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The mold flow analysis of the injection
molding process using Taguchi method and
grey relational analysis
Abstract
This article makes use of quality engineering program of the Taguchi method and the
grey relational analysis to develop the procedure about the many distinct engineering factors
effect the quality of objective on the injection molding process. We also collocates the mold
flow analytical software of Moldflow MPI to process the mold flow analysis.
Simultaneously, it analyzes and proves the influence of the many distinct engineering factors
on the quality of objective each other, from many experiment result of each engineering
factor's combination, to establish the optimal process of plastics injection molding in order to
execute the effective computer simulation. We take the warping phenomenon of CD-ROM
disk pallet for an example, in accordance with the process of variation of signal to noise ratio
and the grey relation analysis for each engineering factor upon the distribution of shear
stress, acquire that the result for the influences of the objective quality will identically. The
arrangement of effect magnitude is the temperature of melt, filling time, filling pressure and
temperature of mold. From the degree of contribution or relation we obtain that the
noticeable variations are the temperature of melt and filling time. Those factors will increase
the quality of product. The filling pressure and temperature of mold, the unnoticeable
variations, will be the basis to reduce cost.
Key words : Taguchi method, grey relational analysis, signal to noise ratio, degree of relation,
injection of form.Ko-Ta Chiang : Associate Professor, Department of Mechanical Engineering, HIT
[1,2]
(CAE)
(CAE)
C-mold moldflow Moldex
Kamal and Keing [3]
Wu et al. [4]
N o n -
Newtonian fluid Behavior
Hieber and Shen [5]
Hele-
S h a w [ 6 ] N o n -
Newtonian fluid
Chiang et al. [7]
Hele-Shaw[6] Hetu et al. [8]
3D
Pandelidis and Zou [9]
Choi et al. [10]
Neural network
(CAE)
CAE CAE
(try-and-error)
( Ta g u c h i
Method) [11]
1923 R. A. Fisher [12]
(orthogonal array) (signal to
noise ratio, S/N) (analysis of
variance, ANOVA) (response
table) (response graph)
(Taguchi Method)
[13,14]
[15,16]
[17]
( G r e y
system)
[18-22]
[23]
Laing[24] Chang
et. al. [25]
I-deas Master Series 8
Moldflow MPI
CD-ROM
(orthogonal array)
(signal to noise ratio,
S/N) (analysis of variance,
ANOVA) (response table)
(response graph)
(the larger-the-
better ) (the smaller-the-
better ) (the nominal-the-
better )
(
)
S/N S/N
M.S.D.
(the mean square
deviation)
S/N
S / N
0.5
Xi
Xo
r ( Xo Xi )
Xo
Xi r (
Xo Xi )
1.2565
S/N
92.64%
4.31%
I-deas Master Series 8
Moldflow MPI
CD-ROM
S/N
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components, McGraw-Hill,
Maidenhead, pp.88-146, 1979.
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edition, Pergamon press, Oxford,
1989.
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injection molding of thermoplastics",
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1990.
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element/finite-difference simulation of
the injection molding filling process",
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[6] H. Schlichting, Boundary-layer theory,
McGraw-Hill, New York, 1968.
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Wang, "A unified simulation of the
filling and post filling stages in
injection molding. Part I.
Formulation", Polym. Eng. Sci. 31(2),
pp.116-123, 1991.
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and G. Salloum, "3D finite element
method for the simulation of the
filling stage in injection molding",
Polym. Eng. Sci. 38(2), pp.223-236,
1998.
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of injection molding design. Part I.
Gate location optimizatiom, Polym.
Eng. Sci. 30(10), pp.882-892, 1990.
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"Optimization of process parameters
of injection molding with neural
network application in a process
simulation environment", Ann. CIRP
43(1), pp.449-452, 1994.
[11] G. Taguchi, Introduction to quality
engineering, Asian Productivity
Organiztion, Tokyo, 1990.
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London, 1925.
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Kimc, "Application of artificial neural
network and Taguchi method to
preform design in metal forming
considering workability",
International Journal of Machine
Tools & Manufacture 39, pp.771-785,
1999.
[14] W. H. Yang and Y. S. Tarng, "Design
optimization of cutting parameters for
turning operations based on the
Taguchi method", Journal of Materials
Process Technology 84, pp.122-129,
1998.
[15] A. Mertol, "Application of the Taguchi
method on the robust design of
molded plastic ball grid array
packages", IEEE Trans. Components
Packaging and Manufacturing
Technol, Part B, pp.734-743, 1995.
[16] R. S. Chen, H. C. Lin and C. Kung,
"Optimal dimension of PQFP by using
Taguchi method", Composite
Structures 49, pp.1-8, 2000.
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empirical model of surface finish on
electrical discharge machining",
International Journal of Machine
Tools & Manufacture 41, pp.1455-
1477, 2001.
[18]
1-34
1985
[19]
24-55
1985
[20]
202-210
1986
[21]Deng, J., "Introduction to Grey System
Theory", The Journal of Grey System
1, pp.1-23, 1989.
[22]
15-20 1997
[23]
-
49-55
1994
[24]Laing, R. H., "Application of grey
relation analysis to hydroelectric
generation scheduling", Electrical
power and energy systems 21, pp.357-
364, 1999.
[25]Chang, S. H., Hwang, J. R. and Doong,
J. L., "Optimization of the injection
molding process of short glass fiber
reinforced polycarbonate composites
using grey relation analysis", Journal
of materials processing technology 97,
pp.186-193, 2000.
Price Discovery and Market Integration of ETF
–An Empirical Study on QQQ & iShare EWT
listed in AMEX.
Abstract
This article uses daily closing price data of QQQ and iShare EWT listed in American
Exchange AMEX . To examine the process of the price discovery and market integration
between ETF and stock index. From the result of Cointegration Model, it reveals that there
has a long-term relationship between ETF and stock index. Two markets contribute a co-
integration system.
From the result of Error Correction Model ECM , it represents that the stock index
lead to ETF more stronger. In the short run, can know by impulse response analysis and
variance decomposition analysis, the stock index lead to ETF. But the relationship will tend
to convergence after six periods days .
Key words: Exchange Traded Fund ETF Price discovery Market integration
Cointegration Error Correction Model ECM
Ching jun Hsu : Associate Professor, Department of Financial Management, Nan-Hua UniversityPo hsin Wu : Postgraduate student, Department of Financial Management, Nan-Hua University
20 72 8
ROC ROC Fund
75
82
92
5 44
2.3 1
92 169
10
2
ETF
ETF3 Exchange Traded Fund
1993
AMEX
ETF S&P 500
SPDR S&P 500 Depositary Receipts
ETF
NAV
1021.43 1 70%
1. 2. 103. Exchange Traded Fund
AMEX ETF
AMEX
2 1996
Barclays Global
Investors BGI
Morgan Stanley Capital
International MSCI
ETF iShare MSCI 4
ETF
ETF
Sector/Industry Sector/Industry
ETF
4. WEBS World Equity Benchmark Shares
5
Pension fund
Poterba & Shoven 2002
ETF
6
90%
92 6 30 50
Taiwan Top-50 Tracker Fund
TTT 0050
ETF
5. ETF Large-capMid-cap Energy Utility Internet
6. James M. Poterba and John B. Shoven "Exchange Traded Funds: A New Investment Option for TaxableInvestors" NBER Working Paper No. 8781, February 2002
AMEX
ETF Nasdaq 100 QQQ
MSCI iShare EWT
ETF
Price discovery
Fama 1970
informationally
integrated Werner & Kleidon 1996
Market integration
ETF
ETF
ETF
ETF
ETF
1997
ETF
Chu Hsieh & Tse 1999 VECM
S&P 500
SPDR7
SPDR
Hasbrouck 2002
VECM
SPDR S&P 500
Intraday price formation
MDY8 S&P Midcap 400
S&P 500
ETF
S&P Midcap 400
ETF
ETF
ETF
Lai & Lai 1991 Johansen
Ghosh (1993)
S&P 500
S&P 500 Wahab
& Lashgari (1993) S&P
500 FTSE-100
(simultaneous)
Brockman & Tse
1995 Johansen
Booth So & Tse
1999
DAX
DAX
Kim
Szakmary & Schwarz 1999 VAR
S&P 500 MMI NYSE
composite
S&P 500 MMI
Min & Najand
1999
7. SPDR Standard & Poor's Depository Receipts 1993 S&P 500 ETFSPDR ETF 350
6. MDY S&P Midcap 400 ETF 2000 22 400
KOSPI 200
30
ETF9
Depository Receipt
2002 VAR
ADR
Impulse response analysis
Variance decomposition
C o m m o n
stochastic trend
ETF
Engle & Granger 1987
N o n -
stationary
Order
Johansen &
Juse l ius 1990
Trace test trace
Maximum eigenvalue statistic Max
ETF
Cointegration vector
Error correction
9. SPDR S&P 500 S&P 500 Depository Receipts
Restriction
ETF
Long-term error
correction
Short-term dynamic
Common stochastic trend
Engle
Granger 1987
Xt Yt
Zt-1=Xt-1- Yt-1
Error correction term 1 2
m n t 1 2
Xt
Xt YT
Yt ai bj t
Xt
ci di t
Yt
Yt
ETF
ETF
Variance of
forecast error
QQQ
Yahoo 1999 3 10
2003 5 30 1103
iShare EWT
Yahoo 2000 6 25
2003 5 30 766
MSCI Taiwan Index iShare EWT
iShare
EWT MSCI Taiwan Index
3 Nasdaq 100
QQQ MSCI EWT
Nasdaq 100 ETF
QQQ Jarque-Bera
MSCI
ETF EWT
Jarque-Bera
ADF
-2.178228 -2.072228 -
2.586517 -2.687552 1%
ECM
Engle & Granger
1987
I(1)
I(0)
Cointegration vector
ETF
4 ETF
iShare EWT
R2 D-W
Spurious regression
Jarque-Bera
Intercept
Linear trend Augmented Dickey-
F u l l e r A D F
Harris McInish Shoesmith & Wood
1995 i =6
AIC
ADF
1%
Stationary
I(1)
Johansen
ETF
5 trace 99%
QQQ Nasdaq 100
r=0
1 r 1
Nasdaq 100 QQQ
trace Johansen
Max Johansen
r
n-r
Osterwald and Lenum
EWT MSCI Taiwan
Index trace 99%
r=0
1
r 1
EWT
ETF
Common stochastic trend
Impulse response
a n a l y s i s Va r i a n c e
decomposition
3 Nasdaq 100
QQQ
Variance of forecasting
error
i n n o v a t i o n E T F
innovation
8 Nasdaq 100
9 MSCI
99%
EWT
0.4% EWT
94.40734%
62% MSCI
5.59266%
37%
95%
QQQ
0~5% QQQ
18%
Nasdaq 100 81%
ETF
ETF
ETF
ETF
ETF
C h u
Hsieh Tse 1999 Joel Hasbrouck
2002 S&P 500
SPDR
ETF SPDR S&P
500
Nasdaq 100 MSCI
ETF QQQ EWT
QQQ EWT
ETF
ETF
Fleming Ostdiek &
Whaley 1996 Booth So & Tse
1999 Kim Szakmary & Schwarz
1999 Roope & Zurbruegg 2002
ETF
0.355%
2% 3%
ETF
ETF
2001 "
"
90 6
2001 "ETF( )
"
90 7
(2002)"ETF
"
91 9
2002 "
"
Booth, G. G., R. W. So, and Tse 1999 ,
"Price Discovery in the German
Equity Index Derivatives Markets"
The Journal of Futures Markets, 19,
619~643
Brockman, P. and Y. Tse 1995
"Information Shares in Canadian
Agricultural Cash and Futures
Markets." Applied Economics
Letters, 2, 335~338
Chu Q. C., G. W-L. Hsieh and Y. Tse
1999 , "Price Discovery on the
S&P 500 Index Markets: An
Analysis of Spot Index Index
Future and SPDRs" International
Review of Financial-Analysis, 8,
21~34.
