Design of a sliding mode controller for an automatic guided vehicle and its implementation

In this paper, a control scheme that combines a kinematic controller and a sliding mode dynamic controller with external disturbances is proposed for an automatic guided vehicle to track a desired trajectory with a specified constant velocity. It provides a method of taking into account specific mobile robot dynamics to convert desired velocity control inputs into torques for the actual mobile robot. First, velocity control inputs are designed for the kinematic controller to make the tracking error vector asymptotically stable. Then, a sliding mode dynamic controller is designed such that the mobile robot’s velocities converge to the velocity control inputs. The control law is obtained based on the backstepping technique. System stability is proved using the Lyapunov stability theory. In addition, a scheme for measuring the errors using a USB camera is described. The simulation and experimental results are presented to illustrate the effectiveness of the proposed controller.     

Do IT freelancers increase their entrepreneurial behavior and performance by using IT self-efficacy and social capital? Evidence from Bangladesh

This study applies entrepreneurship theory and social capital perspective to IT freelancing to facilitate a better understanding of it. Our model hypothesizes that both IT self-efficacy and social capital obtained through social media interactions contribute to IT freelancers’ entrepreneurial behavior and then this entrepreneurial behavior influences their performance. We collected primary data from one of the leading online freelancing marketplaces, oDesk.com (currently Upwork.com). Our empirical findings confirm the core assertion of our research model. The implications of these findings for research and practice are discussed. Directions for future research are also provided.     

Menopausal transition of Korean immigrant women: a literature review

The menopausal transition needs to be understood in terms of the multiple mediating factors within the context in which women experience it. For immigrant women especially, the menopausal experience is complicated by multiple transitions and social marginality, so it cannot be adequately explained without considering this complexity. In this paper we review the literature on the menopausal transition of a group of vulnerable immigrant women in two ways: describing the transitions themselves (menopause, immigration, and housewife to employee), and describing factors that mediate the menopausal transition experience (family norms, meaning of menopause and women's work, and health practices). We emphasize the context and suggest areas of needed research.     

Anisotropic threshold stress intensity factor, KIH and crack growth rate in delayed hydride cracking of Zr-2.5Nb pressure tubes

The objectives of this study are to systematically investigate the delayed hydride cracking (DHC) velocity and the threshold-stress intensity factor, K _IH , of a Zr-2.5Nb pressure tube as a function of orientation and elucidate the cause of this anistropic DHC behavior. The DHC velocity as a function of orientation was determined using flattened cantilever beam specimens with 60 ppm H while the threshold-stress intensity factor K _IH , was evaluated as a function of orientation on the curved compact-tension (CT) and cantilever-beam (CB) specimens charged with hydrogen to 200 ppm H. To infer a difference in a stress gradient ahead of the crack tip as a function of orientation, tensile tests were conducted at temperatures ranging from room temperature (RT) to 560 °C using small tensile specimens of 2-mm-gage length taken from three directions of the tube. A textural change was investigated by comparing the inverse pole figures before and after DHC while the {10 7} pole figures were constructed to find out the growth pattern of the DHC crack as a function of orientation. Faster DHC velocity and lower K _IH were obtained over temperatures of 170 °C to 270 °C, when the DHC crack grew in the longitudinal direction of the Zr-2.5Nb pressure tube. The strain hardening after yielding and the extent of the textural change accompanied by DHC were higher in the longitudinal direction of the tube, suggesting a higher stress gradient ahead of the crack tip. Thus, the anisotropic DHC behavior of a Zr-2.5Nb pressure tube is discussed based on the stress gradient ahead of the crack tip governed by strain-hardening rate after yielding and a change in texture accompanied by DHC, and the distribution of the {10 7} hydride habit planes. This article is based on a presentation made in the symposium entitled “Defect Properties and Mechanical Behavior of HCP Metals and Alloys” at the TMS Annual Meeting, February 11–15, 2001, in New Orleans, Louisiana, under the auspices of the following ASM committees: Materials Science Critical Technology Sector, Structural Materials Division, Electronic, Magnetic & Photonic Materials Division, Chemistry & Physics of Materials Committee, Joint Nuclear Materials Committee, and Titanium Committee.     

System analysis study for Korean fusion DEMO reactor

A conceptual design study for a steady-state Korean fusion DEMO reactor (K-DEMO) has been initiated. Two peculiar features need to be noted. First, the major radius is designed to be just below 6.5 m, considering practical engineering feasibilities. But still, high magnetic field at the plasma center around 8 T is expected to be achieved by using current state-of-the-art high performance Nb₃Sn strand technology. Second, a two-stage development plan is being considered. In the first stage, K-DEMO will demonstrate a net electricity generation but will also act as a component test facility. Then, after a major upgrade, K-DEMO is expected to show a net electric generation on the order of 300 MWe and the competitiveness in cost of electricity (COE). Feasibility of such a practical, near-future demonstration reactor is studied in this paper, based on a zero dimensional system analysis code study. It was shown that a net electric generation on the order of 300 MWe can be achieved below the optimistic β_N limit of 5. The elongation of K-DEMO is around 1.8 with single null configuration. Detailed optimization process and the resultant various plasma parameters are described.     

