• Biomolecules & Therapeutics
• /
• v.21 no.2
• /
• pp.173-179
• /
• 2013

Objective of present study was to prepare and characterize self-nanoemulsifying drug delivery system (SNEDDS) of lutein and to evaluate its effect on bioavailability of warfarin. The SNEDDS was prepared using an oil, a surfactant, and co-surfactants with optimal composition based on pseudo-ternary phase diagram. Effect of the SNEDDS on the bioavailability of warfarin was performed using Sprague Dawley rats. Lutein was successfully formulated as SNEDDS for immediate self-emulsification and dissolution by using combination of Peceol as oil, Labrasol as surfactant, and Transcutol-HP or Lutrol-E400 as co-surfactant. Almost complete dissolution was achieved after 15 min while lutein was not detectable from the lutein powder or intra-capsule content of a commercial formulation. SNEDDS formulation of lutein affected bioavailability of warfarin, showing about 10% increase in $C_{max}$ and AUC of the drug in rats while lutein as non-SNEDDS did not alter these parameters. Although exact mechanism is not yet elucidated, it appears that surfactant and co-surfactant used for SNEDDS formulation caused disturbance in the anatomy of small intestinal microvilli, leading to permeability change of the mucosal membrane. Based on this finding, it is suggested that drugs with narrow therapeutic range such as warfarin be administered with caution to avoid undesirable drug interaction due to large amount of surfactants contained in SNEDDS.

• Journal of Electrical Engineering and Technology
• /
• v.10 no.1
• /
• pp.92-101
• /
• 2015

As one type of power quality (PQ) disturbance sources, high-speed rail (HSR) can have major impacts on the power supply grid. Providing timely and accurate warning information for PQ problems of HSR is important for the safe and stable operation of traction power supply systems and the power supply grid. This study proposes a novel warning approach to identify PQ problems and provide warning prompts based on the monitored data of HSR. To embody the displacement and status change of monitored data, multi-features of different sliding windows are computed. To reflect the relative importance degree of these features in the overall evaluation, an analytic hierarchy process (AHP) is used to analyse the weights of multi-features. Finally, a multi-features similarity algorithm is applied to analyse the difference between monitored data and the reference data of HSR, and PQ warning results based on dynamic thresholds can be analysed to quantify its severity. Cases studies demonstrate that the proposed approach is effective and feasible, and it has now been applied to an actual PQ monitoring platform.

• Journal of Electrical Engineering and Technology
• /
• v.10 no.1
• /
• pp.195-204
• /
• 2015

In this paper, the development of a cost-effective active power filter/uninterruptible power supply (APF/UPS) system with seamless mode transfer is described. The proposed scheme employs a pulse-width-modulation (PWM) voltage-source inverter and has two operational modes. First, when the source voltage is normal, the system operates as an APF, which compensates for the harmonics and power factor while boosting the DC-link voltage to be ready for the disturbance, without an additional DC charging circuit. A simple algorithm to detect the load current harmonics is also proposed. Second, when the source voltage is out of the normal range (owing to sag, swell, or outage), it operates a UPS, which controls the output voltage constantly by discharging the DC-link capacitor. Furthermore, a seamless transfer method for the single-phase inverter between the APF mode and the UPS mode is also proposed, in which an IGBT switch with diodes is used as a static bypass switch. Dissimilar to a conventional SCR switch, the IGBT switch can implement a seamless mode transfer. During the UPS operation, when the source voltage returns to the normal range, the system operates as an APF. The proposed system has good transient and steady-state response characteristics. The APF, charging circuit, and UPS systems are implemented in one inverter system. Finally, the validity of the proposed scheme is investigated with simulated and experimental results for a prototype APF/UPS system rated at 3 kVA.

• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.1275-1278
• /
• 1997

Cutting process has been automated by progress of CNC and CAD/CAM, but polishing process has been depended on only experiential knowledge of expert. To automate the polishing pricess polishing robot with 2 degrees of freedom which is attached to a machining center with 3 degrees of freedom has been developed. this automatic polishing robot is able to keep the polishing tool normal on the curved surface of die to improve a performance of polishing. Polishing task for a curved surface die demands repetitive operation and high precision, but conventional control algorithm can not cope with the problem of disturbance such as a change of load. In this research, we develop robust controller using real time sliding mode algorithm. To obtain gain parameters of sliding model control input, the signal compression method is used to identify polishing robot system. To obtain an effect of 5 degrees of freedom motion, 5 axes NC data for polishing are divided into data of two types for 3 axis machining center and 2 axis polishing are divided into data of two types for 3 axis machining center and 2 axis polishing robot. To find an efficient polishing condition to obtain high quality, various experiments are carried out.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1786-1790
• /
• 2004