Engel, R. E. and C. W. J. Granger
1987 , "Cointegration and Error-
Correction: Representation,
Estimation, and Testing"
Econometrica, 55, pp: 251~276
Fleming, J., B. Ostdiek and R. E. Whaley
1996 "Trading Costs and the
Relative Rates of Price Discovery in
Stock, Futures, and Option Markets"
The Journal of Future Markets. Vol.
16, No. 4, pp: 353~387.
Gastineau, Gary L. 2001 "Exchange
Traded Funds: An Introduction." The
Journal of Portfolio Management,
Spring 2001, Vol. 27, Number 3, pp:
88~96.
Ghosh, A. (1993), "Cointegration and Error
Correction Models: Intertemporal
Causality between Index and Futures
Prices." The Journal of Futures
Markets, 13, No.2, pp: 193~198.
Harris, F. H. deB, T. H. McInish, G. L.
Shoesmith, and R. A. Wood.
1995 "Cointegration, Error
Correction, and Price Discovery on
Informationally Linked Security
Markets." Journal of Financial and
Quantitative Analysis, 30,
pp563~579
Joel Hasbrouck 2002 , "Intraday Price
Formation in US Equity Index
Markets" New York University
Working Paper, Oct. 2002
Johansen, S. and K. Juselius 1990
"Maximum Likelihood Estimation
and Inference on Cointegration with
Application to the Demand for
Money." Oxford Bulletin of
Economics and Statistics, 52, pp:
169~209.
Kim, M., A. C. Szakmary, and T.V.
Schwarz 1999 , "Trading Costs
and Price Discovery across Stock
Index Futures, and Cash Markets"
The Journal of Futures Markets, 19,
475~489
Lai, K. S. and M. Lai 1991 "A
Cointegration Test for Market
Efficiency" The Journal of Futures
Markets, 11, 567~575
MacKinnon, J. G., 1991. Critical Values for
Cointegration Tests, New York:
Oxford University Press
Min, J. H. and M. Najand 1999 "A
Further Investigation of the Lead-
Lag Relationship between the Spot
Market and Stock Index Futures:
Early Evidence from Korea" The
Journal of Futures Markets, 19,
217~232.
Osterwald and Lenum, M. 1992 , "A
Note with Quantiles of the
Asymptotic Distribution of the
Maximum Likelihood Cointegration
Rank test Statistics", Oxford Bulletin
of Economics and Statistics 54, pp:
461~472.
Poterba James M. and John B. Shoven
2002 "Exchange Traded Funds: A
New Investment Option for Taxable
Investors" NBER Working Paper,
No. 8781, February 2002
Roope, M. & R. Zurbruegg 2002 "The
Intra-day Price Discovery Process
Between the Singapore Exchange
and Taiwan Futures Exchange." The
Journal of Futures Markets, 22,
No.3, pp: 219~240.
Werner, I. M., A. W. Kleidon 1996
"U.K. and U.S. Trading of British
Cross-Listed Stocks: An Intraday
Analysis of Market Integration."
Review of Financial Studies, 9, pp:
619~664
White 1980 , "Heteroskedasticity-
Consistent Covariance Matrix and a
Direct Test for Heteroskedasticity,"
Econometrica, Vol. 48, pp: 817~838
Cubes 2003 1 31
MSCI iShare 2003 2 7
http://www.ici.org Investment
Company Institute.
http://www.msci.com Morgan Stanley
Capital International
http://www.ishare.com iShare
Mutual Funds Classification Schemes and
Performance Persistence
Abstract
The performance persistence is a very important factor for investors to invest mutual
funds. We have found a classification scheme that does not exhibit the problem of
performance reversals. Our sample includes 120 funds from 1998 to 2002. We show that the
relation between performance persistence and the standard deviation. Extremely,
performance reversals do not display in the bond funds. After we add a variable representing
the degree of a fund momentum strategy to the factor analysis, the previous performance
reversals are largely removed. This result shows that dynamic investment strategies should
also be included when determining funds.
Key words: Mutual fund, Classification, Performance, Persistence, Reversal, Momentum
Ching-Jun Hsu : Professor, Institute of Financial Management, Nan-Hua UniversityChih-Chien Chiang : student, Institute of Financial Management, Nan-Hua University
2002 12
500
Spearman
Sharpe(1966) Jensen(1968)
Carlson(1970) Williamson(1972)
Grinblatt Titman(1992) 5
Goetzmann Ibbotson(1994)
( ) Brown
Goetzmann(1995)
Malkiel 1995 Brown
Goetzmann 1995
Kahn Rudd(1995)
( 85 )
Spearman
Spearman
Sharpe(1966) Jensen(1968)
Carlson(1970) Williamson(1972)
Sharpe(1966)
1944 1963 34
Sharpe
Spearman
Carlson(1970) 57
Sharpe
Treynor
Williamson(1972)
1961 1970 180
( 82 ) Spearman
77 80 12
Sharpe
M.C.V
Sharpe
(reverse)
( 84 )
83 4 84 4
Spearman
Grinblat t
Titman(1992) 1974 1984
Goetzmann
Ibbotson(1994) 1976 1987
Jensen
t
Goetzmann Ibbotson
Jensen
Brown
Goetzmann 1995
Jensen
1980~1981 1987~1988
Malkiel 1995
70
80
86
Kahn Rudd(1995)
(Fixed-Income)
( 85 )
( 86 )
Sharpe
Spearman
(TEJ)
1998 1 2003 1
55
4 4 10
8
4
4 31
Sharpe
Spearman
Spearman
(
1 ) NAVp,t
Sharpe
(Reward to Variability
Ratio)
(TEJ)
Sharpe
Spearman
Spearman
Spearman
d=Xr-Yr
d 0 X
Y rs=1 X
Y rs=-1 -1≤rs≥1
t
n-2 t
Spearman
Markowitz
Sharpe
Sharpe
(τ)
Sharpe
E-view
Jarque-Bera
85
0.95
35 0.95
( )
( 85 ) (
86 )
95%
90%( 12/120 )
Sharpe
1998 1
Spearman
66.67% ( 6/9 ) Sharpe
66.67 % ( 6/9 )
(β)
1. Brown, Stephen J., and William N.
Goetzmann (1995),"Performance
persistence," Journal of Finance 50,
679-698.
2. Carlson, R. S. (1970), "aggregate
performance of mutual fund." Journal
of Financial and Quantitative Analysis
5, 1-31.
3. Carhart, Mark M., (1997) On
persistence in mutual fund
performance, Journal of Finance 52,
57-82
4. Grinblatt Mark, Sheridan Titman
(1992),"The persistence of mutual
fund performance," Journal of Finance
47, 1977-1984.
5. Goetzmann, William and R. G. Ibbotson
(1994), "On winners repeat?"Journal
of Portfolio Management 20, 9-18.
6. Jensen, Michael (1968), "The
performance of mutual funds in the
period 1945-1964," Journal of Finance
23, 389-416.
7. Kahn, Ronald N., and Andrew Rudd
(1995), "Does historical performance
predict future performance?"
Financial Analysis Journal 51, 43-52.
8. Malkiel, B. G. (1995), "Return from
investing in equity mutual funds 1971
to 1991," Journal of Finance 50, 549-
572.
9. Sharpe, William F. (1966), "Mutual fund
performance," Journal of Business,
119-138.
10. Williamson, J. P. (1972), "measurement
and forecasting of mutual fund
performance: Choosing an investment
strategy," Financial Analysis Journal
28, 78-84.
11. (1997)
12. (1997)
13. (1996)
14. (1996)
15. (1993)
16. (1995)
A Study of The Function Model on Enterprise
Information Portal
Abstract
This main objective of the study was to assess definitions, concepts, and main
components of enterprise information portal architecture. With factor analysis, we found
extract that business image, news, human resources, products, consult service, trade message
help to address portal functions requirements. The results showed that business image and
human resources are different, and different kinds of corporate portals.
Key words: Enterprise information portal, function model
Shu-Hui Chuang : Instructor, Department of Industrial Management, HITHao-Hang Lan : Student, Department of Industrial Management, HITYu-Jr Lin : Student, Department of Industrial Management, HIT
1.
2.
3 .
2.
2.1
(Chan and Chung, 2002)
(Eckerson, 2002; Chan and
Chung, 2002)
EIP
(Murray,1999)
(White,1999)
(White,1999)
(Monczka and Morgan, 2000; Carbon,
2000) Rezayat (2000)
(Shilakes and Tylman ,1998)
(Shilakes and Tylman,1998)
(Murray,1999;White,1999;Shilakes and
Tylman,1998)
...
