• Journal of the Institute of Convergence Signal Processing
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• v.4 no.2
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• pp.53-60
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• 2003

For the high center of gravity vehicles the roll stiffness of their suspensions is arranged to be very high because such vehicles are in some danger of tipping over in cornering. In some cases, the effective roll stiffness is determined significantly by the compliance of the tires because of the very stiff anti-roll members incorporated in the suspension. In such cases, it is clear that the shock absorbers which may be effective in damping heave oscillations have little effect on roll oscillations. Therefore, wind gusts and roadway unevenness may cause large swaying oscillations. In this paper, to improve the stability for the high center of gravity vehicles a control scheme to augment the damping of the roll mode is proposed. As the feedback signals needed to provide damping of the roll motion, the front or rear steer angles or both are chosen because they are very related to roll motion. The scheme is effective from moderate to high speeds and stabilizes the roll mode without introducing disturbance moments from roadway unevenness as shock absorbers do. The validity on the proposed method is verified through the computer simulation.

• Journal of Pharmacopuncture
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• v.2 no.1 s.2
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• pp.73-91
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• 1999

This study was carried out to invastigate the researches of Snake Venom and snakes which used in treatment 1. The fist literature that used the snake for treatment is Shin Nong Ben Cao Jing 2. Composition of Snake Venom is consist of Enzymatic proteins ; Phospholipase A(A1-2), Protease, L-amino acid oxidase etc, and Non-enzymatic proteins ; Crotamine(Cytolysin), Proteolytic factor(Hematoxin), Crotoxin(Neurotoxin) etc. 3. Main toxins in Snake Venom are Hematoxin, Cytolysin, Neurotoxin and Cardiotoxin. Lethal dose 50 value of Agkistrodon brevicaudus is $45.87{\mu}g$/18g, Agkistrodon saxatilis is $10.28{\mu}g$/18g, Agkistrodon ussuriensis is $8.68{\mu}g$/18g, therefore Agkistrodon ussuriensis has strongist Snake Venom of all in Korea. 4. Pharmacological actions of Snake Venom are anticoagulation, thrombolytic function, hypotensor etc. 5. Systemic syndromes and signs after snakebite are Dizziness(25.7%), Vomitting(23.1%), Fever(22%), Visual disturbance(18%), Headache(17.7%) and Dyspnea(17.6%), etc. 6. Local syndrome and sign after snakebite is Discoloration(54.2%), Bleeding(20.2%), Bullae(10.7%), Skinulcer(10.8%), etc. 7. Pathological syndromes after snakebite are WBC increase, Urine protein, Urine sugar, Haematuria and elevation of S-GDT, S-GPT etc. These syndromes are leaded by Hematoxin and Cytolysin. 8. Complication signs after snakebite are Cellulitis, Gastritis, Lympoma, Abscess etc. 9. Common function of Viperidae(Agkistrodon acutus or Zaocys dhumnades etc) is expelling the wind(祛風), removing obstruction in the channels(通絡), antipastic function(止痙). And it is used in order to cure hemiparesis, hemiplegia, facial palsy and CVA disease, etc. 10. Using way of snake for medical treatment is various like Herbal alchol therapy, pill, powder and injection etc. The Study on the Snake Venom should be carried out continuously for using of medical treatment.

• 보존과학연구
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• s.26
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• pp.141-164
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• 2005

Most of the stone cultural properties is exposed to the weathering factor(rain, windetc.), so the shelter is constructed for reduction of its direct effect. But the shelter is indicated some problems that inharmoniousness of the surroundings, in section disturbance for insufficiency of light, the loss about the value of cultural properties and so on. So we have investigated on environmental condition (temperature, relative humidity, wind etc.) at the Standing Stone Buddhist Triad in Bae-ri, Gyeongju and Rock-carved Triad Buddha in Seosan because check the effect of the shelter. As the result, the Standing Stone Buddhist Triad in Bae-ri, Gyeongju is located a pine wood and a lot of bamboo grow naturally in nearing. Environmental difference on inside and outside of the shelter is not found because opened on all sides. But there is so dim for the direction of the sunlight that can't see the Standing Stone Buddhist. The base rock of Rock-carved Triad Buddha in Seosan well develop with crack and break, and the vegetation(trees, moss, lichen etc.) grow naturally in surroundings. Environmental difference on inside and outside of the shelter is found because closed on all sides and opened the front gate only inspection time. Inside of the shelter was too calm(air-velocity not detected) and humid(over 75%RH). Also the surface is occurred the dew(at 2-4 pm) and the efflorescence for effect of the water(rain, dew etc.). Besides the head of the central Buddhist is so dangerous for crack.

