• Journal of Animal Science and Technology
• /
• v.54 no.5
• /
• pp.349-354
• /
• 2012

In this experiment, two inclusion levels (15 and 30% of diets, as-fed basis) of brown rice (BR) were tested against a control diet with 0% BR (51% wheat flour of diet). Six female Miniature Poodles (8~9 months age, initial mean body weight of 3.5 kg) were assigned to treatments in replicated $3{\times}3$ Latin square design. Total tract digestibilities of DM, OM, CP, acid hydrolyzed fat and gross energy increased linearly (P<0.05), and observed digestible energy and metabolizable energy values also increased linearly (P<0.001 and P=0.007, respectively) with increasing BR inclusion levels. Wet and dry fecal output decreased linearly (P=0.001) with increasing BR inclusion levels in the diets. Linear (P<0.05) effects was observed in fecal score for dogs fed BR and fecal ammonia concentration increased linearly (P<0.05) in response to increasing BR inclusion level. It seems that the increase in fecal ammonia concentration may be partially related to the decrease in short-chain fatty acid concentration (P<0.01). This study clearly demonstrates that BR improves nutrients digestibility and fecal characteristics of dog.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.3 no.3
• /
• pp.214-221
• /
• 1998

A new control approach using neural network for the robust position control of a BRUSHLESS direct drive(BLDD) motor is presented. The linear quadratic controller plus feedforward neural network is employed to obtain the robust BLDD motor system approximately linearized using field-orientation method for an AC servo. The neural network is trained in on-line phases and this neural network is composed by a feedforward recall and error back-propagation training. Since the total number of nodes are only eight, this system will be easily realized by the general microprocessor. During the normal operation, the input-output response is sampled and the weighting value is trained by error back-propagation at each sample period to accommodate the possible variations in the parameters or load torque. And the state space analysis is performed to obtain the state feedback gains systematically. In addition, the robustness is also obtained without affecting overall system response.

• Transactions of the Korean Society of Mechanical Engineers
• /
• v.17 no.6
• /
• pp.1381-1388
• /
• 1993

This paper presents a method for the simultaneous optimal design of structural and control systems. Sensitivities of performance index with respect to structural design variables are analyzed. The structural design variables are optimized to minimize the performance index by use of conjugate gradient method. The method is applied to a half model of an active vehicle suspension system with elastic body moving on a randomly profiled road. The suspension control force of an optimally controlled system in the presence of measurement errors are calculated by use of linear quadratic Gaussian control theory and Kalman filter theory. The performance index contains ride comfort, road holding and working space of suspension. The structural design variables taken are stiffness, daming properties and the position of the suspension system. The random road profile considered as colored noise is shaped from white noise by use of shaping filter. The performance of an optimal simultaneous structure/control system is compared with that of an optimal controlled system.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.26 no.1
• /
• pp.16-22
• /
• 2016

The research on two-wheeled inverted pendulum (TWIP) mobile robots has been ongoing in a number of robotic laboratories around the world. In this paper, we consider a robust controller design for the TWIP mobile robot driving on uniform slopes. We use a 2 degree-of-freedom (DOF) model which is obtained by restricting the spinning motion in a 3 DOF motion dynamic equation. In order to design the robust controller guaranteeing stability of the TWIP mobile robot driving on inclined surface, we propose a sliding mode control based on the theory of variable structure systems and design a sliding surface using the theory of the linear quadratic regulation (LQR). For simulation, the dynamic model of the TWIP mobile robot is constructed using Mathworks' Simulink and the sliding mode control is also implemented using Simulink. From simulation results, we show that the proposed controller effectively controls the TWIP mobile robot driving on slopes.

• Journal of Power Electronics
• /
• v.17 no.6
• /
• pp.1625-1636
• /
• 2017

A power electronic transformer (PET) based on the cascaded H-bridge (CHB) and the isolated bidirectional DC/DC converter (IBDC) is capable of accommodating a large scale battery energy storage system (BESS) in the medium-voltage grid, and is referred to as a power electronic transformer based battery energy storage system (PET-BESS). This paper investigates the PET-BESS and proposes a coordinative control strategy for it. In the proposed method, the CHB controls the power flow and the battery state-of-charge (SOC) balancing, while the IBDC maintains the dc-link voltages with feedforward implementation of the power reference and the switch status of the CHB. State-feedback and linear quadratic Riccati (LQR) methods have been adopted in the CHB to control the grid current, active power and reactive power. A hybrid PWM modulating method is utilized to achieve SOC balancing, where battery SOC sorting is involved. The feedforward path of the power reference and the CHB switch status substantially reduces the dc-link voltage fluctuations under dynamic power variations. The effectiveness of the proposed control has been verified both by simulation and experimental results. The performance of the PET-BESS under bidirectional power flow has been improved, and the battery SOC values have been adjusted to converge.

• Geomechanics and Engineering
• /
• v.14 no.2
• /
• pp.161-174
• /
• 2018

The present study investigates the soil-structure interaction (SSI) effects on the seismic performance of smart base-isolated structures. The adopted control algorithm for tuning the control force plays a key role in successful implementation of such structures; however, in most studied carried out in the literature, these algorithms are designed without considering the SSI effect. Considering the SSI effects, a linear quadratic regulator (LQR) controller is employed to seismic control of a smart base-isolated structure. A particle swarm optimization (PSO) algorithm is used to tune the gain matrix of the controller in both cases without and with SSI effects. In order to conduct a parametric study, three types of soil, three well-known earthquakes and a vast range of period of the superstructure are considered for assessment the SSI effects on seismic control process of the smart-base isolated structure. The adopted controller is able to make a significant reduction in base displacement. However, any attempt to decrease the maximum base displacement results in slight increasing in superstructure accelerations. The maximum and RMS base displacements of the smart base-isolated structures in the case of considering SSI effects are more than the corresponding responses in the case of ignoring SSI effects. Overall, it is also observed that the maximum and RMS base displacements of the structure are increased by increasing the natural period of the superstructure. Furthermore, it can be concluded that the maximum and RMS superstructure accelerations are significant influenced by the frequency content of earthquake excitations and the natural frequency of the superstructure. The results show that the design of the controller is very influenced by the SSI effects. In addition, the simulation results demonstrate that the ignoring the SSI effect provides an unfavorable control system, which may lead to decline in the seismic performance of the smart-base isolated structure including the SSI effects.

