• The Journal of Fisheries Business Administration
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• v.15 no.1
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• pp.96-113
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• 1984

It has been appeared since 1979 that the pattern of laver culture changes from household management to entrepreneurial management. The typical entrepreneurial laver culture management (ELCM) can be defined as a management by the floating aquaculturing method and mechanical processing system. Historical studies show that the ELCM could be operated only under the following condintions; \circled1 securing capital, labor and aquaculturing farm. \circled2 Leveling up of technology to combine these resources effectively. \circled3 Realizing its true value of products for good profits. In turning from household mangement to ELCM, there are some obstacles as follows ; \circled1 Uncertainty, which cannot maintein the merit of mass production because the object of laver culture is living in the sea. \circled2 Immaturity of management owing manly to the lower level of technology and scarcity of competent managers. \circled3 Social problems ; lack of aquaculturing farm, overpopulation in fishing villiage, side-job with agriculture etc. For these reasons, there has been household management with overlabor and underconsumption in fishing village. In order that ELCM can enter the stage of maturity, those problems should be solved. Because ef laver industrial inferiority, these can be solved by the support assistance of government. As the required conditions in ELCM are filled by the government policy, ELCM are increased recently in its numbers.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.9
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• pp.803-811
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• 2002

Machine vision systems are usually used to identify traffic lanes and then determine the steering angle of an autonomous vehicle in real time. The steering angle is calculated using a geometric model of various parameters including the orientation, position, and hardware specification of a camera in the machine vision system. To find the accurate values of the parameters, camera calibration is required. This paper presents a new camera-calibration algorithm using known traffic lane features, line thickness and lane width. The camera parameters considered are divided into two groups: Group I (the camera orientation, the uncertainty image scale factor, and the focal length) and Group II(the camera position). First, six control points are extracted from an image of two traffic lines and then eight nonlinear equations are generated based on the points. The least square method is used to find the estimates for the Group I parameters. Finally, values of the Group II parameters are determined using point correspondences between the image and its corresponding real world. Experimental results prove the feasibility of the proposed algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.552-557
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• 2004

This paper presents a disturbance observer based on an $H_{\infty}$ controller synthesis for the trajectory control of a hydraulic excavator. Compared to conventional robot manipulators driven by electrical motors, the hydraulic excavator has more nonlinear and coupled dynamics. In particular, the interactions between an excavation tool and the materials being excavated are unstructured and complex. In addition, its operating modes depend on working conditions, which make it difficult to not only derive the exact mathematical model but also design a controller systematically. In this study, the approximated linear model obtained through off-line system identification is used as nominal plant model for a disturbance observer. A disturbance observer based tracking controller which considers the effect of disturbance and model uncertainty is synthesized in $H_{\infty}$ frameworks. Simulation results are used to demonstrate the applicability of the proposed control scheme.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.11
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• pp.11-21
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• 1996

Robot manipulators constituing multi-robot system must exert the desired motion force on an object to preserve tghe fine motion of it. The forces exerte on an object by the end-effectors of multi-inducing force and the internal force. Here, motion-inducing force effects the motion of an object, but internal force as lies in the null space of an object coordinate can't effect it. The motion of an object can't track exactly the desired motion by the effect of an object, but internal force as lies in the null space of the effect of internal force component, therefore internal force component must be considered. In this paper, first, under assumption that we can estimate exactly the parameter of dynamics, we constitute paper, first, under assumption that we can estimate exactly the parameter of dynamics, we constitute the controller concerning internal force. And we obtain the internal force as projecting force sensor readings onto the space spanned by null basis set of jacobian matrix. Using the resolved acceleration control method and the fact that internal force lies in the null space of jacobian matrix, we construct the robust control law to preserve the robustness with respect to the uncertainty of mainpulator parameters.

• IEMEK Journal of Embedded Systems and Applications
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• v.3 no.2
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• pp.102-108
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• 2008

This paper describes a mapping and localization based on wave algorithm[11] and Kalman filter for effective SLAM. Each robot in a multi robot system has its own task such as building a map for its local position. By combining their data into a shared map, the robot scans actively seek to verify their relative locations. For simultaneous localization the algorithm which is well known as Kalman Filter (KF) is used. For modelling the robot position we wish to know three parameters (x, y coordinates and its orientation) which can be combined into a vector called a state variable vector. The Kalman Filter is a smart way to integrate measurement data into an estimate by recognizing that measurements are noisy and that sometimes they should ignored or have only a small effect on the state estimate. In addition to an estimate of the state variable vector, the algorithm provides an estimate of the state variable vector uncertainty i.e. how confident the estimate is, given the value for the amount of error in it.