The main objective of this paper is to analyze the performance of various force control algorithms in improving and adjusting the compliance of industrial robots in contact with their environment. Some of fundamental force control algorithms such as sensorless control, impedance control and hybrid position/force control are theoretically analyzed and simulated for various situations of an environment, and then a series of experiments using them were performed. In this paper, a control scheme to use position control in implementing the impedance control was investigated in order to nullify the effect of joint friction. The new reference trajectory is generated using contact force feedback and original desired trajectory. And an inner position control loop is designed to provide accurate position tracking for the new reference trajectory and good disturbance rejection. Experiments to insert a peg in a hole (so-called the peg-in-a-hole task) were performed with HILS (hardware-in-theloop simulation) system based on the results of the analyses and simulations on the characteristics of each control algorithm. The experiments showed that various force control methods improved the performance of robots in close contact with the environment by adjusting their compliance with respect to an arbitrary set of coordinates.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.1327-1332
• /
• 2003

In this paper, an ATC(Automated Transfer Crane) control system is required rapid transportation to get highest productivity with low cost. Therefore, the container paths should be built in terms of the least time and least sway when container is transferred from the initial coordinate to the finial coordinate. So we applied the best-first search method for forming the container path, and calculated the anti-collision path for avoiding collision in its movement to the finial coordinate. And we constructed the neural network two degree of freedom PID (TDOFPID) controller to control the precise navigation. For simulation, we constructed the container profiles so that we analyzed the state of formed path and the performance of TDOFPID controller to the formatted path. Then we compared the performance of ES-tuned PID controller with our proposed controller in terms of trolley position, anti-sway, path change, disturbance, and the load of containers. The computer simulation results show that the proposed controller has better the other on the various conditions.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.392-395
• /
• 2003

In the maritime container terminal, LMTT (Linear Motor-based Transfer Technology) is horizontal transfer system for the yard automation, which has been proposed to take the place of AGV (Automated Guided Vehicle). The system is based on PMLSM (Permanent Magnetic Linear Synchronous Motor) that is consists of stator modules on the rail and shuttle car (mover). Because of large variant of mover's weight by loading and unloading containers, the difference of each characteristic of stator modules, and a stator module's trouble etc., LMCPS (Linear Motor Conveyance Positioning System) is considered as that the system is changed its model suddenly and variously. In this paper, we will introduce the soft-computing method of a multi-step prediction control for LMCPS using DR-FNN (Dynamically-constructed Recurrent Fuzzy Neural Network). The proposed control system is used two networks for multi-step prediction. Consequently, the system has an ability to adapt for external disturbance, cogging force, force ripple, and sudden changes of itself.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.2240-2245
• /
• 2003

In this paper, the controller design by coefficient diagram method (CDM) for controlling the trolley position, load-swing angle and hoisting rope length of the overhead crane system simultaneously is proposed. The overhead crane system is a MIMO system consisting of two inputs and three outputs. Its mathematical model is nonlinear with coupling characteristics. This nonlinear model can be approximated to obtain a linear model where the first input mainly affects the trolley position and the load-swing angle while the second input mainly affects the hoisting rope length. In order to utilize the CDM concept for assigning the controllers, namely PID, PD and PI controllers separately, the model is approximated to be three transfer functions in accordance with trolley position, the load-swing angle and the hoisting rope length controls respectively. The satisfied performances of the overhead crane system controlled by the these controllers and fast rejection of the disturbance effect occurred at the trolley position are shown by simulation and experimental results.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.248-251
• /
• 2004

Stability of truck and trailer are the most significance in Thai automotive industry. This paper presents the mathematical model of a six-degree-of-freedom semi-trailer vehicle. Search method was implemented to obtain the optimum design variables of the trailer which are the distance from the fifth wheel to the centroid of the trailer and the distance from the centroid of the trailer to the trailer axel. The objective function is to minimize the steady side slip velocity, steady-state yawing velocity and steady-state angle between the tractor and the trailer. From the calculation , the optimum distance from the fifth wheel to the centroid of the trailer and the optimum distance from the centroid of the trailer to the trailer axle are 5.50 and 3.25 meters respectively. The stability of the optimal semi-trailer vehicle was also examined in steady state. The steady side slip velocity, yawing velocity and the angle between tractor and trailer are also obtained using linearization technique under unit step disturbance of the tractor front wheel steering angle.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.614-619
• /
• 2004

The line-of-sight (LOS) stabilization system is a precision electro-mechanical gimbals assembly for rejecting vibration to isolate the load from its environment and point toward the target in a desired direction. This paper describes the design of gimbals system to reject the disturbance and to improve stabilization. To generate movement commands for the actuators in the stabilization system, the control system uses a sensor of angular rotation. The controller is a DSP with transducer and actuator interfaces. Unknown parameters of the gimbals are estimated using the signal compression method. The cross-correlation coefficient between the impulse response from the assumed model and the one from model of the gimbals is used to obtain the better estimation. And SMCPE (sliding mode control with perturbation estimation) is used to control the gimbals. SMCPE provides robustness of the control against the modeling deficiencies and unknown disturbances. In order to compare the performance of SMCPE with the classical SMC, a sample test result is presented.