• International Journal of Internet, Broadcasting and Communication
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• 제13권3호
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• pp.56-62
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• 2021

MSRDS(Microsoft Robotics Developer Studio) provides the ability to simulate these technologies. SPL(Simple Programming Language) of MSRDS provides many functions for sensor programming to control autonomous robots. Sensor programming in SPL can be implemented in two types of schemes: procedure sensor notification and while-loop schemes. We considered the three programming schemes to control the robot movement after studying the advantages and disadvantages of the sensor notification procedure and the while-loop scheme. We also created simulation environments to evaluate the performance of the three considered schemes when applied to four different mazes. The simulation environment consisted of a maze and a robot with the most powerful sensor, i.e., the LRF(Laser Range Finder) sensor. We measured the required travel time and robot actions (number of turns and number of collisions) needed to escape the maze and compared the performance outcomes of the three considered schemes in the four different mazes.

• 한국수소및신에너지학회논문집
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• 제21권6호
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• pp.487-492
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• 2010

For developing a two-stroke free-piston hydrogen engine with high efficiency and low emission, determination of the scavenging type is one of the most important factor. In this research, backfire characteristics for loop scavenging were analyzed with the number of piston crevice volume and piston expansion speed. Rapid Compression Expansion Machine, RCEM was used for combustion research of the free piston $H_2$ engine in the experiment. As the results, it was shown that although backfire occurring in a loop scavenging type can be partially controled by a complete exhaust of burned gas, possibility of backfire basically exist due to the structure which piston crevice volumes contact with fresh mixture in a scavenging port. However, a loop scavenging may be considered as combustion chamber of a free piston $H_2$ engine from the point of view that backfire does not occur nearby lean equivalence ratio obtained high thermal efficiency. It was also analyzed that an advances of backfire occurrence timing with increase of the fuel-air equivalence ratio were due to promotion of flame propagation into piston crevice volumes by decrease of the quenching distance.

• Advances in aircraft and spacecraft science
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• 제4권6호
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• pp.701-709
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• 2017

One of the components that used in the satellite thermal control subsystem is the Mechanically Pumped Fluid Loop (MPFL) system; this system mostly used in geosynchronous orbit (GEO) satellites, and can transfer heat from a hot point to a cold point using the fluid which circulated in a closed loop. Heat radiates to the deep space at the cold plate to cool down the fluid temperature. In this research, the radiative heatexchanger (RHX) for a MPFL system is optimized. The genetic algorithm has been used for minimizing the total mass and pressure drop by considering a constant transferred heat rate at the heat exchanger. The optimization has been done in two cases. In case I, two parameters are considered as a goal function, so optimization is performed using NSGA-II method. Results of optimization are shown in the pareto diagram. In case II, the diameter of pipe is considered constant, so the optimized value for distances of the parallel pipes is obtained by using the genetic algorithm, in which the system has the least total mass. Results show that in the RHX, by increasing the pipe diameter, pressure drop decreases and total mass increases. Also by considering a constant value for pipe diameter, an optimum distance between pipes and pipe length are obtained in which the system has a minimum mass.

• 대한전기학회논문지:전력기술부문A
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• 제48권8호
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• pp.996-1003
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• 1999

This paper propose a position-speed controller with an estimator which can estimate states and disturbance. The overall control system consists of two parts: the position-speed controller and an estimator. The Kalman filter applied as state-feedback controller is an optimal state estimator applied to a dynamic system that involves random perturbations and gives a linear, unbiased and minimum error variance recursive algorithm to optimally estimate the unknown state. Therefore, we consider the error problem about the servo system modeling and the measurement noise as a stochastic system and implement a optimal state observer, and enhance the estimate performance of position and speed using that. Using two-degree-of freedom(TDOF) conception, we design the command input response and the closed loop characteristics independently. The servo system is to improve the closed loop characteristics without affecting the command imput response. The characteristics of the closed loop system is improved by suppressing disturbance torque effectively with the disturbance observer using a inverse-transfer matrix. Therefore, the performance of overall position-speed controller is enhanced. Finally, the performance of the proposed controller is exemplified by some simulations and by applying the real servo system.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.364-368
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• 1994