• Earthquakes and Structures
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• v.12 no.3
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• pp.271-284
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• 2017

This paper presents a multimodal adaptive nonlinear static method of analysis that, differently from the nonlinear static methods suggested in seismic codes, does not require the definition of the equivalent Single-Degree-Of-Freedom (SDOF) system to evaluate the seismic response of structures. First, the proposed method is formulated for the assessment of r.c. plane frames and then it is extended to 3D framed structures. Furthermore, the proposed nonlinear static approach is re-elaborated as a displacement-based design method that does not require the use of the behaviour factor and takes into account explicitly the plastic deformation capacity of the structure. Numerical applications to r.c. plane frames and to a 3D framed structure with inplan irregularity are carried out to illustrate the attractive features as well as the limitations of the proposed method. Furthermore, the numerical applications evidence the uncertainty about the suitability of the displacement demand prediction obtained by the nonlinear static methods commonly adopted.

• International Journal of Aeronautical and Space Sciences
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• v.16 no.2
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• pp.278-294
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• 2015

Considering the guidance and control problem of the near space interceptor (NSI) during the terminal course, this paper proposes a three-channel independent integrated guidance and control (IGC) scheme based on the backstepping sliding mode and finite time disturbance observer (FTDO). Initially, the three-channel independent IGC model is constructed based on the interceptor-target relative motion and nonlinear dynamic model of the interceptor, in which the channel coupling term and external disturbance are regarded as the total disturbances of the corresponding channel. Then, the FTDO is introduced to estimate the target acceleration and control system loop disturbances, and the feed-forward compensation term based on the estimated values is employed to effectively remove the effect of disturbances in finite time. Subsequently, the IGC algorithm based on the backstepping sliding mode is also given to obtain the virtual control moment. Furthermore, a robust least-squares weighted control allocation (RLSWCA) algorithm is employed to distribute the previous virtual control moment among the corresponding aerodynamic fins and reaction jets, which also takes into account the uncertainty in the control effectiveness matrix. Finally, simulation results show that the proposed IGC method can obtain the small miss distance and smooth interceptor trajectories.

• Transactions of the Korean Society of Pressure Vessels and Piping
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• v.6 no.1
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• pp.16-22
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• 2010

Cast austenitic stainless steel(CASS) is used in the primary cooling piping system of nuclear power plant for it's relative low cost, corrosion resistance and easy of welding. However, the coarse-grain structure of cast austenitic stainless steel can strongly affect the inspectability of ultrasonic testing. The major problems encountered during inspection are beam skewing, high attenuation and high background noise of CASS component. So far, the best inspection performance involving CASS components have been achieved using low frequency TRL(Transmitter/Receiver side-by-side L wave) angle beam probe. But TRL technique could not detect shallow defect and it contains an uncertainty for sizing capability. Currently, most of researchers are studying to overcome these challenge issue. In this study, low-frequency phased array TRL technique used to detect and sizing the flaws in CF8A cast austenitic stainless steel.As conclusion, we could detect and size not only axial flaw but also circumferential flaw using low frequency phased array technique.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.5
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• pp.1029-1040
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• 1993

Recently the Time Delay Control (TDC) method has been proposed as a promising technique in the robust control area, where the plants have nonlinear dynamics with parameter variations and substantial disturbances are present. TDC method, however, requires the measurements of all the state variables, together with their derivatives. This requirement imposes a severe limitation on the applications to most real systems. In order to solve this measurement problem, we proposed an observer design method that can stably reconstruct the state variables and their derivatives. the stability of the overall system has been analyzed and proved. Then, for a simulation study, the controller/observer based on our design method has been applied to a nonlinear plant, the result of which confirmed that the controller/observer performs satisfactorily as predicted, Finally we made experimentations on a DC servo motor that is substantial amount of inertia variations and external disturbances. the results showed that the controller/observer performs quite robustly under those variations and disturbances, and is much less sensitive to sensor noise than the controller using numerical differentiations.

• Journal of the Korean Chemical Society
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• v.42 no.5
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• pp.526-530
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• 1998

Analysis of trace impurities in the gases has been very important with the development of semi-conductor related industry. Particularly, the contamination of the gas handling systems in a semi-conductor plant by the air has been a trouble to the manufacturers. Thus, the analysis of the air components in the system has been a task to the analysts. In this study, we report the analysis data with a expanded uncertainty for the trace impurities of nitrogen and argon in the bulk helium and hydrogen. All data show a good correspondence, exhibiting reliable statistical error ranges.