• International Journal of Fluid Machinery and Systems
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• v.10 no.2
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• pp.119-137
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• 2017

Although the stall stagnation phenomena have often been experienced in site and also analytically in numerical experiments in surges in systems of compressors and flow paths, the fundamental causes have not been identified yet. In order to clarify the situations, behaviours of infinitesimal disturbance waves superposed on a main flow were studied in a simplified one-dimensional flow model. A ratio of the amplifying rate of the system instability to the characteristic slope of the compressor element was surveyed as the instability enhancement factor. Numerical calculations have shown the following tendency of the factor. In the situation where both the sectional area ratio and the length ratio of the delivery flow-path to the suction duct are sufficiently large, the enhancement factors are greater in magnitude, which means occurrence of ordinary deep surges. However, in the situation where the area ratio and/or the length ratio is relatively smaller, the enhancement factor tends to lessen significantly, which situation tends to suppress deep surges for the same value of the characteristic slope. It could result in the stall stagnation condition. In the domain of area ratio vs. length ratio of the delivery duct to the suction duct, contour-lines of the enhancement factor behave qualitatively similar to those of the stall stagnation boundaries of a fan analytically obtained, suggesting that a certain range of the enhancement factor values could specify the stagnation occurrence. The significant decreases in the factors are observed to accompany appearances of phase lags and travelling waves in the wave motions, which macroscopically suggests breaking down of the complete surge actions of filling and emptying of the air in the delivery duct. The strength of the action is deeply related with acoustic interferences and is evaluated in terms of the volume-modified reduced resonance frequency proposed by the author. These observations have shown the fundamental cause and the sequence of the stall stagnation in principle.

• Journal of Ecology and Environment
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• v.44 no.3
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• pp.162-177
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• 2020

Background: Ecologists have achieved much progress in the study of mechanisms that maintain species coexistence and diversity. In this paper, we reviewed a wide range of past research related to these topics, focusing on five theoretical bodies: (1) coexistence by niche differentiation, (2) coexistence without niche differentiation, (3) coexistence along environmental stress gradients, (4) coexistence under non-equilibrium versus equilibrium conditions, and (5) modern perspectives. Results: From the review, we identified that there are few models that can be generally and confidently applicable to different ecological systems. This problem arises mainly because most theories have not been substantiated by enough empirical research based on field data to test various coexistence hypotheses at different spatial scales. We also found that little is still known about the mechanisms of species coexistence under harsh environmental conditions. This is because most previous models treat disturbance as a key factor shaping community structure, but they do not explicitly deal with stressful systems with non-lethal conditions. We evaluated the mainstream ideas of niche differentiation and stochasticity for the coexistence of plant species across salt marsh creeks in southwestern Denmark. The results showed that diversity indices, such as Shannon-Wiener diversity, richness, and evenness, decreased with increasing surface elevation and increased with increasing niche overlap and niche breadth. The two niche parameters linearly decreased with increasing elevation. These findings imply a substantial influence of an equalizing mechanism that reduces differences in relative fitness among species in the highly stressful environments of the marsh. We propose that species evenness increases under very harsh conditions if the associated stress is not lethal. Finally, we present a conceptual model of patterns related to the level of environmental stress and niche characteristics along a microhabitat gradient (i.e., surface elevation). Conclusions: The ecology of stressful systems with non-lethal conditions will be increasingly important as ongoing global-scale climate change extends the period of chronic stresses that are not necessarily fatal to inhabiting plants. We recommend that more ecologists continue this line of research.

• Journal of Advanced Navigation Technology
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• v.20 no.6
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• pp.574-579
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• 2016

Unlike general unmanned aerial vehicles, the quad-rotor is attracting the attention of many people because of simple structure and very useful value. However, as the interest in drones increases, the safety and location of vehicles are becoming more important provide against aviation safety accidents or lost accidents. Therefore, in this paper, we propose a tracking system that stabilizes the model with a simple controller by linearized modeling and grasp tilt angle data from various sensor through the filter. The developed tracking system transmits the position of the quad-rotor in flight to the computer and shows it through the route, so it can check the flight path and various information such as flight speed and altitude at the same time. Then the sensor used in the actual quad-rotor can not measure exact sensor data for disturbance and vibration. So we use sensor fusion of Kalman filter and Complementary filter to overcome this problem and the stability of the quad-rotor hovering is realized by PID control. Through simulation, various information such as the speed, position, and altitude of the quad-rotor were confirmed in real time.

