• Journal of Korea Multimedia Society
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• v.16 no.2
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• pp.213-225
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• 2013

This paper proposes a design method of ball-plate robot controller using single camera and two motors to balance the ball on plate and reduce steady state control error. To design the ball-plate system, it is necessary to observe state of the ball and maintain balance of the plate. The state of the ball is tracked by using the CAMShift algorithm and position error of the ball is compensated by the Kalman filter. Balance of the plate is controlled by driving two motors and we used DC motors which has smaller measurement error. Due to surface condition of the plate or tracking error of ball's position, there are small errors remained. These errors are accumulated and disturb maintaining balance of the ball. To handle the problem, we propose a controller supplemented with an integrator.

• Proceedings of the KIPE Conference
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• 2001.10a
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• pp.639-643
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• 2001

Recently, photovoltaic system has been studied widely as a renewable energy system, because it does not produce environmental pollution and it has infinity energy source from the sun. A study on photovoltaic system has a lot of problems like as reappearance and repetition of some situation in the laboratory experiment for development of MPPT algorithm and islanding detection algorithm, because output characteristics of solar cell are varied by irradiation and surface temperature of solar cell. And this system is consisted a lot of solar cell unit. Therefore, the assistant equipment which emulates the solar cell characteristics which can be controlled arbitrarily by researcher is require to the researchers for reliable experimental data. In this paper, the virtual implement of solar cell (VISC) system is proposed to solve these problems and to achieve reliable experimental result on photovoltaic system. VISC system emulates the solar cell output characteristics, and this system can substitute solar cell in laboratory experiment system. To realize the VISC, mathematical model of solar cell is studied for driving converter and the DC/DC converters are compared in viewpoint of tracking error using computer simulation. And then analysis of parallel and series characteristics was done for combination of VISC model.

• Journal of the Korean Professional Engineers Association
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• v.30 no.4
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• pp.99-116
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• 1997

In order to obtain safe drinking water, free from surface contamination, a study to determine the potential for developing a bank-filtrate system in the Iryong and Yongsan, Nakdong River Basin, Korea was conducted. The main type of aquifer In the study area is alluvial, consisting mostly of sand and gravel. The hydraulic conductivity(k) of the Iryong and Yongsan test areas were 8.63${\times}$10$^-2$cm/s and 9.90${\times}$10$^-2$cm/s, respectively, indicating that these areas are satisfactory for bank filtrate production. Pilot plants(IRPL and YSPL) were set up In Iryong and Yongsan to monitor the change in the quality of bank-filtered water and to determine the effect pumping had on the surrounding hydrogeologic system. The pilot plants operated continuously for about two months and the data obtained were used to validate the groundwater flow model. Computer simulations were conducted to predict the effects of producing bank filtrate using MODFLOW. MODPATH was also linked with the flow model to analyze particle tracking. According to the results of the model simulations and the hydrogeologlc study, long-term pumping, the minimization of drawdown and the availability of uncontaminated sell and groundwater conditions for the catchment area were all Important factors for successful bank-titrate system development.

• Journal of Power System Engineering
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• v.16 no.6
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• pp.79-85
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• 2012

본 논문에서는 항내에서 저속으로 운동(항해)하는 선박의 운동제어문제에 대해 고려하고 있다. 항내에서는 특히 그 운동속도가 느리므로 일반 항해에서와는 달이 저주파대역에서의 운동특성이 중요하다. 대부분의 중대형선박이 항내에서 터그보트에 의해 접안시설로 이동하게 된다. 이러한 사실을 고려하여 대상선박이 4기의 터그보트에 의해 제어되는 선박의 제어계 설계문제에 대해 고찰하고 있다. 주요 연구내용은 크게 두가지로 구분된다. 첫째 비선형특성이 강하게 포함되어있는 선박운동특성을 고려하여 비선형관측기를 설계한다. 이것은 특히 저주파수 대역에서 선박의 위치와 속도 등 제어신호를 계산하는데 필요한 정보를 추정하는데 유효한 방법으로 잘 알려져 있다. 이를 기반으로 외란 등에 강인한 슬라이딩모드 제어기를 설계한다. 결과적으로 비선형관측기를 포함한 슬라이딩모드제어기의 유용성을 시뮬레이션을 통해 검증하였으며 이 결과는 실험을 위한 유용한 기초자료로 활용될 것이다.

• Ocean and Polar Research
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• v.35 no.1
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• pp.51-61
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• 2013

Two surveys were conducted in January 2006 and September 2007 with multibeam echosounder to investigate the dune shape, migration rate, and bedload transport rate using dune-tracking method on an offshore sand ridge at southern Gyeonggi Bay. The migration rates of dunes range from 1.8 $myr^{-1}$) to 56.0 $myr^{-1}$), at the upper northwestern side of sand ridge towards the southwest direction and from the center of the sand ridge towards the northeast direction respectively. Large (i.e. length 10-100 m) dunes show faster migration (0.3-23.4 $myr^{-1}$) ) than very large (i.e. length > 100 m) dunes because larger dunes have required a larger volume of sediments to be displaced. The decreases in dimensions and migration rates of dunes from the center of sand ridge to the lower part of southeastern side on the sand ridge can be ascribed to the decrease of sandy sediments availability, tidal currents with depth, and the coarsening of surface sediments from the crest of the sand ridge to the trough. Bedload transport rates on the basis of migration rates and dune dimensions decrease from 74.5 $m^2yr^{-1}$) at C transect to 35.6 $m^2yr^{-1}$) at R-02 transect.