(Murray,1999; Viador,1999)
e
...
( M u r r a y , 1 9 9 9 )
Firestone(1999)
2.2
(CRM)
(ERP)
Word Power Point...
4.
3
s t r a t i f i e d
random sampling
104
...
75
300
1 6
90 9 26
90 10
10
75 72 75
74 296 4
98.667
4.1
40
34%
31%
15% 13%
5% 2%
4.2
SPSS
Kaiser
1
0.4 6
Cronbach α 0.7
( 2 )
6 28
3
1.
.. . (
2 0 0 0 ) α
0.8679 α 0.8 0.9
2.
α 0.8282 α 0.8
3.
...
1.
2.
3.
4.
[1] (2000)
[2] (2000)
[3] (2001) e
Internet Pioneer
[4] (2001)
[http://www.upromo.com.tw]
[5] Eckerson, W. (2002), Business Portals,
Drivers, Definitions, and Rules,
Lokaliseret 28 august 2002.
[6] Murray, G. (1999), The portal is the
desktop,[http://archives.groupcomputi
ng.com//index.cfm?fuseaction=viewar
ticle&ContentID=66].
[7] Firestone, J. M. (1999), "Defining the
Enterprise Information Portal", at
http://www.dkms.com/EIPDEF.html
[8] Shilakes,C.C. and Tylman,J. (1998),
Enterprise information portals,
[http://www.sagemaker.com/home.asp
?id=500&file=Company/WhitePapers/
lynch.htm].
[9] Viador, C. (1999), Realizing the vision
of information at your fingertips,
[http://www.viador.com/pdfs/EIP_whi
te_paper-1_99.pdf].
[10] White, C., (1999a), Decision
threshold, Intelligent Enterprise,
December, 16, 1999, p35-40.
[11] White, C. (1999b), Enterprise
information portal requirements,
[http://www.decisionprocessing.com/p
apers/eip2.doc].
[12] White, C. (1999c), The enterprise
information portal marketplace.
Decision processing Brief,
[http://www.decision.com/papers/eip1.
doc].
[13] Chan M., F. and Chung W. C. (2002),
A Framework to develop an enterprise
information portal for contract
manufacturing, International Journal
of Production Economics, Vol. 75, pp.
113-126.
[14] Monczka, R. M. and Morgan J. P.
(2000), Outsouring : key to many
competitive battles, Purchasing, Vol.
129(3), pp. 85-91.
[15] Carbon, J. (2000), What buyer look for
in contract manufacturers, Purchasing,
Vol. 129(4), pp. 33-38.
[16] Rezayat, M. (2000, The enterprise-
Web portal for life-cycle support,
Computer-Aided Design, pp. 85-96.
Discussion in Knowledge Worker and
Knowledge Analysis Based example on the
Machine Tool Industry
Abstract
The purpose of this research is to discover what knowledge skills a knowledge worker
should have by strategic implementation methods to generalize eight knowledge capabilities
in a knowledge worker, which are shipment knowledge, machinery maintenance knowledge,
electronic maintenance knowledge, computer application knowledge, documentation
management knowledge, assistance training knowledge, material management knowledge
and equipment operation management. In order to facilitate enterprises to set up learning
guidelines to solve issues in lack of knowledge workers and reduction of knowledge workers'
training period. For non senior knowledge workers perform knowledge work after taking
knowledge skills from other senior knowledge workers. Finally, this research is based on
preliminary data and secondary data to come up with a knowledge management
implementation module. And with current information the research will offer theoretic
suggestions and further directions for continuing studies.
Key words: knowledge worker, knowledge management, machine tool industry.
Chang Ting-Chang : Instructor, Department of Industrial Management, HITLin Yu-Xiang : Student, Department of Industrial Engineering & Mangement, HITFan Mei-Chen : Student, Department of Industrial Management, HIT
Dove 1998
MBA
Thurow,1997 Nelson and Winter
1982
Lei 1997
Schon, 1987
Nonaka and Takeuchi, 1995;
Sveiby, 1997
2.2
Jauch and Cruck 1989
Rubenstein-Montano et al.
2001
(1)
(2)
(3)
(4)
(5)
(6)
4.5
Gary 2002
Bierly and
Chakrabarti 1996
Quintas et al. 1997;
Zack, 1999
Miles et al. 1998
" " " "
(1) Know-How
(2)
(3)
[1] Bierly, P. and Chakrabarti, A., "Generic
Knowledge Strategies in the US
Pharmaceutical Industry," Strategic
Management Journal, 1996,pp.123-135.
[2] Davenport, T. H., "Ten Principles of
Knowledge Management and Four Case
Studies," Knowledge and Process
Management, pp.187-208,1997.
[3] Davenport, T. H., Jarvenpaa, S. L. and
Beers, M. C., "Improving Knowledge
Work Process," Sloan Management
Review, Summer 1996, pp. 53-65
[4] Dove, R., "The Knowledge Worker,"
Automotive Manufacturing and
Production, 1998, pp. 26-28.
[5] Demarest, marc, "Understanding
Knowledge Management," Long Ronge
Planning, Vol.30, 1997, pp.374-384.
[6] Drucker, Peter F., "Knowledge-Worker
Productivity: The Biggest Challenge",
California Management Review, Winter
1999.
[7] Drucker, Peter F., Managing for the
Future, The 1990s and Beyond, Trumana
Talley Books, 1992.
[8] Drucker, Peter F., "The Future That Has
Already Happened," The Futurist,
November 1998.
[9] Fleck, J., "Informal Information Flow
and the Nature of Expertise in Financial
Services," International Journal of
Technology Management, 1996, pp. 104-
128.
[10] Gary, Hilson, "KM is a Strategy, not a
Technology," Cmmunications &
information management, 2002.
[11] Howells, J., "Tacit Knowledge
Innovation and Technology Transfer,"
Technology Analysis & Strategic
Management, 1996, pp.91-105.
[12] Johannessen, J. A., Olaisen, J. and
Olsen, B., "Information Management in
Negotiations: The Conditions Under
which it Could be Expected that the
Negotiation Partners Substitute a
Competitive Definition of the Situation
for a Cooperative one," International
Journal of Information Management,
1997, pp. 153-168.
[13] Nonaka, I., and Takeuchi, H., The
Knowledge-Creating Company, Oxford:
Oxford University Press, 1995.
[14] Nonaka, Ikujiro, " A Dynamic Theory
of Organizational Knowledge Creation,"
Organization Science, Vol. 5, 1994 , pp.
14-37.
[15] Miles, G., Miles, R. E., Perrone, V.
and Edvinsson L., "Some Conceptual
and Research Barriers to the Utilization
of Knowledge," California management
review, 1998, pp.281-288.
[16] Polanyi, M., The tacit dimension,
Ma:Gloucester, 1966.
[17] Quintas, p., Leferere, P. and Jones, G.,
" Knowledge Management: A Strategic
Agenda," Long Range Planning, 1997,
pp.385-391.
[18] Rolf, B., Profession, Tradition Och
Tyst Kunskap, Nya Doxa, Nora, Sverige,
1995.
[19] Sch0n, D., Educating the Reflective
Practioner, London: Jossey-Bass, 1987.
[20] Stewart, T. A., Intellectual capital: The
New Wealth of Organizations, London:
Doubleday, 1997.
[21] Sveiby, K. E., The New Organization
Wealth: Managing & Measuring
Knowledge-Based Assets, San
F r a n c i s c o : B e r r e t t - K o e h l e r
Publisher,1997.
[22] Thurow, L. C., The Future of
Capitalism, Nicholas: Breeley
publishing, 1997.
[23] Zack, M. H., "Developing a
Knowledge Strategy," California
Management review, 1998.
[24] Lebas, M. J., "Performance
Measurement and Performance
Management," International Journal of
Production Economics, 1999.
[25] Davis, S., and Botkin, J. The Monster
Under the Bed : How Business is
Mastering the Opportunity of
Knowledge for Profit, Simon and
Schuster, 1994.
[26] Quinn, J. B., Intelligent Enterprise,
New York: Free Press.
[27] Jauch, C., and Cruck, M., Strategy and
Business Policy, 3nded. McGraw-Hill,
1989.
[28] Rubenstein-Montano, B., Liebowitz,
J., and Buchwalter, J., "A System
Thinking Framework for Knowledge
Management," Decision Support
Systems, Vol. 31, 2001, pp. 5-16
A study on the cognitive preference
of safety colors in Twain
Abstract
The evidently high mortalily rate caused by occupational accidents and medicine
misuse in Taiwan shows that occupational safety and health regulations have not been
properly aware and obeyed. The study was undertaken to investigate the cognition and
preference of background color of hazard warning labels within the people in Taiwan. A
large amount of local subjects were polled with questionary related to perceptions of
different colors used in hazard warning . The results of the study show that when red color is
used people are better aware of hazard warning include danger, attention, mortal jeopardy,
warning, prohibit, caution, stop, radioactive danger, possible danger, etc. . The consensus
of people in Taiwan accords with our results. The results also suggest that black color should
be adapted to increase the color dimension of the hazard warning label.
Key words: elements of hazard warning, safety colors.
Hung-Wen Cheng : Instructor, Department of Industrial Management, HITChang-Yi Yang : Associate Professor, Department of Industrial Management, HIT
(profile)
(symbolic icon)
(background color) (text)
(number)
(CNS 9328 Z1024)
(CNS 9328 Z1024)
[7]
.
.
.
.
.
.
.
.
.
ANSI Z53.1
ANSI Z53.1
a. RED - Danger, used for emergency
stops on machines and to identify
fire and protection equipment.
b. ORANGE - Identifies dangerous
parts of machines or energized
equipment.
c. YELLOW - Caution, identifies
physical hazards, see OSHA
1910.144.
d. GREEN - Used in safety and first aid
equipment.
e. WHITE AND BLACK - Used for
traffic and housekeeping.
f. PURPLE - Designates radiation
hazards.
ANSI Z53.1 ANSI Z535.1
( CNS 11295 ) 1
1. CNS 11295( ) C2. CNS( )
( CNS 9328 Z1024 )
[6]
[12-17]
a . b . c .
d. e. f.
g. h. i.
j. 10
10
[21]
1
10
1 10
10 .
