• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.468-471
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• 1995

In this paper, we propose a new strategy for a space robot to control its attitude. A space robot is an example of a class of non-holonomic systems, a system of which cannot be stabilized into its equilibria with continuous static state feedbacks even in the case that the system is, in some sense, controllable. Thus, we cannot design stabilizing controllers for space robots using conventional control theories. The strategy presented here transforms the non-holonomic system into a time-state control form, and allows us to make the state of the original system any desired one. In the stabilization, any conventional control theory can be applied. For simplicity, a space robot with a two-link manipulator is considered, and a simulated motion of the controlled system is shown.

• Korean Journal of Agricultural Science
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• v.41 no.3
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• pp.251-258
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• 2014

In order to set up the basic environmental control systems which the new concept greenhouses have to equip, greenhouse characteristics, environmental management and control systems in domestic glasshouses and plastic houses were investigated and analyzed comparatively. Survey results on the width, length, eaves height, and the number of spans etc. showed that glasshouses were bigger than plastic houses significantly. New concept greenhouses claim to be plastic houses, but it will be reasonable to follow the specifications of the glasshouse. Specifications to be applied to new concept greenhouses were proposed as follows; hot water heating systems, aluminum screens as the thermal curtain, evaporative cooling systems, roof vents on the ridge, circulation fans, $CO_2$ enrichment, hydroponic systems, and automatic irrigation control systems. Environmental measurement systems for the indoor and outdoor temperature, humidity, light, wind speed and indoor $CO_2$ concentration have to be fully equipped. The automatic control system has to be as a complex environmental control system, not a single item control system. Also, for stable dissemination, domestically producing complete greenhouse control system should be made as soon as possible.

• 제어로봇시스템학회:학술대회논문집
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• 1999.10a
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• pp.73-78
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• 1999

This paper presents an effective construction method of adaptive multiple control systems utilizing some knowledge upon the plants. The adaptive multiple control system operates plants un-der widely changing environmental conditions. The adaptive multiple control system is composed of a family of candidate controllers together with a supervisor. The system does not require any identification schemes of environmental conditions. Monitoring outputs of the plant, the supervisor switches from one candidate controller to another, The basic ideas of adaptation are as follows: (1)each candidate controller is prepared for each environmental condition in advance; (2)the supervise. applies a sequence of speculative controls to the plant with candidate controllers just after the start of control or just after the detection of a change in the environmental condition. Each candidate controller can keep the system stable during one-step period of the speculative control and the most appropriate candidate controller for the environmental condition to which the system is exposed can be selected before the last trial of speculative control step comes to an end. We proposed a construction method of adaptive multiple control system without any knowledge of plant dynamics and applied the method to a cart-pole balancing problem and a vehicle anti skid braking system. In real applications, as we can often easily obtain a piece of knowledge upon plant dynamics beforehand, we intend to extend the method such that multiple control systems can be efficiently designed using the knowledge. We apply the new idea to the cart-pole balancing problem with variable length of the pole. The simulation experiments lead us to the conclusion that the new attempt can reduce the manpower to design the candidate controllers for adaptive multiple control systems.

• Journal of Industrial Technology
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• v.19
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• pp.293-300
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• 1999

This paper is aimed at the development of comprehensive environmental management system, which can be operated on the basis of world wide web. This study has been initiated as a topic of G7 project in 1988, and will be accomplished in 2001. Even thought there should be lots of works remaining to achieve this goal, preliminary products can be summarized as follows : 1) integrated environments information management system, 2) web based control engine, 3) surface water environment management system, 4) subsurface water environment management system, 5) sewer and waterworks management system. The core methodology of the engine is the generalized multidimensional finite element matrices to depict the terms in the analysis of various partial differential equations. Spatial information management system (ArcView) and Visual Basic were extensively employed to construct GUI oriented web based engine. Developed systems were consist with very intense computer codes due to the necessity of combinatory management of environmental problems. The web based engine could be served as a decision tool for the integrated management of environmental projects in Korea.

• Journal of Biosystems Engineering
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• v.22 no.3
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• pp.303-310
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• 1997

Motivated by the need fir developing the new method of weed control in place of chemical weedicide, this paper aims at making good use of electricity against environmental pollution. Compared with chemical weedicide, the electric method of weed control is functionally more versatile, effectively more rapid, and lower in terms of cost. In particular, this method will contribute to environmental protection. In detail the electrical weed control system which is the simple circuit for generating the electric current of high voltage is comprised of step-up transformer which rectifies the current and the capacitor which stores the energy. The effectiveness of electrical weed control system is evaluated by germination rate and control of Dgitaria Sangvinalis(Galinsoga ciliate). As a result, the electrical weed control system(high voltage spark discharge) can kill weeds effectively

