This paper deals with the disturbance observer (DOB) based sliding mode control (SMC) for a DC motor to control motor rotating speed precisely and to ensure strong robustness against disturbance including load torque and parameter variation. The reason of steady state error in speed on conventional SMC without DOB is analyzed in detail. Especially, the suggested DOB is designed to prevent measuring noise and harmonics caused by derivative operation on rotating speed. The control performance of the DOB based SMC is evaluated by the various simulations. The simulation results showed that the DOB based SMC had more robust performance than the SMC system without DOB. Especially, precise speed control was possible even though motor parameter variation and load torque was added to the system.

This research is the second result concerned with control of driving wheelchairs and elevating seats. The standing and lifting seat elevation of wheelchairs with general wheel are controlled by motor speeds of rear wheels. The third wheelchair with mecanum wheels can make the translational motions and is controlled by different method which is designed and applied by the appropriate electrical logic circuits. Two general moving type wheelchairs and translational moving type wheelchair using mecanum wheel can drive with joy stick. All three wheelchiars' seat can be elevated by extra switches attached in chair. Finally, this research paper proposes the practical control method and electrical circuits of power wheelchairs.

In this paper, the characteristic of intrinsic mode function(IMF) and its orthogonalization of ensemble empirical mode decomposition(EEMD), which is often used in the analysis of the non-linear or non-stationary signal, has been studied. In the decomposition process, the orthogonal IMF of EEMD was obtained by applying the Gram-Schmidt(G-S) orthogonalization method, and was compared with the IMF of orthogonal EMD(OEMD). Two signals for comparison analysis are adopted as the analytical test function and El Centro seismic wave. These target signals were compared by calculating the index of orthogonality(IO) and the spectral energy of the IMF. As a result of the analysis, an IMF with a high IO was obtained by GSO method, and the orthogonal EEMD using white noise was decomposed into orthogonal IMF with energy closer to the original signal than conventional OEMD.

This paper investigates to design a controller for maritime autonomous surface ship (MASS) by means of adaptive super-twisting algorithm (ASTA). A input-out feedback linearization method is considered for multi-input multi-output (MIMO) system. Sliding Mode Controller (SMC) is suitable for MASS subject to ocean environments due to its robustness against parameter uncertainties and disturbances. However, conventional SMC has inherent disadvantages so-called, chattering phenomenon, which resulted from the high frequency of switching terms. Chattering may cause harmful failure of actuators such as propeller and rudder of ships. The main contribution of this work is to address an appropriate controller for MASS, simultaneously controls surge and yaw motion in severe step inputs. Proposed control mechanism well provides convergence bewildered by external disturbances in the middle of steady-state responses as well as chattering attenuation. Also, the adaptive algorithm is contributed to reducing non-overestimated value of control gains. Control inputs of surge and yaw motion are displayed by smoother curves without excessive control activities of actuators. Finally, no overshoot can be seen in transient responses.

Biodiesel is a remarkable alternative fuel for the diesel engine among various countries. Various studies are carried out on the environmental and economic effects as well as the nature of diesel engine fuel biodiesel in the combustion process and emission characteristics. In this study, CRDI diesel engines used diesel fuel and 20 % biodiesel blend fuel (BD 20 %) as fuel, with City-mode exceeding 300 hours. Engine performance and emissions were sampled at one-hour intervals for analysis. The engine was inspected after testing to check the engine parts (valves and injectors). It was concluded that 300 hours of operation using BD 20 % does not cause abnormal deterioration of the engine or abnormal changes in engine power and exhaust gas.

This thesis summarizes the author's experiences in the course of the first class session of the Chinese language class-from the design of classroom mode to the implementation of this activity by students. After the activity, a questionnaire survey was conducted and the survey results were analyzed and summarized. Through the questionnaire, the author analyzed students’ satisfaction degree of “one-day teacher” activity. The questionnaire survey was conducted from several perspectives, including satisfaction, learning effect, self attitude towards this “one-day teacher” activity and what needs to be improved. The results were, to say the least, encouraging. From all aspects of the good evaluation. We can judge that the implementation of this “one-day teacher” activity in the Chinese language class is completely feasible. Although the feasibility of “one-day teacher” activity has been proved, how to better apply it in Chinese class is the next problem that needs to be improved and further studied. The object of this study is the Chinese learners at the intermediate level in the lower grade. How to carry out this activity for learners at different Chinese level? A series of problems will be further studied and discussed.