. .
. .
. .
. .
.
[22]
2
cen t ra l
limit theorem
H0 0
0.01 0.25
= ( Z 2 )2
2 [23]
Xi Xi
V(X) Xi N
2149 0.01
0.25
3
16
(simple random
sampling)
[21]
2230
(2149 )
1
10
(Repeated
Measures)
10 10
10
H0 : 10
= 0.01
2 t
=0.01
10
A .
B. C. D.
E. F. G.
H. I . J .
10
10 (10
) H0
F P H0
2 F
10
10
1. 1981
2. (1997)
3. (2003) (
)
4. (1997)
5. (2003)
6. (1998)
7. CNS 9328
1987
8. (1992)
9. UN-Recommendations on the Transport
of Dangerous Goods (1992), 7th Revised
Edition, New York, Document NO.
ST/SG/AC 10/Rev.7.
10. UN-Recommendations on the Transport
of Dangerous Goods (1992), 10th
Revised Edition, New York.
11.
12. (1993)
13. (1995)
14. (1987) CNS
9328
15. (1987) CNS
9332
16. (1987) CNS
9331 1987
17. (1987) CNS
9330 1987
18. C.W. Emory and D. Cooper, Business
Research Methods, 4th ed. Richard
Irwin, 1991
19. Standards for Educational and
Psychological Tests and Manuals
Washington, D. C. American
Psychological Association, 1966
20. L. Lapin. Statistics for Modern
Business Decisions, 2nd ed. Harcourt
Brace Jovanovich, 1978
Effects of Flame Retardants on
the Unsaturated Polyester
Abstract
A series of flame retardant containing unsaturated polyester have been developed. The
flame retardants include carbon black and phosphorous containing (ammonium
polyphosphate (APP) and tripheny phosphate (TPP)) materials. The effects of different flame
retardants on the unsaturated polyester were investigated by UL-94, DSC, TGA, LOI and
adiabatic bomb calorimeter. The results indicate that the flame retarded effect of APP type
flame retardant was better than the TPP ones as the phosphorous containing flame retardant
was used along. Moreover, the flame retarded effect was all improved as the phosphorous
containing flame retardant was mixed with carbon black. It indicates that synergistic effect is
existed as the carbon black used with phosphorous containing flame retardants, especially the
APP flame retardant.
Key words: unsaturated polyester, phosphorous containing flame retardant, carbon black,
synergistic effect.
Yeng-Fong Shih : Associate Professor, Department of Chemical Engineering, HITYih-Tyng Wang : Student, Department of Chemical Engineering, HIT
1.
2.
(1)UL94
UL-94
124 12.7
10
1.After flame :
t1
2.After flame time :
t2
3.Afterglow : ,
,
4.Afterglow time :
t3
(2) (DSC)
TA Instruments
(V2.6D) ( 10 mg)
70 c.c. / min 10 /min
30 400
(3) (LOI)
0.5 Polymer
Laboratories
(FTA ) Nair(12)
17 L / min
(4)
(adiabatic bomb calorimeter)
(values of heat of
combustion HOC) IKA®-WERKE
(C4000)
Hubbard(13) ASTM 240D
0.5(14)
60
(benzoic acid)
-(26454 11) J g-1
3.04 MPa
(5)
TA Instruments
Modulated TGA 2950 thermal analyser
100 ml/min ( 10
mg) 10 /min
700
1.LOI UL-94
LOI APP(LOI 22.5)
TPP(LOI 20.5) RL00-
02(LOI 22)
LOI
UL-94
TPP
APP V-2 RL00-02
V-0 APP
TPP LOI
V-0
LOI UL-94
RL00-02 UL-94
RL00-02
UL-94
2.DSC
DSC
UP-A UP-R UP-RT UP-
RA UP-RA
APP RL00-02
UP-R UP-RT
TPP
RL00-02
(UP-RT)
UP-A UP-R UP-RT UP-RA
UP-RA
3.TGA
TGA DTG
400
( ) TPP
220 400
(
) APP
310 400
10% ( )
8% ( )
TPP
220 400
8% ( )
APP
310 400
20% ( )
DTG
TPP
APP
APP
APP
TPP
APP
20%
4.
APP
APP
DSC
DSC UP-A UP-R UP-
RT UP-RA UP-
RA
APP (UP-
A) UL-94 V-2
DSC LOI
22.5
TPP
UP-R UP-RT
UL-94 V-0
LOI 22 DSC
TPP RL00-02
UL-94 V-0 TPP
(UP-T) TPP
RL00-02 LOI
24 TPP RL00-02
UP-RA UL94 V-0
DSC
LOI
25.5 20%
APP
RL00-02
1. M. E. Hall, J. Zhang and A. R. Horrocks,
Fire Material, 1994, 18, 231
2. J.. Eichhorn, J. Appl. Polym. Sci., 1964,
8, 2497
3. R. N. Rothon and P. R. Hornsby, Polym.
Degrad. Stab., 1996, 54, 383
4. G. Matuschek, Thermochim. Acta, 1995,
263, 59
5. I. Kenji, T. Masakij and Y. Bunji, Jpn.
Pat., 09,208,731 , 1997
6. T. Masaru, Jpn. Pat., 09,316,257 , 1997
7. S. H. Chiu and W. K. Wang, J. Appl.
Polym. Sci., 1998, 67, 989
8. R. Xie and B. Qu, Polym. Degra. Stab.,
2001, 71, 375
9. J. Jang, H. Chung , M. Kim and H. Sung,
Polym. Test., 2000, 19, 269
10. S. R. Owen and J. F. Harper, Polym.
Degrad. Stab., 1999, 64, 449
11. "
" 85 9
67/68 20~35
12. C. P. R. Nair, G. Clouet and Y. Guilbert,
Polym. Degrad. Stab., 1989, 26, 305
13. W. Hubbard, D. Scott and G.
Waddington, Experimental
Thermochemistry. Ed. F. Rossini,
Interscience Publishers Inc., 1956, Vol.
1, Chapter 5.
14. A. Xu-wu, H. Jun and B. Zheng, J.
Chem. Thermodynamics, 1996, 28, 1115
A Study on Human Factors of Bench-Work
Stations
Abstract
The working-surface height of a bench-work table, which is one of the primary
equipments in bench work, has to be decided according to the concept of human-factor
engineering by taking the physical limits of human operators into account so that the
possibility of causing injury can be minimized and the safety requirements can be fulfilled.
This study bases on the analysis of anthropometry data measured from human subjects in the
practice of bench work and infers an appropriate value for the height of a bench-work table,
as well as the proper range of the working area. The result suggests a 93-cm height of a
bench table and a 120-cm distance between the bench vises. The study focuses on the
students in the department of mechanical engineering, and the subjects include the first three
grades of students in a senior vocational/industrial school, the first four grades of students in
a five-year institute of technology, and the first-grade students in a two-year institute of
technology.
Key words: Human factors engineering, Anthropometry, Bench work.
Teh-Tsang Tsai : Instructor, Department of Mechanical Engineering, HIT
1/4 6 [1]
1/12 [2]
1/7 [3]
2mx1.2m 150mm[1]
[4]
(Flexion)
[5]
[5]
(Human factors)
[6]
(Anthropometry) 16
19
[4]
(Sta t ic
anthropometry) (Dynamic
anthropometry)
1.
(1).
(2).
2.
(1).
(2).
(3).
(4).
(5).
3.
4.
(Bench work)
(Bench vise)
50~80mm 1[7,8]
7 5 1 0 0 1 2 5 1 5 0 m m
(CNS4037,CNS4038)
300mm
10mm
45
2(a)
5~10mm
300mm
50~60 [7,8]
( W )
1220mm(4 ) 1500mm 1820mm(6 )
2 0 0 0 m m 2 1 2 0 m m 2 1 5 0 m m
2350mm 2430(8 ) (D)
700mm 760mm 820mm 910mm(3 )
970mm 1100mm 1210mm(4 )
1220mm 1300mm (H)750mm
760mm 800mm 820mm 860mm
900mm 970mm 1040mm 1080mm
3 6 3 7 4 8
CNS
125mm
145mm 170mm
175mm 180mm 185mm 190mm
205mm
[9]
5
10mm
10mm
95%
10 ~15
6
(Grandjean,1988) [5,10,11,12,13,14]
5~10cm
10~15cm
15~20cm[5]
9 0 ~ 9 5 c m [ 11 , 1 2 ]
Sanders and McCormick
88~107cm[13]
[9]
7 Barnes
Squires
[12,13]
288.3mm 565.1mm[16]
[4,17,18]
[19]
[12]
(Christensen,1988) [20]
84
[5,19]
(Sanders, McCormick ,1987) [4]
170 172 174 168 180 181
175 180 168 180 175 170cm
( ) 4.7 95%
5%
1
(n) [25]
2001 10
22 88
(Martin system
anthropometer)
1 2
[23,26]
1. (Stature)
2. (Span)
3. (Elbow height)
4. (Foot breadth)
5. (Foot length)
6. (Shoulder breadth)
7.
[24]
16 19 95%
114 .0cm
3.5cm
= + =114.0
3.5 117.5cm
5~8cm [7,8]
=
( 5~8cm)
125mm
180mm
=117.5 (18 5~8)
94.5~91.5cm 93cm
(Space bubble)
0.67
35cm
(
3 ) = = 3 5
49=84cm
3
( 8
A)
= ( sin45 )
=11 32 (49 sin45 )=76.7cm
( 8
B)
=
tan30 tan30
=76.7 tan30 tan30 =25.5cm
= 8 4
25.5=109.5cm
5%
95%
10cm
120cm
[5,9,10,23]
= =(183
49)/2=67cm
10cm[23]
=
(67-10) 2=114cm
122cm 243cm(4
8 )
9
10~15cm (toe
space) [27]
1.
87 8 76
2.
83 21 133~147
3.
83 21 117~118
4.
8 9
7,26,50~52
5.
8 7
109,112,114,116,117,120,128
6.
85
2
7.
8 7
127~128,133~136,156~157,174~175
8. Labour Department for Industrial
Professional Education: Basic
proficiencies metal working-filing,
sawing, chiselling, sharing, scraping,
fitting. Labour Department for
Industrial Professional Education.