Algebraic matrix Riccati equations of the form, FP+PF$^{T}$ -PRP+Q=0. are analyzed with reference to the stability of closed-loop system F-PR. Here F, R and Q are n * n real matrices with R=R$^{T}$ and Q=Q$^{T}$ .geq.0 (nonnegative-definite). Such equations have been playing key roles in optimal control and filtering problems with R .geq. 0. and also in the solutions of in H$_{\infty}$ control problems with R taking the form R=H$_{1}$$^{T}$ H$_{1}$-H$_{2}$$^{T}$ H$_{2}$. In both cases an existence of stabilizing solution, i.e. the solution yielding asymptotically stable closed-loop system, is an important problem. First, we briefly review the typical results when R is of definite form, namely either R .geq. 0 as in LQG problems or R .leq. 0. They constitute two extrence cases of Riccati to the cases H$_{2}$=0 and H$_{1}$=0. Necessary and sufficient conditions are shown for the existence of nonnegative-definite or positive-definite stabilizing solution. Secondly, we focus our attention on more general case where R is only assumed to be symmetric, which obviously includes the case for H$_{\infty}$ control problems. Here, necessary conditions are established for the existence of nonnegative-definite or positive-definite stabilizing solutions. The results are established by employing consistently the so-called algebraic method based on an eigenvalue problem of a Hamiltonian matrix.x.ix.x.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1996년도 하계학술대회 논문집 B
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• pp.1005-1008
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• 1996

일부궤한 제어시스템이 안정화되는 비례보상기의 이득의 구간을 연구한다. 이 논문에서 제어시스템이 연결된 구간에 대하여 안정화되는 조건을 구한다. 연결된 구간은 그 구간에 있는 어떤 임의의 두 실수를 취할 때 두 실수 사이의 모든 실수가 그 구간에 속하는 경우를 말한다. 조건은 페루프 전달함수의 분자나 분모의 주파수를 매개변수로한 부등식으로 표현된다. 또한 이산 시간 제어시스템과 시간지연 연속시스템에 관한 조건도 구한다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 춘계학술대회 논문집 전기기기 및 에너지변환시스템부문
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• pp.186-189
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• 2003

This paper presents an optimal tuning method of the decentralized PI controller of two-input, two-output(TITO) second order system to be formulated as LQR. The tuning method of proposed decentralized PI controller is developed by establishing the relationships between the closed-loop state equation including decentralized PI control factors and the closed-loop state equation of LQR, which can be guaranteed the performance and stability-robustness by selecting the weighting factors Q and R of the cost function in order to satisfy design specifications in frequency domain.

• Journal of Communications and Networks
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• 제8권1호
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• pp.8-12
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• 2006

Master-slave (M-S) strategies implemented with chain circuits are the main option in order to distribute clock signals along synchronous networks in several telecommunication and control applications. Here, we study the two types of masterslave chains: Without clock feedback, i.e., one-way master-slave (OWMS) and with clock feedback, i.e., two-way master-slave (TWMS) considering the slave nodes as second-order phase-locked loops (PLL) for several types of loop low-pass filters.

• 한국생물공학회:학술대회논문집
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• 한국생물공학회 2001년도 추계학술발표대회
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• pp.333-335
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• 2001

A simple control strategy of DO-stat was introduced to the recombinant rGuamerin production process in Pichia pastoris. This induction strategy consisted of two interrelated control loops ‘by which oxygen ratio of inlet gas and methanol feeding rate was controlled. Using this control strategy, over-feeding or under-feeding of methanol could be avoided in concomitance with the efficient control of dissolved oxygen level. As a result, the cell concentration reached 130 g/L and rGuamerin expression level was 450 iu/L, which was more than 40% increased result comparing with the fed-batch process using manual control of methanol feeding rate.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.355-359
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• 1993

This paper deals with the problem of robust TDF(Two Degree of Freedom) H$_{\infty}$ control design for a linear system with parameter uncertainty in the state space model. The uncertain system considered here is with the time-invariant norm-bounded parameter uncertainty in the state matrix. A TDF H$_{\infty}$ control design is presented which robustly stabilizes the plant, guarantees the robust H$_{\infty}$ performance and improves the tracking performance for the closed-loop system in the face of parameter uncertainty. It is shwon that a suitable stabilizing control law can be constructed in terms of a positive definite solution to a certain parameter-dependent algebraic Riccati equation and a good tracking performance can be constructed in terms of suitable feedforward control law.aw.