• Proceedings of the KIEE Conference
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• 2005.11b
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• pp.46-48
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• 2005

This paper discusses a probabilistic method for power system security assessment. The security analysis relates to the ability of the electric power systems to survive sudden disturbances such as electric short circuits or unanticipated loss of system elements. It consists of both steady state and dynamic security analyses, which are not two separate issues but should be considered together. In steady state security analysis including voltage security analysis, the analysis checks that the system is operated within security limits by OPF (optimal power flow) after the transition to a new operating point. Until now, many utilities have difficulty in including dynamic aspects due to computational capabilities. On the other hand. dynamic security analysis is required to ensure that the transition may lead to an acceptable operating condition. Transient stability, which is the ability of power systems to maintain synchronism when subjected to a large disturbance. is a principal component in dynamic security analysis. Usually any loss of synchronism may cause additional outages and make the present steady state analysis of the post-contingency condition inadequate for unstable cases. This is the reason for the need of dynamic studies in power systems. Probabilistic criterion can be used to recognize the probabilistic nature of system components while considering system security. In this approach. we do not have to assign any predetermined margin of safety. A comprehensive conceptual framework for probabilistic static and dynamic assessment is presented in this paper. The simulation results of the Western System Coordinating Council (WSCC) system compare an analytical method with Monte-Carlo simulation (MCS).

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.382-387
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• 1992

In order to obtain desired arc welding performance, we already developed an arc welding robot system that enabled coordinated motions of dual arm robots. In this system one robot arm holds a welding target as a positioning device, and the other robot moves the welding torch. Concerning to such a dual arm robot system, the positioning accuracy of robots is one important problem, since nowadays conventional industrial robots unfortunately don't have enough absolute accuracy in position. In order to cope with this problem, our robot system employed teaching playback method, where absolute error are compensated by the operator's visual feedback. Due to this system, an ideal arc welding considering the posture of the welding target and the directions of the gravity has become possible. Another problem still remains, while we developed an original teaching method of the dual arm robots with coordinated motions. The problem is that manual teaching tasks are still tedious since they need fine movements with intensive attentions. Therefore, we developed a 3-dimensional vision guided robot control method for our welding robot system with coordinated motions. In this paper we show our 3-dimensional vision sensor to guide our arc welding robot system with coordinated motions. A sensing device is compactly designed and is mounted on the tip of the arc welding robot. The sensor detects the 3-dimensional shape of groove on the target work which needs to be weld. And the welding robot is controlled to trace the grooves with accuracy. The principle of the 3-dimensional measurement is depend on the slit-ray projection method. In order to realize a slit-ray projection method, two laser slit-ray projectors and one CCD TV camera are compactly mounted. Tactful image processing enabled 3-dimensional data processing without suffering from disturbance lights. The 3-dimensional information of the target groove is combined with the rough teaching data they are given by the operator in advance. Therefore, the teaching tasks are simplified

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.6
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• pp.737-742
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• 2011

Navigation problems include the task of determining the control input under various constraints for systems such as mobile robots subject to uncertain disturbance. Such tasks can be modeled as constrained stochastic control problems. In order to solve these control problems, one may try to utilize the dynamic programming(DP) methods which rely on the concept of optimal value function. However, in most real-world problems, this trial would give us many difficulties; for examples, the exact system model may not be known; the computation of the optimal control policy may be impossible; and/or a huge amount of computing resource may be in need. As a strategy to overcome the difficulties of DP, one can utilize ADP(approximate dynamic programming) methods, which find suboptimal control policies resorting to approximate value functions. In this paper, we apply recently proposed ADP methods to a class of navigation problems having complex constraints, and observe the resultant performance characteristics.

• Journal of the Korean Society of Safety
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• v.39 no.1
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• pp.62-69
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• 2024

Ensuring swift on-site access to fire engines is crucial in preserving the golden time and minimizing damage. However, various mobility constraints in alleyways hinder the timely entry of fire engines to the fire scene, significantly impairing their initial response capabilities. Therefore, this study analyzed the significant mobility constraints of fire engines, focusing on Seoul, which has many old town areas. By leveraging survey responses from firefighting experts and actual observations, this study quantitatively assessed the frequency and severity of mobility constraint factors affecting the disaster responses of fire engines. Survey results revealed a consistent set of top five factors regarding the frequency and disturbance level, including illegally parked cars, narrow paths, motorcycles, poles, and awnings/banners. A comparison with actual road-view images showed notable consistency between the survey and observational results regarding the appearance frequency of mobility constraint factors in vulnerable areas in Seoul. Furthermore, the study emphasized the importance of tailored management strategies for each mobility constraint factor, considering its characteristics, such as dynamic or static. The findings of this study can serve as foundational data for creating more detailed fire safety maps and advancing technologies that monitor the mobility of fire engines through efficient vision-based inference using CCTVs in the future.