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.3
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• pp.181-187
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• 2003

For the moving objects with environmental sensors such as object tracking moving robot with audio and video sensors, environmental information acquired from sensors keep changing according to movements of objects. In such case, due to lack of adaptability and system complexity, conventional control schemes show limitations on control performance, and therefore, sensory-motor systems, which can intuitively respond to various types of environmental information, are desirable. And also, to improve the system robustness, it is desirable to fuse more than two types of sensory information simultaneously. In this paper, based on Braitenberg's model, we propose a sensory-motor based fusion system, which can trace the moving objects adaptively to environmental changes. With the nature of direct connecting structure, sensory-motor based fusion system can control each motor simultaneously, and the neural networks are used to fuse information from various types of sensors. And also, even if the system receives noisy information from one sensor, the system still robustly works with information from other sensors which compensates the noisy information through sensor fusion. In order to examine the performance, sensory-motor based fusion model is applied to object-tracking four-foot robot equipped with audio and video sensors. The experimental results show that the sensory-motor based fusion system can tract moving objects robustly with simpler control mechanism than model-based control approaches.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.34 no.9
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• pp.809-816
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• 2010

An environmental control system is installed to dissipate the thermal load in avionic equipments that are mounted under an aircraft. The operating characteristics of the system change with variations in the control parameters. In this study, an environmental control system was designed and built using R-124 by adopting a vapor compression cycle. The operating characteristics of this system were observed by varying the control parameters, such as refrigerant charging amount, opening of the expansion device, compressor rotation speed, and blower rotation speed. The effect of the control parameters on the environmental control system was analyzed and an optimum control method was identified.

• Journal of Bio-Environment Control
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• v.7 no.1
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• pp.1-8
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• 1998

A Hardware system of hybrid environmental control was developed for using it in the multi-greenhouse. Now, an on/off control system is most utilized in protected cultivation, but a hybrid environmental control system is not yet. This system consists of a hardware to be devided by physical elements and a software for the hardware a personal computer, a hybrid environmental control and a communication Program for modules. The hardware was made of several independent modules with independent CPU. Each module was made to slots. which are very convenient to mount and take off. Also, they are managed easily to repair, add, remove, and change of their function and expansion. The software for a personal computer was a menu driven program written in visual basic within a Windows environment for easy applications by a user. The hybrid environmental control software have operating factors operate continuously with temperature, humidity and others in greenhouse. Communication programs were used both 485 communication method for long distance communication between modules and CRC communication method for making easy to program, and less errors between personal computer and modules.

• Journal of Environmental Science International
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• v.18 no.6
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• pp.603-608
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• 2009

Activated sludge sewage treatment processes are difficult to be controlled because of their complex and nonlinear behaviour, however, the control of the dissolved oxygen level in the reactors plays an important role in the operation of the facility. For this reason, this study is designed to present a system which accurately measures DO, MLSS, pH and ORP in the aeration tank to alleviate situations above and provide the automatization of a sewage treatment plant (STP) using new DO control system. The automatic control systems must be guaranteed the accuracy. Therefore, the proposed automatic DO control system in this study could be commercial applications in the aeration tanks by means of operating cost analysis and user-friendly for operation and maintenance. We could get accurate data from the lab tank which has water quality checker because there was no vortex and air bubble during the measurement process. Improvement of confidence in the lab tank enabled effective and automatic operation of sewage treatment plants so that operation costs and manpower could be saved. If this result is put in place in every sewage treatment plant nationwide for practical purposes, it is estimated to cost 18.5 million dollars in installing the lab tank and to save 9.8 million dollars in management cost a year, except for cost saved by automation.

• Journal of Korean Society on Water Environment
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• v.28 no.2
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• pp.300-304
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• 2012

It has a limitation to satisfy the phosphorus effluent criteria of 0.2 mg/L which will be reinforced from 2012 with the Biological Nutrient Removal (BNR) process. The chemical coagulation process has been operated in parallel with the biological treatment process for advanced treatment of phosphorous in the developed countries including Europe. However, the coagulation process has some disadvantages such as the desired goal may not be achieved without injecting the optimum dosage of the coagulant. This study developed the automatic control system to inject the optimum dosage of phosphorous coagulant into the coagulation process. The adopted coagulant was 10% Poly Aluminum Chloride (PAC) in this study. The automatic control system developed in this study was adopted for the treatment of the phosphorus from the effluent in SBR process. The automatic control system was composed of the data receiving part, the optimum coagulant dosage control part and the data transmit part. The result of the phosphorous advanced treatment of the SBR effluent using the automatic control system showed the removing efficiency over 95% consistently with the phosphorous concentration under 0.02 ~ 0.15 mg/L. The reproducibility analysis for checking the safety of automatic control system showed more than 95% correlation.