A preliminary design and structural analysis of the lifting tools for 40° sector sub-assembly and handling ITER components

The purpose-built, ITER tokamak assembly tools, which are to be provided by Korea, should be designed to meet: the assembly plan, space reservations, safety standards, simple operations, efficient maintenance, and so on. It is very important that the ITER assembly tools are able to lift and transfer ITER components or their sub-assemblies to their assembled position safely. Furthermore, the lifting tools will lift and handle very heavy loads that can be more than 1200 tonnes sometimes. Therefore, the ITER lifting tools must be designed to endure these heavy load conditions with regard to their structural integrity. Also, these designs should be verified through an appropriate method. The preliminary design of the sector lifting tool and associated lifting attachments are introduced in this paper. The sector lifting tool was designed especially to lift and handle various ITER components by adjusting the lifting centre. The structural analysis results using ANSYS are described considering the heaviest load condition. The results of the analysis show that; all stresses applied on the lifting tool are lower than the allowable stress of the applied material.     

The design of the assembly tools for the ITER tokamak

The conceptual design of the purpose-built assembly tools required for ITER tokamak assembly is given. The ITER machine assembly is sub-divided into five major activities: lower cryostat, sector sub-assembly, sector assembly, ex-vessel, and in-vessel [1]. The core components, vacuum vessel (VV) and toroidal field coil (TFC), are assembled from nine 40° sub-assemblies, each comprising a 40° VV sector, two TFCs, and the associated VV thermal shield (VVTS). The lower cryostat activities must be completed prior to sector assembly in pit to prepare the foundations for the core components, and to locate the lower components to be trapped once the core components installation begins. In-vessel and ex-vessel activities follow completion of sector assembly. To perform these assembly activities requires both massive, purpose-built tools, and standard heavy handling and support tools. The tools have the capability of supporting and adjusting the largest of the ITER components; with maximum linear dimension 19 m and mass 1200 tonne, with a precision in the low mm range. Conceptual designs for these tools have been elaborated with the collaboration of the Korean Domestic Agency (KO DA). The structural analysis was performed as well using ANSYS code.     

Proton MR spectroscopic findings in paroxysmal kinesigenic dyskinesia

Although paroxysmal kinesigenic dyskinesia (PKD) has characteristic clinical features, the pathophysiology of PKD has remained unknown. The purpose of this study was to investigate the pathophysiology of idiopathic PKD by performing proton magnetic resonance spectroscopy (1H-MRS) in five patients with idiopathic PKD. Three patients were familial and two sporadic. Single-voxel 1H-MRS was performed on a GE 1.5-T SIGNA MR system. Localized 1H-MR spectra were obtained from the basal ganglia (n = 5), thalamus (n = 3), and supplementary motor area (SMA; n = 4) using STEAM sequence (stimulated echo acquisition mode; TR = 3.0 sec, TE = 30 msec, 64 AVG, volume = 8 mL) or PRESS (point resolved spectroscopy; TR = 3.0 sec, TE = 135 msec, volume = 4 mL). Peak ratios of Cho/Cr (Cho: choline, Cr: creatine) and mI/Cr (mI: myoinositol) were decreased significantly in the unilateral basal ganglia of two patients. In one, decreased peak ratio of mI/Cr in the unilateral basal ganglia was the only abnormality. In the remaining two, there was no significant abnormality. 1H-MR spectra obtained from the thalamus and SMA were all within normal limits. In conclusion, these results suggest that underlying pathophysiological mechanism of PKD may be at least partially associated with the dysfunction of cholinergic system in the basal ganglia.     

Assessment of particle retention and clearance in the intrapulmonary conducting airways of hamster lungs with the fractionator1

A modified version of the fractionator was used to estimate the total number of polystyrene microspheres retained in the airways of hamster lungs at two different time points after inhalation. A systematic three-stage subsampling procedure with known sampling fractions was adopted. First, each lung was cut into slices, from which primary disectors were sampled systematically with a known sampling fraction. From each primary disector, smaller sub-disectors were subsampled, and the corresponding sampling fraction was estimated by point counting. Finally, a few particles were counted at the microscopic level in the sub-disectors, and the final estimate of total particle number (which is unbiased irrespective of any tissue deformations) was easily computed as a product of the counted number times the reciprocal of the successive sampling fractions. The error variance of each estimate was assessed from the data using a new estimator. An average of 6% of the deposited particles were retained on the epithelial surface of the intrapulmonary conducting airways shortly after the inhalation, from which at least one-third was already phagocytosed by macrophages. After 24 h, an average of 87% of the particles retained shortly after the inhalation had been cleared. The proportion of particles ingested by macrophages had increased to at least 87%, in three out of four animals studied.