1958, p.02-02-12-2, 02-02-23-2, 02-03-
07-2, 02-03-32-3.
9.
65
129~130,134
10.
86
22~23,26,47
11.
86 1
12. Christopher D. Wickens, Sallie E.
Gordon and Yili Liu: An introduction
to human factors engineering.
Addison-Wesley Educational
Publishers Inc., New York, 1998, p.2,
pp.315-316.
13. Mark S. Sanders and Ernest J.
McCormick: Human factors in
engineeering and design. McGraw-Hill,
Inc., New York, 1993, p.418, p.432,
pp.435-437.
14.
89 2-
33~35
15.
1
16.
23 2
17.
1995 43~52
18. Dan Macleod: The ergonomics edge.
Van Nostrand Reinhold, New York,
1995.pp.34-36.
19. Alphonse Chapanis: Human factors in
systems engineering. John Wiley &
Sons, Inc., New York, 1996. pp. 11-16.
20. Robert W. Proctor and Trisha Van
Zandt: Human factors in simple and
complex system. Allyn and Bacon,
Boston, 1994, p.3,p.389
21.
1998 9
22.
1
23.
8 8 6 1 ~ 6 9 , 7 3
122,124
24.
91
92 61
25.
91
299
26.
2 0 0 0
62~65
27. K. H. E. Kroemer, H. B. Kroemer and
K. E. Kroemer-Elbert: Ergonomic.
Prentice-Hall, Inc., New Jersey, 1994,
p.47.
T-S Fuzzy Modeling and Control for Electric
Vehicle Propulsion Using Linear Matrix
Inequality
Abstract
This paper presents a fuzzy control design approach which can meet the speed tracking
requirement when electric vehicles are operated on various traffic conditions. A T-S fuzzy
model for approximating the state equation of an electric vehicle propulsion system with
high energy efficiency-based ac motor drive is first proposed, and a robust fuzzy control
based on the T-S fuzzy model is then considered. The robust stabilization for the EV(electric
vehicle) propulsion system is cast into a linear matrix inequality (LMI) problem via roust
performance analysis, and the LMI problem can be solved efficiently by using the convex
optimization techniques. Computer simulations are presented for illustrating the performance
of the suggested control strategy.
Key words: EV propulsion, T-S fuzzy model, robust fuzzy control, robust stabilization, linear
matrix inequality, convex optimization techniques.
Cheng-Da Hsieh : Instructor, Department of Electrical Engineering HIT.
1. IntroductionOne dominant issue of EV design is to
lengthen the running distance on one
battery charge. This implies the importance
of a high-efficiency motor drive. As
enhanced insulated gate bipolar transistors
(IGBT's) are used in the PWM inverter, the
loss of the inverter is negligible. Mutoh et
al. [1] proposes an energy saving strategy
for induction motors. The rotor and stator
copper losses and the core loss are
minimized, and the optimal ratio of
magnetizing current to the torque current is
derived.
The stability and robustness problem
of the EV propulsion control systems is
also an important topic. Variable structure
control using a proper switching law can
drive the system into the predetermined
sliding mode, and according to the sliding
mode, the system can approach to its
equilibrium. Thus, the sliding mode control
approach can offer many good properties,
such as insensitivity to parameters
variation, external disturbance rejection,
and fast dynamic response [2]. One more
interesting design method of stabilization
strategy for complex nonlinear systems can
be as follows: first build a T-S fuzzy model
for approximating the nonlinear plant, and
a fuzzy model-based controller is then
synthesized utilizing the concept of
"parallel distributed compensation". Local
linear feedback controls can be designed
systematically by a generalized Lyapunov
function and some linear matrix
inequalities, and the closed-loop fuzzy
control system composed of the fuzzy
model and the PDC controller is globally
asymptotically stable [3,11].
In this paper, based on the optimal
relationship of the magnetizing current and
the torque current found by the energy-
saving control principle [1], the dynamics
model and a T-S fuzzy model for EV
propulsion systems with 3-phase AC
induction motor (IM) are first constructed.
Then, the parallel distributed compensation
(PDC) approach [3] is adopted for
synthesizing a robust speed tracking control
for EV propulsion systems. Through the
robust performance analysis for disturbance
rejection the control problem is translated
into a linear matrix inequality problem. By
considering it as a generalized eigenvalue
minimization problem (GEMP), the
required common Lyapunov matrix and the
local feedback gain matrices can be
decided. The derived LMI-based control
law can guarantee the stability and
robustness of an EV propulsion system
when it is driven from standstill to stable
cruise under various uncertainties.
The paper is organized as follows:
Section 2 presents the dynamics model of
an energy-saving EV propulsion system. In
Section 3, a T-S fuzzy model for the EV
propulsion system is proposed, and a LMI-
based robust speed control design using the
derived T-S fuzzy model is suggested.
Some representative simulation results are
shown in Section 4. Finally, conclusions are
made in Section 5.
2. Modeling of an Electric VehiclePropulsion System
Consider the power train for an EV
shown in Fig.1, where an ac induction
motor is used for generating the driving
torque. The dynamics model for the load
part consisting of reduction gears and a
differential gear for driving the rear wheels
of an EV will be derived by the first
principles. The ac induction motor is
assumed with the energy saving driving
strategy proposed by [1], and the complete
mathematical model for the power train
will be constructed.
The angular displacements of the
motor, the rear shaft and the rotor of the
rear wheels are defined as θm, θ1 and θ2,
respectively, as shown in Fig. 1. Let the
transmission ratio of the reduction gear
be N0=θm/θ1, and the reduction ratio for the
differential gears be Nd=θ1/θ2. Then the
load torque (Tl) equation can be derived
below.
Refer to Fig. 2, the equivalent
propulsion force Fp generated by the EV
drive system and the equation of motion of
the vehicle can be expressed as :
where T2 is the driving torque on the rear
wheel shaft (as shown in Fig. 1), and r is
the wheel radius. The inertia resistance far
can be derived as:
where v is the velocity of the vehicle, Jw =
Jw1 + Jw2 ( Jw1 and Jw2 are respectively the
moments of inertia of the front and rear
wheel shaft systems) is the total moment of
inertia of the rotation parts, and m = mB
+m1 +m2 is the total mass, here mB , m1 , and
m2 are respectively the mass of the vehicle
body, the front and rear wheel shaft
systems.
The aerodynamic drag is given as:
where ζ is the air density, Cw is the
aerodynamic drag coefficient, A is the
vehicle frontal area, Vo is the head-wind
velocity, v+Vo is the velocity of the vehicle
relative to the head-wind, and sgn is the
sign function. The grade resistance is
where αs is the grade angle, αs is positive
for the upgrade case and negative for the
downgrade case. The rolling resistance frr
composed of the front and rear parts ( frr,1
andfrr,2 ) can be expressed as:
where K is the tire
rolling resistance coefficient [6,7], and is
the gravity constant. By Eq. (1), we can
obtain
Since (refer to Fig. 1)
we have
where
here p=d/dt ; are the stator's
input voltage components along the q- and
d- axes of the rotor flux frame,
respectively; are the stator's
flux linkage components along the q- and
d- axes of the rf frame, respectively; rs and
rr are the resistances of the stator and rotor,
respectively; ωrf is the rotating velocity of
the rf frame; ωr is the rotating velocity of
the rotor; are the rotor's current
components along the q- and d- axes of the
rf frame, respectively; are
the rotor's flux linkage components along
the q- and d- axes of the rf frame,
respectively; Te is the electromagnetic
torque of the motor; P is the number of
poles; Lm is the magnetization inductance;
Lr is the rotor's inductance; and Lls and Llr
are the leakage inductances of the stator
and rotor, respectively.
By the principle of field orientation
and letting the d- axis be entirely aligned
with the rotor flux, we have, ,and
the torque equation can be simplified as
In order to generate the motor torque
with maximum efficiency, the total loss Pl
in the drive system must be a minimum.
The total loss Pl generated in the drive
system of an electric vehicle can be
summarized as follows [1]:
where
here rm is the core loss resistance, PSTR is
the stray load loss, PMEC is the
mechanical loss, and PINV is the inverter
loss. Only the losses Pl1 and PINV can be
controlled in the ac drive design. The loss
PINV is very small in comparison with the
loss Pl1, as long as enhanced insulated gate
bipolar transistors (IGBTs) are used in the
PWM inverter. In this case, the efficiency
of the inverter is generally more than 95%.
Thus, the PINV loss can be neglected.
Since , by Eqs. (12) and (17),
we have
Usually, the response of is much
slower than those of
almost equals zero. Hence Pl can be
simplified as
Substituting (16) into (18), we have
where is the motor torque
constant.
Let α be the ratio of the magnetizing
current to the torque current, i.e.,
Then Pl1 can be expressed in terms of α :
The optimal ratio that makes the
loss P1 a minimum can be derived by
letting :
Substituting
into the motor torque equation, we have
The dynamics model for the EV propulsion
system shown in Fig. 1 can thus be derived
as:
where ωm is the angular velocity of the
motor rotor in rad/s, Jl is the moment of
inertia of the motor shaft including the
reduction gear in this side. By substituting
(8) into (30), we have the complete
dynamics model as follows:
3. Fuzzy Model-Based ControlDesign of Electric VehiclePropulsion System
The LMI techniques will be applied to
the stability analysis of an electric vehicle
propulsion control system. Defining the
state variables as:
can be rewritten as:
where
αs and Vo are considered as with
uncertainty. After some manipulations, (32)
can be rewritten as
where is the state
vector; is the input
variable;
with
and and pu
including all the other terms is considered
as uncertainty. Without loss of generality,
we consider the major operating case of
sng(v+Vo)=1 and sng v=1
Since B is only a constant matrix, the
derivation of a T-S fuzzy model and then
the control design and finding of the
solution of LMIs become much less
difficult than the approaches directly based
on the original complex model.
Assume for the
nonlinear terms in Eq. (33). Defining z=X2,
the maximal and minimal values of z can
be deduced and expressed as below:
Choose z as the antecedent variable of the
T-S fuzzy model, we can define two fuzzy
sets with membership functions shown in
Fig. 3 in the universe of discourse of z.
