• Journal of the Korean Society for Precision Engineering
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• v.15 no.12
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• pp.128-141
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• 1998

We propose the robust nonlinear controller design methodology for the multivariable system which has hard nonlinearities (Coulomb friction, dead-zone, etc) and the structured real parameter uncertainty. The hard nonlinearity can be linearized by the RIDF technique and structured real parameter uncertainty can be modelled as the sense of Peterson-Hollot's quadratic Lyapunov bound. For this system, we apply the robust QLQG/H$_{\infty}$ control and then can obtain four Riccati equations. Because of the system's nonlinearity, however, one Riccati equation contains the nonlinear correction term that is very difficult to solve numerically, In order to treat this problem, using some transformations to Riccati equations, the nonlinear correction term can be eliminated. Then, only two Riccati equations need to design a controller. Finally, the robust nonlinear controller is synthesized via IRIDF techniques. To test this proposed control method, we consider the direct-drive robot manipulator system that has Coulomb frictions and varying inertia.

• Steel and Composite Structures
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• v.15 no.4
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• pp.379-397
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• 2013

Conoidal shells are doubly curved stiff surfaces which are easy to cast and fabricate due to their singly ruled property. Application of laminated composites in fabrication of conoidal shells reduces gravity forces and mass induced forces compared to the isotropic constructions due to the high strength to weight ratio of the material. These light weight shells are preferred in the industry to cover large column free open spaces. To ensure design reliability under service conditions, detailed knowledge about different behavioral aspects of conoidal shell is necessary. Hence, in this paper, static bending, free and forced vibration responses of composite conoidal shells are studied. Lagrange's equation of motion is used in conjunction with Hamilton's principle to derive governing equations of the shell. A finite element code using eight noded curved quadratic isoparametric elements is developed to get the solutions. Uniformly distributed load for static bending analysis and three different load time histories for solution of forced vibration problems are considered. Eight different stacking sequences of graphite-epoxy composite and two different boundary conditions are taken up in the present study. The study shows that relative performances of different shell combinations in terms of static behaviour cannot provide an idea about how they will relatively behave under dynamic loads and also the fact that the points of occurrence of maximum static and dynamic displacement may not be same on a shell surface.

• Proceedings of the KSRS Conference
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• v.1
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• pp.274-277
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• 2006

KARI is currently developing a geostationary ocean color imager (GOCI) for COMS. We report the progress in integrated optical modeling and analysis for stray light suppression and the end-to-end instrument performance verification including in-orbit calibration. The Sun is modeled as the emitting light source and the selected area around Korean peninsular as the observation target that scatters the sun light towards GOCI in orbit. The optical ray tracing employing active geometric scaling was then used for precise characterization of the spatial and radiometric performance at the instrument focal plane. The analysis results show positive reduction in the simulated stray light level with the design improvement including baffles. It also indicates that the ray traced in-orbit radiometric performances are effective tools for the independent assessment of more traditional linear and quadratic equation based estimation of water leaving radiance. The concept of integrated GOCI optical model and the computational method are presented.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.5
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• pp.412-418
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• 2007

An inverse optimal problem for homing guidance with angular constraint is addressed. The gains of BPN(Biased PN) are investigated by duality analysis related to the weighting matrices of the performance index in the LQ control problem. Moreover, the criteria for the existence of optimal gains are derived from the generalized Riccati equation. Based on the conditions we achieve the gain set of BPN to be optimal solution to the LQ problem with terminal constraints. To validate and demonstrate the proposed approach 3-DOF simulations are carried out.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.628-633
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• 1994

A new Riemannian geometric model for the controlled plant is proposed by imbedding the control vector space in the state space, so as to reduce the dimension of the model. This geometric model is derived by replacing the orthogonal straight coordinate axes on the state space of a linear system with the curvilinear coordinate axes. Therefore the integral manifold of the geometric model becomes homeomorphic to that of fictitious linear system. For the lower dimensional Riemannian geometric model, a nonlinear optimal regulator with a quadratic form performance index which contains the Riemannian metric tensor is designed. Since the integral manifold of the nonlinear regulator is determined to be homeomorphic to that of the linear regulator, it is expected that the basic properties of the linear regulator such as feedback structure, stability and robustness are to be reflected in those of the nonlinear regulator. To apply the above regulator theory to a real nonlinear plant, it is discussed how to distort the curvilinear coordinate axes on which a nonlinear plant behaves as a linear system. Consequently, a partial differential equation with respect to the homeomorphism is derived. Finally, the computational algorithm for the nonlinear optimal regulator is discussed and a numerical example is shown.

