• 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.

• Journal of Applied Reliability
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• v.17 no.2
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• pp.168-180
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• 2017

Purpose: In this research, we develop an effectiveness analysis simulation model using Agent Based Modeling with Communication Effects for the development of a new weapon system. Methods: To describe the future battlefield that has more complexity, we develop Agent Based Modeling to describe communication Effects. We use the communication theory (Path-Loss Model) and the real map. Results: We have compared simulation model with real map and simulation model without real map. The Blue Survival Ratio of simulation model with real map is worse than one without real map since the performance of communication gets lower. Conclusion: There are many studies about the effectiveness analysis of a weapon system. Most of previous researches assumed no communication error. In the real world, however, it's not appropriate assumption. Therefore, this study considers the communication error and shows that it is important factor in the effectiveness analysis.

• Journal of Radiation Protection and Research
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• v.42 no.1
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• pp.26-32
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• 2017

Background: Ionizing radiation is known to be harmful to human health. The shielding of ionizing radiation depends on the attenuation which can be achieved by three main rules, i.e. time, distance and absorbing material. Materials and Methods: The mass attenuation coefficient, linear attenuation coefficient, Half Value Layer (HVL) and Tenth Value Layer (TVL) of X-rays (32 keV, 74 keV) and gamma rays (662 keV) are measured in Barium compounds. Results and Discussion: The measured values agree well with the theory. The effective atomic numbers ($Z_{eff}$) and electron density (Ne) of Barium compounds have been computed in the wide energy region 1 keV to 100 GeV using an accurate database of photon-interaction cross sections and the WinXCom program. Conclusion: The mass attenuation coefficient and linear attenuation coefficient for $BaCO_3$ is higher than the $BaCl_2$, $Ba(No_3)_2$ and BaSO4. HVL, TVL and mean free path are lower for $BaCO_3$ than the $BaCl_2$, $Ba(No_3)_2$ and $BaSO_4$. Among the studied barium compounds, $BaCO_3$ is best material for x-ray and gamma shielding.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.8
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• pp.647-654
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• 2016

Controlling a mobile robot using conventional control devices requires skill and experience, and is not intuitive, especially in complex environments. For human-mobile robot cooperation, the direct-teaching method with impedance control has been used most frequently in complex environments. This thesis proposes a new direct-teaching method for a mobile robot utilizing variable impedance control. This includes analysis of user intention, which is changed by force and moment. A fuzzy inference technique is proposed in this thesis for identification of user intension. The direct teaching of a mobile robot based on variable impedance control through fuzzy inference is experimentally verified by comparing its efficiency to that of the conventional impedance control-based direct teaching of a mobile robot. Experimental data, such as the total time consumed, path error time, and the total energy used by the user, were recorded. The results showed that the efficiency of variable impedance control was increased.

• Proceedings of the Korean Geotechical Society Conference
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• 1998.04a
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• pp.37-46
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• 1998

Several researchers have developed a number of theoretical time factors to determine the coefficient of consolidation by biezocone excess pore water dissipation test in soft clay deposits. However, depending on the assumptions and analytical techniques, the estimated coefficient of consolidation could be in a considerably wide range even for a specific degree of consolidation. These solutions are obtained from an initial excess porewater pressure distribution which can be determined from. either the cavity expansion theory or the strain path method. The 야ssipation of the initial excess porelvater pressure has been usally simulated by means of linear-uncoupled consolidation analysis and then the dissipation curve is normalized by the initial excess porewater pressure for easy use. However. since there is no guidelines or rules on which method gives the best solution for obtaining the coefficient of consolidation from the dissipation curve, the final selection was only based on engineer's extrience and Judgements. Thus, such an arbitrary selection might be inappropriate for a specific site to characterize the consolidation behavior. In this paper, we reviewed various theoretical time factors and, based on this consideration, we mentioned needs for researches in selecting a specific solution that is compatible for Korean clays. Also we listed some source of errors that can be encountered in the procedure of dissipation analysis.

• Journal of the Korean Home Economics Association
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• v.29 no.4
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• pp.151-165
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• 1991

The purpose of this study was to examine causal model of resources and demands, family financial management and subjective financial security among urban households based on system theory. For this purpose, the data were collected by the questionnaire sheets. 455 housewives participated this survey in Seoul. And the data were analyzed by various statistical methods such as Frequency, Percentile, ANOVA, F-test, Pearson's correlation analysis, Multipe Regression Analysis, and Path Analysis. The results of this research were as follows: 1. There were significant differences in the Subjective Financial Security according to resource variables and demand yariables. Those variables were such as housewive's age, education, occupation, househead's occupation, per capita income, aspiration, expectancy, perception of financial progress and relative deprivation. 2. The higher family financial management level, the higher level of Subjective Financial security. And the higher family financial management plan·implement level, the higher level of Subjective Financial security. 3. The lower debt/asset ratio, the higher level of Subjective Financial security. 4. Aspiration, per capita income an financial managemant variables showed direct effect on Subjective Financial security among all variables affecting the urban households' Subjective financial security. While housewive's education level, aspiration, per capita income and husband's occupation affected indirectly on the Subjective Financial security through family financial managemant.