Then a T-S fuzzy model can be constructed
analytically as follows:
Model Rule i:
where
The overall equation of the T-S fuzzy
model can be inferred as
where
here Ci (z) is the grade of membership of z
in fuzzy set Ci. By the membership
function definitions shown in Fig. 3, we
have
For arbitrary trajectory tracking
control, first define the tracking error
vector as
where is the
desired trajectory vector. Notice that
are the desired angular
displacement and velocity trajectories of
the rotor about its rotating axis,
respectively. Differentiating Eq. (38), we
have
Substituting (39) into the model rules (34),
we can obtain the T-S fuzzy model for the
error dynamics as follows:
Error Rule i :
The output of the error T-S fuzzy model
can be defuzzified as:
In this study, the PDC(Parallel Distributed
Compensation )[3,11]with control rules
constructed based on the T-S fuzzy model
rules is adopted for the fuzzy control
design. Each control rule has a linear state
feedback part and a feedforward part to
compensate for the effect of gravity, that is,
Control Rule i :
where So the design
objective is to determine the local feedback
gains Ki in the consequent parts of the
control rules via LMI.
The output of the PDC controller can be
inferred as:
By substituting (43) into (41), and since B
is a constant matrix in the T-S fuzzy model
and , the error dynamics for
the whole closed-loop system can be
derived as
For the consideration of robustness
with respect to the disturbance Pu , the
following robust performance requirement
[4] for the tracking error is to be met:
where , and is a symmetric
positive definite matrix. Equation (45)
means that the effect of Pu on the error
must be attenuated below a prescribed level
ρ. To synthesize the fuzzy controller that
can reject the external disturbances of an
electric vehicle propulsion control system,
we can select a positive definite function as
follows:
The requirement (45) for a prescribed
ρ>0 can be shown to be equivalent to the
following condition:
By integrating (47) from 0 to tf with initial
condition e (0)=0,we have
Thus,
Equation (49) implies (45). Therefore
if (47) holds, the robust performance
requirement can be guaranteed under Pu .
The LMI constraints can be derived
from (47). First, rewrite (47) as
and substituting (44) into (50),we have
That is,
Therefore, if the following constraints are
satisfied:
then Equation(52) holds. Employing the
Schur complements for nonstrict
inequalities [5],(53) becomes
Conditions (54) can be solved by
considering it as a generalized eigenvalue
minimization problem (GEMP), that is, to
maximize α subject to the following
constraints:
Because the second inequalities in
(55) are not jointly convex in P and Ki , it
is difficult to find a common solution P and
Ki . Fortunately, the inequalities can be
transferred into matrix inequalities by
variable transformation.
Defining new variable X=P-1, and
multiplying the inequalities on the left and
right by X, we can obtain
Equation (56) can be rewritten as
where Mi ≡ KiX. That is, the PDC control
design problem can be transformed to the
problem of maximizing α subject to the
following linear matrix inequality
constraints:
If there exists a common X and Mi 's
satisfying the above LMI constraints, then
the common P and Ki can be obtained as
There exist methods in the literature for
solving the LMI problems, such as interior
point algorithm [5]. The MATLAB
software package has incorporated this
algorithm into the solver of LMI control
toolbox. In this study, the instruction gevp
is used to solve the above GEVP problem.
Based on the proper choice of suitable α, P
and the feedback gains Ki,i=1,2, can thus
be determined, and the design of the
control law (43) is accomplished.
4. Simulation ResultsIn this section computer simulations
are used to illustrate the performance of the
proposed T-S fuzzy model-based control
strategy for an electric vehicle which is
operated on various traffic conditions. The
nominal values of the parameters used in
the simulations are chosen as:
(1) Induction motor (60Kw, 2430rpm,
250N-m) and transmission with the
following parameters:
(2) Road and load with following
parameters:
where ωf =209.44 rad/sec is the desired
maximum angular speed in 10<t≤14sec,
and tf = 10 sec.
Two traffic conditions are considered.
Traffic condition (I) is selected as:
Using the usual LMI method, the
feedback gain matrices and the
common positive definite matrix P can be
obtained as follows:
.Simulation results
for the case with EV operated on traffic
condition (I) are shown in Fig. 5. From Fig.
5(a), we know that the EV speed response
can track the command trajectory. The
tracking error shown in Fig. 5(b) is within
and
The corresponding required motor control
torque is shown in Fig. 5(c). The control
torque is smaller
than the maximum torque of the induction
motor.
Simulation results for the case with
EV operated on traffic condition (II) are
shown in Fig. 6. From Fig. 6(a), we know
that the EV speed can also follow the
command trajectory. The tracking error
shown in Fig. 7(b) is within -0.0023 and
0.0016 rad/sec. The corresponding required
motor control torque is shown in Fig. 6(c).
The control torque
is smaller than the maximum torque of the
induction motor.
From the simulation results for this
case with EV operated on the more traffic
condition, we know that the speed tracking
error with the LMI method is small and
from Fig. 5(c), we know that control torque
with the LMI method is smooth. Thus,
when ρ is selected as small as possible, and
the common P and the feedback gains
are found with a bigger α, So
the LMI method has excellent capability to
reject disturbances and high robustness
with respect to uncertainty.
5. ConclusionsIn this paper, the dynamics model and
a T-S fuzzy model for EV propulsion
systems with a 3-phase ac induction motor
are constructed. A procedure for
systematically constructing a simple T-S
fuzzy model with very small number of
rules that can exactly represent the EV
propulsion systems with a 3-phase ac
induction motor is suggested, and a PDC
control design based on the T-S fuzzy
model is proposed. Because the number of
rules is very small, it is easy to find a
common Lyapunov matrix P, and no
relaxation methods are need. The feedback
gains Ki and P can be simultaneously
determined by considering the control
design problem as a GEMP problem via
LMI constraints. Proper Ki and P can be
obtained by choosing the results with
sufficiently high value of the Lyapunov
function decay-rate scaling factor α .
Simulation results are used to show that the
derived LMI-based control law can
guarantee the stability and robustness of an
EV propulsion system when it is driven on
various traffic conditions.
References[1] N. Mutoh, S. Kaneko, T. Miyazaki, R.
Masaki, and S. Obara, "A Torque
Controller Suitable for Electric
Vehicles," IEEE Trans. Ind. Electron.,
Vol. 44, No. 1, pp. 54-63, 1997.
[2] K. K. Shyu and H. J. Shieh, "A New
Switching Surface Sliding Mode Speed
Control for Induction Motor Drive
Systems," IEEE Trans. on Power
Electronics,Vol. 11, No. 4, pp. 660-666,
1996.
[3] H. O. Wang, K. Tanaka and, M. F.
Griffin "An Approach to Fuzzy Control
of Nonlinear Systems: Stability and
Design Issues," IEEE Trans. on Fuzzy
System, Vol. 4, No. 1, pp. 14-23, 1996.
[4] Tseng, C. S., Chen, B. S., and Uang, H.,
J., "Fuzzy tracking control design for
nonlinear dynamic system via T-S
fuzzy model," IEEE Trans. on Fuzzy
Systems, Vol. 9, No. 3, pp. 381-392,
1995.
[5] S. Boyd, L. El Ghaoui, E. Feron, and V.
Balakrishanan, Linear Matrix
Inequalities in System and Control
Theory, Philadelphia, PA: SIAM, 1994.
[6] M. Ehsani, K. M. Rahwan, and H. A.
Toliyat, "Propulsion System Design of
Electric and Hybrid Vehicles," IEEE
Trans. on Industrial Electronics, Vol.
44, No. 1, pp. 19-27, 1997.
[7] B. K. Powell, K. E. Bailey, and S. R.
Cikanek, "Dynamic Modeling and
Control of Hybrid Electric Vehicle
Powertrain Systems," IEEE Control
Systems Magazine, Vol. 18, No. 5, pp.
17-33, 1998.
[8] D. W. Novotny and T. A. Lipo, Vector
Control and Dynamics of AC Drives,
Oxford 1996.
[9] B. K. Bose, Modern Power Electronics
and AC Drives, Prentice Hall PTR,
Upper Saddle River, NJ, 2002.
[10] J. J. Craig, Introduction to Robotics,
Addison- Wesley, 1989.
[11] K. Tanaka and H. O. Wang, Fuzzy
Control Systems Design and Analysis,
Wiley-Interscience, 2001.
Numerical Solution of Buckling and Vibration
in Laminates with Arbitrary Shape Cut Off
Regions
Abstract
The pure global buckling and vibration of four sides simply-supported as well as
clamped anisotropic laminates having an arbitrary shape cut off region that is symmetric with
respect to mid-plane have been studied by treating the remaining cut off regions as uniform
plates with reduced stiffness. The variation of stiffness of the plate is represented by Fourier
series. Computational solutions of the energy principle for the Ritz method in a plate having
arbitrary shape of typical cut off regions under biaxial compressive loads are obtained. Some
numerical results for the pure global buckling load prediction due to its reduced flexural
stiffness for the circular cut off regions and elliptical cut off regions are presented. We find
the normalized pure global buckling load ratio decreases as the cut off regions size increases,
and the nondimensional fundamental frequency value decreases as the cut off regions size
increases.
Key words: pure global buckling, cut off region, reduced stiffness, arbitrary shape.
C. C. Hong : Assistant Professor, Department of Information Management, HITH. W. Liao : Assistant Professor, Department of Information System, Ling Tung CollegeM. F. Hwang : Associate Professor, Liberal Art Center, Da Yeh UniversityK. C. Jane : Professor, Department of Applied Mathematics, National Chung Hsing University
1. IntroductionMany researchers have studied
various aspects of buckling load and free
vibration of plates with and without the
delaminations analytically and
experimentally [1-5]. There are three
possible buckling mode types: (a) local
buckling mode, (b) global buckling mode
and (c) coupled global and local buckling
modes that have been examined. Cut off
regions on the top and bottom surfaces of
laminated plate may be necessary for fitting
something on it. Cut off regions may
reduce bending stiffness of laminates,
which lower the compressive load carrying
capacity and natural frequencies. In 2000,
Jane and Hong [6] made a study about the
pure global buckling and vibration of
rectangular laminates with rectangular cut
off regions. An energy approach for the
Ritz procedure was discussed by Whitney
[7] is used to determine the pure global
buckling load and vibration of four edges
simply-supported as well as clamped
anisotropic rectangular laminates that
having arbitrary shape cut off regions.