In this paper, the experimental study and finite elements analysis were conducted on homogeneous and dissimilar metals single lap-shear bonded joints to investigate the factor that affect the joint failure load. It was found that factors which have the significant effects on the failure load of the joint was stiffness of the adherends. And from experimental results, it can be confirmed that the failure load increases linearly with overlap length increases. And the failure load of dissimilar metal joints is approximately 1KN(10 ～17%) larger than homogeneous metal joints. In order to confirm this phenomenon, the stress distribution and strain distribution of the specimens were analyzed through the finite element analysis. The difference between homogeneous metals joints and dissimilar metals joints is that stress and strain in adhesive are concentrated at the end of the overlap zone close to aluminium which has lower rigidity than aluminium in case of dissimilar metals joints. From high rigidity of steel, the stress concentration in bonds are decreased and it cause increase of the failure strength at dissimilar metal joints.

본 논문에서는 바람, 파도, 조류 등의 큰 외란조건에서 선박계류시스템의 계류안정성 확보를 위한 동적제어기 설계를 연구하였다. 선박계류시스템의 비선형 동요를 억제하기 위해 슈퍼트위스팅 알고리즘(STA)을 포함한 슬라이딩 모드 제어(SMC) 기법이 적용되었다. 외란이나 파라미터의 불확실성에 대한 강인성의 장점에도 불구하고, 채터링은 슬라이딩 모드 제어기를 적용하는데 주요 단점이 되고 있다. 1차계 SMC는 정확히 제어 목표치에 수렴 하도록 정밀한 제어는 가능하나, 채터링과 같은 파괴적인 현상과 연계되어 적용에 주요한 장애가 된다. 대신에, STA는 큰 외란에도 불구하고 비교적 높은 정확도를 보이며 채터링 현상을 완전히 제거한다. 1차계 슬라이딩 모드 제어기의 채터링 문제를 피할 수 있는 STA기반의 SMC는 비선형 계류시스템의 동적제어를 위한 아주 효과적인 수단으로 판단된다. 아울러, STA로 제어된 선박계류시스템의 위치오차 궤적은 경계 구역 내에서 형성된다. 끝으로, 슬라이딩 표면과 위치궤적의 오차결과를 통해 STA의 이득제어 효과도 관측할 수 있다.

The purpose of the present study was to determine the elaborate characteristics of ovarian changes including follicles and corpus luteum, and hormonal patterns of gonadotropin surge mode secretions during the normal consecutive estrous cycle in three dairy cows. Non-lactating and multiparous Holstein cows (n=3) used as experimental animals. The cows were assigned to examine the relationship among ovarian changes (follicle, corpus luteum), ovarian steroids (estradiol, progesterone) and gonadotropin (LH, FSH) surge mode secretion during the successive estrous cycles by rectal palpation, ultrasonography and hormonal assay. The mean length of the estrous cycle for the three cows was 23.1 ± 1.44 days (± SEM), with a range of 20-28 days. In six estrous cycles, the number of two follicular waves, three follicular waves and four follicular waves was 2, 3 and 1, respectively. The sequential ultrasonographic monitoring showed that the corpus luteum with ≥ 10 mm in diameter detected from Day 2 (Day 0 is ovulation) in six estrous cycles of all cows. Preovulatory increases in estradiol concentration reached 10.36 ± 1.10 pg/ml on the 2 days before ovulation of the last dominant follicle. All cows exhibited a preovulatory rise in estradiol concentration followed by a typical preovulatory LH and FSH surge. The mean interval from the peak of LH/FSH surge to ovulation of the last dominant follicle was 31.3 ± 1.76 h (± SEM). In these results, each dairy cow showed that ovarian morphological changes and gonadotropin surge mode secretion will be regulated by various environmental factors including age, breeds, nutrition, breeding conditions, etc.

