Asn and Gly was increased with decreasing acidity. In the case of GABA, the largest result was observed at pH 6.2. For Glu, the results at pH 5.6 and 6.2 did not show a significant difference, and the results at pH 7.4 were almost zero. For MI, there was no significant difference at pH 5.6 or 7.4, however, the results at pH 6.2 were smaller than at the other pH values. For the experiment at 3T, we were only able to apply 1 s as the maximum saturation duration due to the limitations of the MRI system. The measurement of the chemical exchange rate was limited in a clinical 3T MRI system because of a hardware limitation.