The stiffness variation of the plate is
represented by Fourier series [5] and the
partition technique [8] can be utilized to
approach the arbitrary shape of cut off
regions into the rectangular subregions and
right triangular subregions. The Ritz
method using the reduced flexural
stiffnesses to represent the stiffness of the
arbitrary shape of cut off regions under
biaxial compression loads would be
studied. The purpose of this study is to
investigate the effect of arbitrary shape cut
off regions to the pure global buckling and
vibration of rectangular plates by energy
method. The typical anisotropic rectangular
laminates with middle-plane symmetric
arbitrary shape cut off region that is shown
in Figure 1. With coordinates X1(x1,y1),
X2(x3,y1), X3(x3,y4), X4(x2,y3) and X5(x1,y2)
and is used to demonstrate the study
procedures. We partition the arbitrary shape
of cut off region into the rectangular
subregions and right triangular subregions
as shown in Figure 2. Where ζ(k) is the x-
coordinate at middle point of 2c(k) ,2c(k) ,
which is the x-directional length of cut off
sub-region and η(l) is the y- coordinate at
middle point of 2d(l) ,2d(l) , which is the y-
directional length of cut off sub-region.
2. Formulation2.1 Governing equation
The strain energy of an elastic plate in
terms of Cartesian coordinates x, y system
is written in the following relationship [7]:
where σx and σy are the normal stresses, σxy
is the shear stress, εx and εy are the normal
strains, and εxy is the shear strain. This
strain energy generally contains two parts
of energy, there are strain energy due to
stretching and strain energy due to bending.
By substituting the plane stress constitutive
equations and the strain-displacements
relations into relationship equation (1), we
find that the strain energy for pure
transverse bending of anisotropic laminated
plate can be written in the following
equation:
where W is the transverse displacement,
are the flexural stiffnesses.
The potential energy of external
inplane loads due to a transverse deflection
is given as follows:
where are initial
external inplane force resultants applied to
the rectangular plane in a prebuckled state,
are the midplane strains
due to the transverse deflection. We
consider the initial axial loads acting on the
plane in the x- and y- directions, these
external loads are represented as:
For considering the large transverse
deflection in the buckled state, we have
nonlinear terms in the strains involving
transverse displacement W as follows:
By substituting equations (4) and (5)
into equation (3), we arrive at the following
potential energy equation:
The kinetic energy of an elastic plane
in terms of a Cartesian coordinate x, y, z
system is written in the following
relationship:
where is the density of the k-th layer in
laminated plate, u,v and W are the
displacement components in the x, y and z
directions respectively, t is the time. For
considering the tangential displacement u,v
are linear functions of the z coordinate and
neglecting the rotatory inertia terms, after
integrating with respect to z, we have the
following expression:
where ρ is density of the laminated plate, h
is thickness of the rectangular plate, and
u0,v0 are the displacement components of
the mid-plane. Conventionally, we consider
the vibration under the following
displacement forms:
where ω is a natural frequency of vibration.
By putting equation (9) into equation (8),
the kinetic energy can be rewritten as:
2.2 Energy principle
The energy principle for the Ritz
procedure can be stated as [7]:
where Π is Lagrangian functional, U is the
bending strain energy, V is the potential
energy of inplane loads, and T is the kinetic
energy of the laminated plate. By
considering bending and linear inertia of
the plate, equation (11) becomes:
where a and b are dimensions of the
rectangular plate,
are the flexural stiffnesses and are
the bending-twisting coupling stiffnesses of
the laminate, Px and Py are applied biaxial
loads in x- and y- directions respectively.
2.3 Reduced flexural stiffness
When the arbitrary shape of cut off
region is occurred in the rectangular plate,
the overall effective flexural stiffness
would be smaller than the flexural stiffness
of perfect plate. We would like to partition
the arbitrary shape of cut off region into
sufficient numbers of rectangular shape of
subregions and right triangular shape of
subregions to get the approximate solution.
A double Fourier series form of reduced
flexural stiffnesses had been
used in the delaminated plate study by
Wang et al [5]. With {D} representing
original stiffnesses and
and the distribution function of
reduced flexural stiffnesses is written in the
following form:
where are the Fourier
coefficients, they are written in the
following forms for the arbitrary shape of
approximately cut off region that is shown
in Figure 2:
where is the
area of the cut off rectangular sub-
region of dimensions with
its center at as shown in Figure
2, KL is the total number of cut off
rectangular subregions, A=ab , is the
ratio of the amount of flexural stiffnesses,
same for all components, for the kl cut off
sub-region to the corresponding stiffnesses
of the no cut of laminate,ζ 0 =c 0 =0 ,ζ 2 =a,
c 2 =0, η 2 =b,d 2=0, K is the total number of
cut off rectangular sub-regions in the x-
direction. At each , there are L k cut off
rectangular subregions, L is the total
number of cut off rectangular sub-regions
in the y-direction. At each η (l) , there are K
l cut off rectangular subregions. is the
area of the cut off right triangular
subregion of dimensions
with at the middle point of
sidelong edge, TKL is the total number of
cut off right triangular subregions, TK is
the total number of cut off right triangular
sub-regions in the x-direction. At each
, there are TLk cut off right triangular
subregions, TL is the total number of cut
off right triangular subregions in the y-
direction. At each η (l), there are TK l cut off
right triangular subregions. For the closely
representing f(x, y) to actual stiffness, a
sufficient number of terms of a ij would be
used. Of course, only a 00 =1 exists if there
is no cut off region.
2.4 The Ritz method
The Ritz method provides a
convenient method for obtaining
approximate solutions for buckling and/or
vibration problems. For the present
problem of four sides simply supported,
and four sides clamped rectangular
anisotropic plates with arbitrary shape of
cut off region, the solution is assumed in
the following form:
and for the reduced flexural stiffnesses
in cut off plate, with the
process of minimization equation [7]:
Substituting equation (15) in conjunction
with equation (13) into equation (16), we
arrive at:
in which f (x,y) represents the distribution
function of bending stiffness and bending-
twisting coupling stiffness of the plate.
Although f (x,y) could be different for
different stiffness components, it is taken to
be uniform for all in the present study.
After integrating equation (17) with
properly assumed X m (x) and Y n (y), we
have the following system of equations.
in which contains
with specified as parameters. By
requiring the determinant of the coefficient
matrix in equation (18) to vanish, we have
the eigenvalue problem for the critical
under a given
2.5 Simply-supported rectangular plate
We now consider the simply
supported rectangular laminated plate
compressed by uniform inplane loads of
with specified The boundary
conditions for a four edges simply-
supported rectangular plate are written as
follows:
and the following characteristic functions
for are selected.
By substituting the equation (13) and (21)
into equation (17), and performing
integrations afterwards, we can obtain the
equations in series forms.
2.6 Clamped rectangular plate
We consider a four sides clamped
rectangular laminated plate compressed by
uniform inplane loads of with specified
The boundary conditions are:
and the following characteristic functions
for are selected.
By substituting the equation (13) and (24)
into equation (17), and performing
integrations afterwards, we also can obtain
the equations in series form.
3. Some numerical results anddiscussions
We assumed that there were no local
buckling occurred in the anisotropic
laminates under the whole processes of
axial compression in the numerical
simulations. The stiffness of a remaining
middle-plane symmetrical cut off region is
determined by the flexural stiffness
between every two adjacent cut off region,
through the thickness of the plate. For
example, if there is a middle-plane
symmetrical single cut off region through
the thickness as shown in Figure 3, we have
Firstly, we study the
convergence of pure global buckling
solution for a simply supported plate with
arbitrary shape of typical cut off region as
shown in Figure 1 with the coordinates
and
is shown in Figure 4a. And convergence of
pure global buckling solution for a clamped
plate with the same coordinates of arbitrary
shape of typical cut off region is shown in
Figure 4b. We find the total number of
terms resulting in a M=N=5 of [A] matrix is
established explicitly and used to
demonstrate the calculating procedure. The
typical stiffness for the perfect part is taken
to be
for all numerical
computations. Secondly, we study the
following cut off region cases:
3.1 Typical cut off region case
3.1.1 Simply supported plate
A plate with arbitrary shape of typical
cut off region (see Figure 1) with the
coordinates under biaxial loading condition
with is considered. The
following buckling load parameter is
introduced: The result
for the critical load of a plate without cut
off region by using the Ritz method is
found to be 3.0396, which should be the
maximum upper bound for all other
numerical results presented in this paper.
A square plate has arbitrary shape of
typical cut off region with y-coordinates
cut
off region position is occurred at =0.3.
Results on the pure global buckling load
normalized with respect to =3.0396
versus c1/b (c1=0.1b with x1=0.4b, x2=0.5b,
x3=0.6b; c1=0.2b with x1=0.3b, x2=0.5b,
x3=0.7b; c1=0.3b with x1=0.1b, x2=0.5b,
x3=0.9b) are shown in Figure 5. The result
show that normalized pure global buckling
load ratio decreases as the cut off
region size increases.
A square plate has arbitrary shape of
typical cut off region with the coordinates
Results on the pure global
buckling load normalized with respect to
versus are shown in
Figure 6. The results show that normalized
pure global buckling load ratio
firstly decreases then keeps almost constant
as the cut off region position
increases.
In the case of vibration, we define the
non-dimensional frequency
. A plate without cut off region, the
fundamental frequency for is found to be
2.42204. A square plate has arbitrary shape
of typical cut off region with the
coordinates
cut off
region position is occurred at = 0.3.
Results on the non-dimensional
fundamental frequency k versus are
shown in Figure 7. The result shows that
the decreases as the increases.