• Journal of Environmental Science International
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• v.29 no.8
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• pp.793-800
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• 2020

The conventional development of multi-component electrodes is based on the researcher's experience and is based on trial and error. Therefore, there is a need for a scientific method to reduce the time and economic losses thereof and systematize the mixing of electrode components. In this study, we use design of mixture experiments (DOME)- in particular a simplex lattice design with Design Expert^Ⓡ program- to attempt to find an optimum mixing ratio for a three-component electrode for the high RNO degradation; RNO is an indictor of OH radical formation. The experiment included 12 experimental points with 2 center replicates for 3 different independent variables (with the molar ratio of Ru, Ti, Ir). As the Prob > F value of the 'Quadratic' model is 0.0026, the secondary model was found to be suitable. Applying the molar ratio of the electrode components to the corrected response model results is an RNO removal efficiency (%) = 59.89 × [Ru] + 9.78 × [Ti] + 67.03 × [Ir] + 66.38 × [Ru] × [Ir] + 132.86 × [Ti] × [Ir]. The R² value of the equation is 0.9374 after the error term is excluded. The optimized formulation of the ternary electrode for an high RNO degradation was acquired when the molar ratio of Ru 0.100, Ti 0.200, Ir 0.700 (desirability d value, 1).

• Journal of the Korean Institute of Navigation
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• v.23 no.3
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• pp.35-44
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• 1999

This research aims to seek active control of ball-beam position stability by resorting to neural networks whose layers are given bias weights. The controller consists of an LQR (linear quadratic regulator) controller and a neural networks controller in parallel. The latter is used to improve the responses of the established LQR control system, especially when controlling the system with nonlinear factors or modelling errors. For the learning of this control system, the feedback-error learning algorithm is utilized here. While the neural networks controller learns repetitive trajectories on line, feedback errors are back-propagated through neural networks. Convergence is made when the neural networks controller reversely learns and controls the plant. The goals of teaming are to expand the working range of the adaptive control system and to bridge errors owing to nonlinearity by adjusting parameters against the external disturbances and change of the nonlinear plant. The motion equation of the ball-beam system is derived from Newton's law. As the system is strongly nonlinear, lots of researchers have depended on classical systems to control it. Its applications of position control are seen in planes, ships, automobiles and so on. However, the research based on artificial control is quite recent. The current paper compares and analyzes simulation results by way of the LQR controller and the neural network controller in order to prove the efficiency of the neural networks control algorithm against any nonlinear system.

• International Journal of Ocean Engineering and Technology Speciallssue:Selected Papers
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• v.6 no.1
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• pp.60-68
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• 2003

This paper proposes an optimum design method of structural and control systems, using a 2-D truss structure as an example. The structure is subjected to initial static loads and disturbances. For the structure, a FEM model is formed. Using modal transformation, the equation of motion is transformed into modal coordinates, in order to decrease D.O.F. of the FEM model. To suppress the effect of the disturbances, the structure is controlled by an output feedback $H_{\infty}$ controller. The design variables of the combined optimal design of the control-structure systems are the cross sectional areas of truss members. The structural objective function is the structural weight. The control objective function is the $H_{\infty}$ norm, the performance index of control. The second structural objective function is the energy of the response related to the initial state, which is derived from the time integration of the quadratic form of the state in the closed-loop system. In a numerical example, simulations have been perform. Through the consideration of structural weight and $H_{\infty}$ norm, an advantage of the combined optimum design of structural and control systems is shown. Moreover, since the performance index of control is almost nearly optimiz, we can acquire better design of structural strength.

• Journal of Environmental Science International
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• v.18 no.11
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• pp.1225-1234
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• 2009

The aim of this research was to apply experimental design methodology in the optimization condition of electrochemical oxidation of Rhodamine B(RhB). The reactions of electrochemical oxidation were mathematically described as a function of parameters amounts of current, NaCl dosage, pH and time being modeled by the use of the central composite design, which was used for fitting quadratic response surface model. The application of response surface methodology using central composite design(CCD) technique yielded the following regression equation, which is an empirical relationship between the removal efficiency of RhB and test variable in actual variables: RhB removal (%) = 3.977 + 23.279$\cdot$Current + 49.124$\cdot$NaCI - 5.539$\cdot$pH - 8.863$\cdot$time - 22.710$\cdot$Current$\cdot$NaCl + 5.409$\cdot$Current$\cdot$time + 2.390$\cdot$NaCl$\cdot$time + 1.061$\cdot$pH$\cdot$time - $0.570{\cdot}time^2$. The model predicted also agree with the experimentally observed result($R^2$ = 91.9%).

• Structural Engineering and Mechanics
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• v.60 no.1
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• pp.1-19
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• 2016

In this study, the supersonic panel flutter of doubly curved composite sandwich panels with variable thickness is considered under aerothermoelastic loading. Considering different radii of curvatures of the face sheets in this paper, the thickness of the core is a function of plane coordinates (x,y), which is unique. For the first time in the current model, the continuity conditions of the transverse shear stress, transverse normal stress and transverse normal stress gradient at the layer interfaces, as well as the conditions of zero transverse shear stresses on the upper and lower surfaces of the sandwich panel are satisfied. The formulation is based on an enhanced higher order sandwich panel theory and the vertical displacement component of the face sheets is assumed as a quadratic one, while a cubic pattern is used for the in-plane displacement components of the face sheets and the all displacement components of the core. The formulation is based on the von $K{\acute{a}}rm{\acute{a}}n$ nonlinear approximation, the one-dimensional Fourier equation of the heat conduction along the thickness direction, and the first-order piston theory. The equations of motion and boundary conditions are derived using the Hamilton principle and the results are validated by the latest results published in the literature.