• Korean Journal of Remote Sensing
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• v.33 no.1
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• pp.97-109
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• 2017

Green tides that developed along the coast of China in 2015 were detected and tracked using vegetation indices from GOCI and Landsat images. Green tides first appeared near the Jiangsu Province on May 14 before increasing in size and number and moving northward to the Shandong Peninsula in mid-June. Typhoon Cham-hom passed through the Yellow Sea on July 12, significantly decreasing the algal population. An algae patch moved east toward Korea and on June 18 and July 4, several masses were found between the southwestern shores of Korea and Jeju Island. The floating masses found in Korean waters were concentrated at the boundary of the open sea and the Jindo cold pool, a phenomenon also observed at the boundary of coastal and offshore waters in China. Sea surface temperatures, derived from NOAA SST data, were found to play a role in generation of the green tides.

• Journal of the Korean Solar Energy Society
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• v.31 no.3
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• pp.80-88
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• 2011

Heliostat in the tower type solar thermal power plant is a sun tracking mirror system to reflect the solar energy to the receiver and the optical performance of it affects to the efficiency of whole power plant most significantly. Thus a solid understanding of heliostat's energy concentration characteristics is the most important step in designing of the heliostat field and the whole power plant. The work presented here is the analysis of energy concentration characteristics of heliostat used in 200kW solar thermal power plant, where the receiver located at 43m high in tower has $2{\times}2$m rectangular shape. The heliostat reflective surface is formed by 4 of $1{\times}1$m flat plate mirror facet and the mirror facet is mounted on the spherical frame. The direct normal incident radiation models in vernal equinox, summer solstice, autumnal equinox and winter solstice are first derived from the actually measured data. Then the intercept ratio, heat flux distribution and total energy collected at the receiver for the heliostats located in the various places of the heliostat field are investigated. Finally the effect of mirror facet installation error on the optical performance of the heliostat is analyzed.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.2
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• pp.117-123
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• 2001

To improve control performance of a non-linear system, many other reserches have used the sliding model control algorithm. The sliding mode controller is known to be robust against nonlinear and unmodeled dynamic terms. However, this algorithm raises the inherent chattering caused by excessive switching inputs around the sliding surface. Therefore, in order to solve the chattering problem and improve control performance, this study has developed the sliding mode controller with a perturbation estimator using the observer-based fuzzy adaptive network. The perturbation estimator based on the fuzzy adaptive network generates the control input of compensating unmodeled dynamics terms and disturbance. And the weighting parameters of the fuzzy adaptive network are updated on-line by adaptive law in order to force the estimation errors converge to zero. Therefore, the combination of sliding mode control and fuzzy adaptive network gives rise to the robust and intelligent routine. For evaluation control performance of the proposed approach, tracking control simulation is carried is carried out for the hydraulic motion simulator which is a 6-degree of freedom parallel manipulator.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.5
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• pp.320-325
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• 2016

This paper presents a robust finite-time sliding mode control (SMC) scheme for unknown disturbance and unmodeled nonlinear friction and dynamics in the robotic manipulator. A finite-time SMC (FSMC) surface and finite-time sliding mode controller are constructed to obtain faster error convergence than the conventional infinite-time based SMC. By adding prescribed constraint control term to a finite-time SMC to compensate for unknown disturbance and uncertainties, a robust control scheme can be designed as well as faster convergence control. In addition, simpler controller structure is built by using feed-forwarding upper bound coefficients of each manipulator dynamic parameters instead of model-based control or adaptive observer to estimate unknown manipulator parameters. Simulation and experimental evaluations highlight the efficacy of the proposed control scheme for an articulated robotic manipulator.

• Smart Structures and Systems
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• v.15 no.6
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• pp.1543-1567
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• 2015

In this study, a wireless crack sensor is developed for monitoring cracks propagating in two dimensions. This sensor is developed by incorporating a laser-based optical navigation sensor board (ADNS-9500) into a smart wireless platform (Imote2). To measure crack propagation, the Imote2 sends a signal to the ADNS-9500 to collect a sequence of images reflected from the concrete surface. These acquired images can be processed in the ADNS-9500 directly (the navigation mode) or sent to Imote2 for processing (the frame capture mode). The computed crack displacement can then be transmitted wirelessly to a base station. The design and the construction of this sensor are reported herein followed by some calibration tests on one prototype sensor. Test results show that the sensor can provide sub-millimeter accuracy under sinusoidal and step movement. Also, the two modes of operation offer complementary performance as the navigation mode is more accurate in tracking large amplitude and fast crack movement while the frame capture mode is more accurate for small and slow crack movement. These results illustrate the feasibility of developing such a crack sensor as well as point out directions of further research before its actual implementation.