• Journal of Preventive Medicine and Public Health
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• v.25 no.4 s.40
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• pp.374-385
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• 1992

Some circadian rhythms can become disorgnized due to rotating shift work. This lack of organization, termed desynchronization, can produce a group of symptoms such as insomnia, GI disturbance and fatigue among many rotating shift workers. The magnitude of these symptoms are influenced by personal and environmental factors and the patterns of shift work. This study was carried out to investigate the subjective symptoms related to rotational schedules of shift work after personal and environmental factors adjusted. 182 male workers in rapidly rotating shift system and 86 male workers in weekly rotating shift system were conducted the questionnaire on personal factors and subjective sleep, GI and fatigue symptoms. Major findings obtained from this study are as follows: 1. The symptoms of 'feeling tired at work' and 'being irritable' were more frequent in weekly rotating shift workers (P<0.05), and the mean of symptom score was significantly higher in weekly rotating shift workers(P<0.01). 2. According to 6 hours of sleeping which is a definite elevation point of fatigue, there was not a significant difference between two groups in sleeping hours. Among workers in rapidly rotating shift system, the mean of symptom score was significatly higher in workers of less than 6 hours of sleeping(P<0.05), but it was not different among weekly rotating shift workers. 3. The symptoms of GI disturbance were more frequent in weekly rotating shift workers but statistically not significant. 4. The positive rate of mental and physical fatigue symptoms were significantly higher in weekly rotating shift workers(P<0.01) and mental and physical fatigue symptoms were more frequent in them (P<0.01). 5. After the effect of the factors that were significantly different between two groups by $X^2-test$ were controlled, the mean score of sleep disturbance was significantly higher in weekly rotating shift workers (P<0.01) and mental physical fatigue symptoms were more frequent in them (P<0.01). Based on these study results, subjective symptoms were more common in the weekly rotating shift workers. In future, medical examination and laboratory test will be also administered to evaluate a more accurate health outcomes and the review of current shift schedules will be required.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.4
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• pp.340-346
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• 2008

An unmanned surveillance robot consists of a machine gun, a laser receiver, a thermal imager, a color CCD camera, and a laser illuminator. It has two axis control systems for elevation and azimuth. Because the current robot system is mounded at a fixed post to take care of surveillance tasks, it is necessary to modify such a surveillance robot to be installed on an UGV (Unmanned Ground Vehicle) system in order to watch blind areas. Thus, it is required to have a stabilization system to compensate the disturbance from the UGV. In this paper, a simulation based design scheme has been adopted to develop a mobile surveillance robot. The 3D CAD geometry model has first been produced by using Pro-Engineer. The required pan and tilt motor capacities have been analyzed using ADAMS inverse dynamics analysis. A target tracking and stabilization control algorithm of the mobile surveillance robot has been developed in order to compensate the motion of the vehicle which will experience the rough terrain. To test the performance of the stabilization control system of the robot, ADAMS/simulink co-simulations has been carried out.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.57 no.6
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• pp.915-923
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• 2008

This paper focuses on optimal tuning of nonlinear parameters of a dual-input power system stabilizer(dual-input PSS), which can improve the system damping performance immediately following a large disturbance. Until recently, various PSS models have developed to bring stability and reliability to power systems, and some of these models are used in industry applications. However, due to non-smooth nonlinearities from the interaction between linear parameters(gains and time constants of linear controllers) and nonlinear parameters(saturation output limits), the output limit parameters cannot be determined by the conventional tuning methods based on linear analysis. Only ad hoc tuning procedures('trial and error' approach) have been used. Therefore, the steepest descent method is applied to implement the optimal tuning of the nonlinear parameters of the dual-input PSS. The gradient required in this optimization technique can be computed from trajectory sensitivities in hybrid system modeling with the differential-algebraic-impulsive-switched(DAIS) structure. The optimal output limits of the dual-input PSS are evaluated by time-domain simulation in both a single machine infinite bus(SMIB) system and a multi-machine power system in comparison with those of a single-input PSS.