• Korean Journal of Veterinary Research
• /
• v.41 no.4
• /
• pp.571-578
• /
• 2001

To evaluate if the apoptotic fragment assay could be used to estimate the dose prediction after radiation exposure, we examined apoptotic mouse crypt cells per 1,000 cells after whole body $^{60}Co$ $\gamma$-rays and 50MeV ($p{\rightarrow}Be^+$) cyclotron fast neutron irradiation in the range of 0.25 to 1 Gy, respectively. The incidence of apoptotic cell death rose steeply at very low doses up to 1 Gy, and radiation at all doses tigger rapid changes in crypt cells in stem cell region. These data suggest that apoptosis may play an important role in homeostasis of damaged radiosensitive target organ by removing damaged cells. The curve of dose-effect relationship for the data of apoptotic fragments was obtained by the linear-quadratic model $y=0.18+(9.728{\pm}0.887)D+(-4.727{\pm}1.033)D^2$ ($r^2=0.984$) after $\gamma$-rays irradiation, while $y=0.18+(5.125{\pm}0.601)D+(-2.652{\pm}0.7000)D^2$ ($r^2=0.970$) after neutrons in mice. The dose-response curves were linear-quadratic, and a significant dose-response relationship was found between the frequency of apoptotic cell and dose. These data show a trend towards increase of the numbers of apoptotic crypt cells with increasing dose. Both the time course and the radiation dose-response curve for high and low linear energy transfer (LET) radiation modalities were similar. The relative biological effectiveness (RBE) value for crypt cells was 2.072. In addition, there were significant peaks on apoptosis induction at 4 and 6h after irradiation, and the morpholoigcal findings of the irradiated groups were typical apoptotic fragments in crypt cells that were hardly observed in the control group. Thus, apoptosis in crypt cells could be a useful in vivo model for studying radio-protective drug sensitivity or screening test, microdosimetric indicator and radiation-induced target organ injury. Since the apoptotic fragment assay is simple, rapid and reproducible in the range of 0.25 to 1 Gy, it will also be a good tool for evaluating the dose response of radiation-induced organ damage in vivo and provide a potentially valuable biodosimetry for the early dose prediction after accidental exposure.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2005.06a
• /
• pp.1883-1886
• /
• 2005

In this paper, a decoupled dual servo (DDS) stage for ultra-precision scanning system with large working range is introduced. In general, dual servo systems consist of a fine stage for short range and a coarse stage for long range. The proposed DDS also consists of a $XY\theta$ fine stage for handling and carrying workpieces and one axis coarse stage. Its coarse stage consists of air bearing guide system and a coreless linear motor with force ripple. The fine has four voice coil motors(VCM) as its actuator. According to a VCM's nature, there are no mechanical connections between coils and magnetic circuits. Moreover, VCM doesn't have force ripples due to imperfections of commutation components of linear motor systems - currents and flux densities. However, due to the VCM's mechanical constraints the working range of the fine is about $25mm^2$. To break that hurdle, the coarse stage with linear motors is used to move the fine about 500mm. Because of the above reasons, the proposed DDS can achieve higher precision scanning than other stages with only one servo. With MATLAB's Sequential Quadratic Programming (SQP), the VCMs are optimally designed for the highest force under conditions and constraints such as thermal dissipations due to its coil, its size, and so on. And for their movements without any frictions, guide systems of the DDS are composed of air bearings. To get precisely their positions, a linear scale with 5nm resolution are used for the coarse stage's motion and three plane mirror laser interferometers with 5nm for the fine's $XY\theta$ motions. With them, on scanning the two stages have same trajectories. The control algorithm is named Parallel method. The embodied ultra-precision scanning system has sub 100nm following error and in-positioning stability.

• The Korean Journal of Rheology
• /
• v.11 no.2
• /
• pp.112-121
• /
• 1999

An MR(Magneto-Rheological) fluids damper is designed and applied to vibration suppression of a 1/4 car model. The damping constant of MR damper changes according to input current which is controlled in a semi-active way. Several control algorithms are compared in simulations and experiments. The advantage of the proposed Frequency shaped LQ control is that passenger comfort is emphasized in the range of 4~8Hz and driving safety is emphasized around the resonance frequency of unsprung mass.

• Bulletin of the Society of Naval Architects of Korea
• /
• v.26 no.2
• /
• pp.32-40
• /
• 1989

Dynamic ship positioning(DP) system is used to keep the position and heading of a ship, or a floating platform, above a pre-selected site on the seabed by using thrusters. This paper presents a control system based on filtering technique and optimal control theory. The planar motions of a vessel are assumed to consist of low frequency(LF) component and high frequency(HF) one. The former is mainly due to thrusters, current, wind and second order wave forces, while the latter is mainly due to first order oscillatory component of the wave force. Furthermore position measurement signals include the noise. By means of self-tuning filter and Kalman filter techniques, LF motion estimates and HF ones are seperately achieved from the position measurements of the vessel. The estimated LF motions are used as input to the feedback loops. The total thruster power is minimized using the Linear Quadratic Gaussian control theory. The performance of the vessel with the DP system is investigated by computer simulation.