• Journal of Ocean Engineering and Technology
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• v.19 no.1 s.62
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• pp.87-94
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• 2005

This paper investigates the constant-level luffing and time optimal control of jib cranes. The constant-level luffing, which is the sustainment of the load at a constant height during luffing, is achieved by analyzing the kinematic relationship between the angular displacement of a boom and that of the main hoist motor of a jib crane. Under the assumption that the main body of the crane does not rotate, the equations of motion of the boom are derived using Newton's Second Law. The dynamic equations for the crane system are highly nonlinear; therefore, they are linearized under the small angular motion of the load to apply linear control theory. This paper investigates the time optimal control from the perspective of no-sway at a target point. A stepped velocity pattern is used to design the moving path of the jib crane. Simulation results demonstrate the effectiveness of the time optimal control, in terms of anti-sway motion of the load, while luffing the crane.

• Journal of Electrical Engineering and Technology
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• v.13 no.1
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• pp.51-59
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• 2018

Despite the advantages of energy arbitrage using energy storage systems (ESSs), the high cost of ESSs has not attracted storage owners for the arbitrage. However, as the costs of ESS have decreased and the price volatility of the electricity market has increased, many studies have been conducted on energy arbitrage using ESSs. In this study, the existing two-period model is modified in consideration of the ESS cost and risk-free contracts. Optimal investment strategies that maximize the sum of external effects caused by price changes and arbitrage profits are formulated by market participants. The optimal amounts of ESS investment for three types of investors in three different market structures are determined with game theory, and strategies in the form of the mixed-complementarity problem are solved by using the PATH solver of GAMS. Results show that when all market participants can participate in investment simultaneously, only customers invest in ESSs, which means that customers can obtain market power by operating their ESSs. Attracting other types of ESS investors, such as merchant storage owners and producers, to mitigate market power can be achieved by increasing risk-free contracts.

• Journal of Electrical Engineering and Technology
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• v.13 no.5
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• pp.1935-1944
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• 2018

With the increase of the production of energy from renewable, it becomes important to look at techniques to store this energy. Therefore, a single winding bearingless flywheel motor (SWBFM) specially for flywheel energy storage system is introduced. For the control system of SWBFM, coupling between the torque and the suspension subsystems exists inevitably. It is necessary to build a reasonable radial force mathematical model to precisely control SWBFM. However, SWBFM has twelve independently controlled windings which leads to high-order matrix transformation and complex differential calculation in the process of mathematical modeling based on virtual displacement method. In this frame, a Maxwell tensor modeling method which is no need the detailed derivation and complex theoretical computation is present. Moreover, it possesses advantages of universality, accuracy, and directness. The fringing magnetic path is improved from straight and circular lines to elliptical line and the rationality of elliptical line is verified by virtual displacement theory according to electromagnetic torque characteristics. A correction function is taken to increase the model accuracy based on finite element analysis. Simulation and experimental results show that the control system of SWBFM with radial force mathematical model based on Maxwell tensor method is feasible and has high precision.

• Asia pacific journal of information systems
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• v.15 no.3
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• pp.163-186
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• 2005

When firms are confronted with IT investment decision-makings, technical or financial factors are widely considered. However, based on sociotechnical systems theory, it is argued that in addition to the traditional factors, social issues must be considered in the IT investment decision-makings. Even though the strategic criteria of social issues within organization are important for IT investment decision-makings, the social or organizational issues are hardly considered in IT implementation and adoption(Ryan and Harrison, 2000). The objective of this study is to empirically verify how the comprehensive consideration of both of technical and organizational issues related with IT investment affects firm performance through its impact on IT technical capability and IT personnel skills. Senior managers of 153 Korean firms were surveyed, and the collected data were analyzed with PLS technique. The results of the PLS path analysis show that the comprehensive consideration of the technical and social issues affected indirectly firm performance through IT technical capability and IT personnel skills. It is found that the comprehensive consideration had a significant impact on IT technical capability and IT personnel skills, and that IT technical capability and IT personnel skills affected firm performance. IT personnel was also found to affect IT technical capability. Finally, this study found that the consideration of social factors had greater impacts on firm performance than that of technical factors.