대기오염에 대한 관심은 국내·외에서 점진적으로 상승하고 있으며, 자동차 및 연료 연구자들은 청정(친환경 대체연료) 연료와 연료품질 향상 등을 위해 새로운 엔진 설계, 혁신적인 후 처리 시스템 등의 많은 접근을 통하여 차량 배출가스와 온실가스를 감소시키려고 노력하고 있다. 이러한 연구들은 주로 차량 의 배출가스 (규제 및 미규제물질, PM 입자 배출 등)와 온실가스의 두 가지 이슈로 진행되고 있다. 자동차의 배출가스는 환경오염과 인체에 악영향을 주는 많은 문제를 일으키고 있다. 이러한 배출가스를 줄이기 위하여 각국에서는 배출가스 시험모드를 새로 만들어 규제하고 있다. 2007 년부터 UN ECE의 WP.29 포 럼에서 배출가스 인증을 위한 전 세계의 조화된 light-duty 차량 시험 절차 (WLTP)가 개발되었다. 이 시험 절차는 유럽과 동시에 국내 light-duty 디젤 차량에도 적용되어졌다. Light-duty 차량의 대기오염 물질 배 출량은 거리 당 무게로 규제되어 있어 주행주기가 결과에 영향을 미칠 수 있다. 차량의 배출가스는 주행 및 환경조건, 주행습관 등에 따라 크게 달라진다. 극단적인 외기온도는 배출가스를 증가시키는데, 이것은 더 많은 연료가 실내를 가열하거나 냉각해야하기 때문이다. 또한 높은 주행속도는 증가된 항력을 극복하기 위해 필요한 에너지로 인해 배출가스 량을 증가시킨다. 일반적으로 상승하는 차량속도와 비교할 때, 급격 한 차량가속도도 배출가스를 증가시킨다. 부가적인 장치 (에어컨 또는 히터)와 도로경사 또한 배출가스를 증가시킨다. 본 연구에서는 3대의 light-duty 차량을 가지고 light-duty 차량의 배출가스 규제에 사용되는 WLTP, NEDC 및 FTP-75로 시험을 하였으며, 배출가스가 다른 주행 사이클에 의해 얼마나 많은 영향을 받을 수 있는지를 측정하였다. 배출 가스는 통계적으로 의미있는 차이를 보이지 않았다. 최대 배출 가스는 주로 냉 각 된 엔진 조건에 의해 야기되는 WLTP의 저속 단계에서 발견된다. 냉각 된 엔진 상태에서 배출가스의 양은 시험 차량과 크게 다르다. 이는 WLTP 구동 사이클에 대처하기 위해 다른 기술적 솔루션이 필요하다는 것을 의미한다.

합성 지표수 용액을 가압식 한외여과 시스템을 통하여 100 L/m2/h 정속 및 0.15bar 정압 조건에서 전량 여과하였다. 공극 크기 0.05μm의 중공사막으로 구성된 가압식 모듈을 통해 실리카(SiO2) 입자 50, 10, 2 mg/L와 알긴산 나트륨(SA) 10, 2, 0.4 mg/L가 혼합된 용액을 여과하였다. 여과 공정은 30분 여과 후 30초 역세와 30초 정세의 주기적 물리 세정과 병행하여 수행되었다. 실험 결과 높은 농도 조건에서 정속 / 정압 여과조건에 따른 파울링 거동은 큰 차이를 보이지 않았으나, 낮은 농도 조건에서는 정속 여과가 정압 여과에 비해 파울링 속도가 빠른 것으로 관찰되었다. 모델링 결과 이는 정속 여과에서 막간 차압 증가에 의한 케이크 층 압축에 의한 것으로 나타났다.

MBR(membrane bioreactor)공정은 운전시간이 지날수록 막 오염이 진행되면서 막간차압(TMP, transmembrane pressure)이 증가하고 결국 여과 성능이 감소하게 된다. 이러한 문제를 해결하기 위해 막 오염 제어에 대한 다양한 방식의 기술이 개발, 응용되고 있다. 본 연구에서는 경제적이고 효율적인 방법으로 막 오염을 제어하기 위하여 MBR 하부에서 공급되는 공기를 이용하여 자연적으로 순환되는 구형 비드와 역세척(backwashing)이 가능한 평막을 이용하여 사인파형 연속 투과운전(SFCO)방식에 따른 막간차압을 측정, 비교하고자 하였다.

The passivation of AZ91D Mg alloys by plasma anodization requires deliberate choice of process parameters due to the presence of large amounts of structural defects. We study the dependence of pore formation, surface roughness and corrosion resistance on voltage by comparing the direct current (DC) mode and the pulse wave (pulse) mode in which anodization is performed. In the DC plasma anodization mode, the thickness of the electrolytic oxide film of the AZ91D alloy is uneven. In the pulse mode, the thickness is relatively uniform and the formed thin film has a three-layer structure. The pulse mode creates less roughness, uniform thickness and improved corrosion resistance. Thus, the change of power mode from DC to pulse at 150 V decreases the surface roughness (Ra) from 0.9 μm to 0.1 μm and increases the corrosion resistance in rating number (RN) from 5 to 9.5. Our study shows that an optimal oxide film can be obtained with a pulse voltage of 150 V, which produces an excellent coating on the AZ91D casting alloy.

Currently various kinds of wheelchair were developed and being sold in medical device market. This research is concerned with designing and making various types of moving and functional power wheelchairs. There are two kinds of general moving type wheelchairs and translational moving type wheelchair using mecanum wheel. Dynamic theory is used to check the motion analysis and safety of wheelchairs. The specific function of wheelchairs is to reach the higher position than the sitting position. And the new way of motion of wheelchair is developed by new type of wheel. This paper proposes the very economical and useful wheelchair model.