• Journal of Environmental Science International
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• v.1 no.2
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• pp.119-124
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• 1992

Cloud streets were successfully simulated by numerical model (RAMS) including an Isolated mountain near the coast, large sensible heat flux from the sea surface, uniform stratification and wind velocity with low Froude number (0.25) in the inflow boundary The well developed cloud streets between a pair of convective rolls are simulated at a level of 1 km over the sea. The following five results were obtained: 1) port the formation of the pair of convective rolls, both strong static instability and a topographically induced mechanical disturbance are strongly required at the same time. 2) Strong sensible heat flux from the sea surface is the main energy source of the pair of convective rolls, and the buoyancy caused by condensation in the cloud is negligibly small. 3) The pair o( convective rolls is a complex of two sub-rolls. One is the outer roll, which has a large radius, but weak circulation, and the other is the inner roll, which has a small radius, but strong circulation. The outer roll gathers a large amount of moisture by convergence in the lower marine boundary, and the inner roll transfers the convergent moisture to the upper boundary layer by strong upward motion between them. 4) The pair of inner rolls form the line-shaped cloud streets, and keep them narrow along the center-line of the domain. 5) Both by non-hydrostatic and by hydrostatic assumptions, cloud streets can be simulated. In our case, non-hydrostatic processes enhanced somewhat the formation of cloud streets. The horizontal size of the topography does not seem to be restricted to within the small scale where non-hydrostatic effects are important.

• Journal of Power Electronics
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• v.16 no.4
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• pp.1324-1335
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• 2016

This article explores the speed regulation problem of permanent magnet synchronous motor (PMSM) systems subjected to unknown time-varying disturbances. A continuous sliding mode control (CSMC) technique is introduced for the speed loop to enhance the robustness of PMSM systems and eliminate the chattering phenomenon caused by high-frequency switch function in the conventional control law. However, the high control gain of the CSMC law in the presence of strong disturbances leads to large steady-state speed fluctuations for PMSM systems. In many application fields, PMSM systems are affected by time-varying disturbances instead of constant disturbances. For example, electric bicycles are usually affected by changing environmental disturbances, including wind speeds, road conditions, etc. These disturbances may be in the form of constant, ramp, and parabolic disturbances. Hence, a generalized proportional integral (GPI) observer is employed to estimate these types of disturbances. Then, the disturbance estimation method and the aforementioned CSMC method are combined to establish a composite sliding mode control method called the CSMC+GPI method for the speed loop of PMSM systems. Contrary to the conventional sliding mode control technique, the proposed method completely eliminates the chattering phenomenon caused by the switching function in the conventional control law. Moreover, a small control gain for the CSMC+GPI method is chosen by feed-forwarding estimated values to the speed controller. Hence, the steady-state speed fluctuations are small. The effectiveness of the proposed control scheme is verified by simulation and experimental result.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.45 no.9
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• pp.711-723
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• 2017

This paper proposes a flight control system for an organic flight array(OFA) which has a new configuration to consist of multi modularized ducted-fan unmanned aerial vehicles (UAVs). The OFA is able to apply to various missions such as indoor reconnaissance, communication relay, and radar jamming by using capability of hover flight. The OFA has a distinguished advantage due to reconfigurable structure to assemble or separate with respect to its missions or operational conditions. A dynamic modelling of the OFA is derived based on equations of motion of the single ducted-fan modules. In order to apply nonlinear control method, an affine system of attitude dynamics is derived. Moreover, the control system is composed of a back-stepping controller for attitude control and a PID controller for position control. Then the performance of the proposed controller is verified via a numerical simulation under wind disturbance.

• Journal of Ocean Engineering and Technology
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• v.19 no.3
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• pp.66-73
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• 2005

The sway motion control problem of a container hanging on the trolley is considered in this paper. In the container crane control problem, the main issue involves suppressing the residual swing motion of the container at the end of acceleration, during deceleration, or for an unexpected disturbance input. For this problem, in general, many trolley motion control strategies are introduced and applied. In this paper, we introduce and synthesize a swing motion control system, in which a small auxiliary mass is installed on the spreader. In this control system, the actuator reacting against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. In many studies, the controllers used to suppress the vibration have been synthesized for the given mathematical model of plants. In many cases, the designers have not been able to utilize the degree of freedom to adjust the structural parameters for the control object. To overcome this problem, so called "Structure/Control Simultaneous Method" is used. From this, in this paper the simultaneous design method is used to achieve optimal system performance. And the experimental result shows that the proposed control strategy is useful, to the case of that the controlled system is exposed to the uncertainties and, robust to disturbances like wind.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2003.10a
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• pp.801-804
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• 2003

The autopilot system of vessel is proposed to take service safety sorority, to elevate service efficiency, to decrease labor and to improve working environment. Ultimate purpose of it is to minimize the number of crew by guaranteeing economical efficiency of shipping service. Recently, the research is being achieving to compensate various nonlinear parameters of vessel and apply it is course keeping control, track keeping control, roll-rudder stabilization, dynamic ship positioning and automatic mooring control etc. using optimizing control technique. Relation between rudder angle controlled by steering machine of vessel and ship-heading angle, and load condition of ship are nonlinear, which affect various parameters of shipping service. The speed and direction of waves, velocity and quantity of wind, which also cause the non-linearity of it. Therefore the autopilot system of ship requires the robust control algorithm can overcome various non-linearity. On this paper, we design the autopilot system of ship, which overcome nonlinear parameters and disturbance of it using Fuzzy Algorithm, evaluate the proposed algorithm and its excellence through simulation

• Journal of the Korea Institute of Information and Communication Engineering
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• v.7 no.7
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• pp.1509-1513
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• 2003

The autopilot system of vessel is proposed to take service safety and security, to elevate service efficiency, to decrease labor and to improve working environment. Ultimate purpose of the proposed system is to minimize the number of crew by guaranteeing economical efficiency of shipping service. Recently, the research is being achieved to compensate various nonlinear parameters of vessel and apply it to course keeping control, track keeping control, roll-rudder stabilization, dynamic ship positioning and automatic mooring control etc. using optimizing control technique. Relation between rudder angle controlled by steering machine of vessel and ship-heading angle, and load condition of ship is nonlinear, which affects various parameters of shipping service. The speed and direction of waves, velocity and quantity of wind, which also cause the non-linearity of it. Therefore the autopilot system of ship requires the robust control algorithm can overcome various non-linearity. On this paper, we design the autopilot system of ship, which overcomes nonlinear Parameters and disturbance of it using Fuzzy Algorithm, evaluate the proposed algorithm and its excellence through simulation.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2018.05a
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• pp.318-320
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• 2018

When a ship sails on sea, it may be influenced by the environmental disturbance such as wind, wave, sea surface temperature, etc. These affect on the ship's speed, fuel consumption, safety and operating performance. It is necessary to find the optimal weather route of a ship to avoid adverse weather conditions which can put the crews in serious danger or cause structural damage to the vessel, machinery, and equipment. This study introduced how to apply A* algorithm based on sea trial test data for determining the optimal ship routes. The path cost function was modelled as a function of minimum arrival time or minimum energy depending on the time of various environment conditions. The specially modelled path-cost function and the safety constraints were applied to the A* algorithm in order to find the optimal path of the ship. The comparison of ship performances estimated by real sea trial's path and estimated optimal route during the voyage of the ship was investigated. The result of this study can be used to create a schedule to ensure safe operation of the ship with short passage time or minimum energy. In addition, the result of this study can be integrated into an on-board decision supporting expert system and displayed in Electronic Chart Display and Information System (ECDIS) to provide all the useful information to ship master.