3.1.2 Clamped plate
For a clamped rectangular plate
without cut off region, the critical buckling
load is , this value should be the
maximum upper bound for all other
numerical results presented for a clamped
plate. A square plate has arbitrary shape of
typical cut off region with y-coordinates
y1=0.2b, y2=0.4b, y1=0.6b, y2=0.8b, (fixed
d1=0.3b and ζ1=η1=0.5b, ), cut off region
position is occurred at = 0.3. Results
on the critical load normalized with respect
to versus c1/b ( c1=0.1b, with
x1=0.4b, x2=0.5b, x3=0.6b; c1=0.2b with
x1=0.3b, x2=0.5b, x3=0.7b; c1=0.3b with
x1=0.2b, x2=0.5b, x3=0.8b; c1=0.4b with
x1=0.1b, x2=0.5b, x3=0.9b) are shown in
Figure 8. The result show that normalized
pure global buckling load ratio
decreases as the cut off region size c1/b
increases.
A square plate has arbitrary shape of
typical cut off region with the coordinates
x1(0.2b, 0.2b), x2(0.6b, 0.2b), x3(0.6b, 0.8b),
x4(0.4b, 0.6b), x5(0.2b, 0.4b) i.e. c1=0.2b,
d1=0.3b, ζ1=0.4b, η1=0.5b, Results on the
pure global buckling load normalized with
respect to versus are
shown in Figure 9. The result show that
normalized pure global buckling load ratio
firstly decreases and then keeps
almost constant as the cut off region
position increases.
A plate without cut off region, the
fundamental frequency for k is found to be
3.20406. A square plate having arbitrary
shape of typical cut off region with the
coordinates x1(0.2b, 0.2b), x2(0.6b, 0.2b),
x3(0.6b, 0.8b), x4(0.4b, 0.6b), x5(0.2b, 0.4b)
i.e. c1=0.2b, d1=0.3b, ζ1=0.4b, η1=0.5b, cut
off region position is occurred at =
0.3. Results on the non-dimensional
fundamental frequency k versus are
shown in Figure 10. The results show that
the k decreases as the increases.
3.2 Circular cut off region case
For a square plate has a circular cut
off region centered at and
cut off region radius r=0.3b that is shown
in Figure 11. We partition the circular cut
off region into rectangular shape of twelve
sub-regions and right triangular shape of
twelve sub-regions with coordinates X1(x1,
y1) to X12(x12, y12) corresponding to x- and
y-coordinates
where and n is integer, that is
shown in Figure 12. Some numerical
results are presented for four sides simply-
supported plate as well as clamped plate
under the global buckling and vibration.
3.2.1 Simply supported plate
Results on the pure global buckling
load normalized with respect to
versus were shown in Figure 13. The
result show that normalized pure global
buckling load ratio decreases as the
cut off region position increases.
Results on the non-dimensional
fundamental frequency k versus were
shown in Figure 14. The results show that
the decreases as the increases.
3.2.2 Clamped plate
Result on the pure global buckling
load normalized with respect to
versus was shown in Figure 15. The
result show that normalized pure global
buckling load ratio decreases as the
cut off region position increases.
Result on the non-dimensional fundamental
frequency k versus was shown in
Figure 16. The results show that the k
decreases as the increases.
3.3 Elliptical cut off region case
For a square plate has an elliptic cut
off region centered at and
cut off region length aspect ratio
as shown in Figure 17.
Similarly, we partition the elliptic cut off
region into rectangular shape of twelve
sub-regions and right triangular shape of
twelve sub-regions with coordinates
to corresponding to
x- and y- coordinates ,
where and n is
integer. Some numerical results are
presented for four sides simply supported
plate as well as clamped plate under the
pure global buckling and vibration.
3.3.1 Simply supported plate
Results on the pure global buckling
load normalized with respect to =3.0396
versus for for R=0.5~1.0 was shown
in Figure 18. The result show that
normalized pure global buckling load ratio
decreases as the cut off region
position increases. The non-
dimensional fundamental frequency k
versus was shown
in Figure 19. The result show that the k
decreases as the increases.
3.3.2 Clamped plate
Results on the pure global buckling
load normalized with respect to =6.9477
versus for R=0.5~1.0 was shown in
Figure 20. The result show that normalized
pure global buckling load ratio
decreases as the cut off region position
increases. The non-dimensional
fundamental frequency k versus for
for R=0.5~1.0 was shown in Figure 21. The
result show that the k decreases as the
increases.
4. ConclusionsThe pure global buckling and
vibration predictions due to reduced
flexural stiffness effect for four sides
simply supported as well as clamped
anisotropic laminates having arbitrary
shape of cut off region have been studied
by treating the cut off region with reduced
stiffness. The stiffness variation of the plate
is represented by Fourier series. The
numerical results are obtained by the Ritz
method of energy approach for plates
having typical arbitrary shape of cut off
region and utilizing the partition technique
under biaxial compression loads. We find
that the normalized pure global buckling
load ratio decreases as the cut off
region size increases. The non-dimensional
fundamental frequency k decreases as the
increases.
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316, 1985
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L., "Effect of Delamination of Axially
Loaded Homogeneous Laminated
Plates," AIAA Journal, Vol.23, No.9,
pp.1437-1444, 1985
5. Wang, J. T.-S., Lin, C. C. and Ong, C. L.,
"Analysis of Delaminated Composite
Structures II," Project Report No. NSC
83-0401-0-005-001, Dept. of Applied
Math., National Chung Hsing
University, Taiwan, 1994
6. Jane, K. C., and Hong, C. C., "Buckling
and Vibration of Rectangular Laminates
with Cut Off Regions," Mechanics
Research Communications, Vol. 27,
No. 1, pp. 101-108, 2000
7. Whitney, J. M., "Structural Analysis of
Laminated Anisotropic Plates,"
Technomic Publishing Company, Inc.,
1987
8. Szilard, R., "Theory and Analysis of
Plates Classical and Numerical
Methods," Prentice-Hall, Inc.,
Englewood Cliffs. New Jersey, 1974
A Study on the Dynamic Relationships about
Government Bond Market in Taiwan, Japan,
United Kingdom & United States
Abstract
This article investigates the interrelationships of government bond market among
Taiwan, Japan, United Kingdom(UK), and the United States (US). Using cointegration,
vector error correction model (VECM), impulse response and variance decomposition
techniques to analyze this issue, we get the results as following (1)Except for Taiwan and
US, there are long cointegration trends for Japan and UK. (2) The VECM reveals that the
movement of current yield of Taiwan is independent from other countries. Both Taiwan and
US affect the movements of current yields of Japan and UK. Therefore, US have significant
effects on the other countries beside Taiwan. This result shows that United States still play an
important role in the whole world financial market. (3) As for the analysis of impulse
response, changing one standard deviation of each variable has the largest impulse at the first
period, and then gradually decreases. Accumulative effects of each market are positive.
Finally, analysis of variance decomposition shows that each variable has greatest
interpretative ability for itself. And the lead-lag relationship among four countries is that US
is higher than UK, Japan, and Taiwan. (4) The result in Granger causality tests is unapparent.
Only in 10% significant level, there are one-way causal relationship from Taiwan to Japan
and US. As well as there are also feedback relations among Japan, UK and US.
Key words: Cointegration, Vector Error Correction Model, Granger Causality Tests, Impulse
response, Variance Decomposition.
Ching-Jun Hsu : Associate Professor, Institute of Financial Management, Nan Hua UniversityYen-Hao Chen : Graduate Student, Institute of Financial Management, Nan Hua University
Phylaktis(1999)
LIBOR (
)
(TW)
(JP) (UK) (US)
Hendershott 1967
Lin and Swanson(1993) Engle
and Granger(1987)
Granger
domestic market
offshore market
1984 1989
(segmented Lin and
Leu(1994) Johansen
Granger
offshore market
perfectly linked
Lin and Swanson(1997)
simple autoregression models
Phylaktis 1999
Johansen Granger
multivariate Granger
causality tests
1970 1993
closely linked
(2000)
Johansen Granger
- 90
-
Clare,Mara & Thomas(1995)
Engle & Granger (1987)
1978-1990
Smith(2002)
Wilcoxon Rank Test
Johansen
Wilcoxon
Rank Test
3
(1995)
(comovement)
S & P 5 0 0
NIKKEI225
Johansen
Engle & Granger
Johansen
Granger &
Newbold(1974)
(Spurious Regression)
Granger
1.
ADF (Augmented Dickey-Fuller
1979) PP(Phillips-Perron 1988)
ADF PP
(H0)
ADF
Phillips-Perron
PP
PP
ADF
t p
A I C ( A k a i k e
Information Criterion)
p =0
PP
t
T
2. Engle & Granger(1987)
Engle & Granger
Johansen (1)
Engle & Granger
Xt
Yt I(1)
(OLS)
Xt Yt
β Xt Zt
Z t
ADF PP Zt
(4)
H0 =0
Zt Xt Yt
MacKinnon(1991) (2)
Johansen Xt N
1 I ( 1 )
(VAR)
ε t i i d
(Gaussian Pocess) 0
L (lag operator)
=1-L (5)
(6)
X t
(long-run
impact matrix)
(rank)
(full ranl)
I(1) r
Xt (5)
(VAR) r
N r
Johansen (1988)
(likelihood ratio
statistics) r
(trace test) H0
r H1 r+1
T
(maximum
eigenvalue test) H0 r
H1 r+1
H0
N r+1
3. Granger
Granger (1969)
X
Y X
Y
X Y
-
Granger
F (9) (10)
H0
H'0 Xt Yt
H'0
H0 Xt Yt
H0 H'0
Yt Xt
X t Y t
(feedback)
4. Engle & Granger
Granger Sims
Engle & Granger(1987)
bi ci d ECXt-1
t
Y Xt
Yt Yt Xt
VA R ( v e c t o r - a u t o r e g r e s s i o n
system)
5.
VAR
( )
VAR m
m2
(variance of forecast error)
innovation
innovation
(TW) (JP) (UK) (US)
TEJ
(I.F.S.)
1995 1 2003 2
98
1
1 1
1.6980
5% 6%
2
(C.V)
0.3246
Trace test max test
Johansen & Juselius(1990)
( max test)
max test
3
Trace test
max test 1%
r = 0 r
1
max test
1 2
max test
Engle Granger(1990)
AIC(Akaike Information Criterion)
AIC
4
VECM AIC 2
2
6
7.2
VEC
innovation
9 10 11
12
93.24%
89.14% 88.49%
52.95%
30.43% 11.74%
4.88%
0 %
2.85%
5.7% 13.65%
0% 2.78%
3.31% 8.44%
( )
( )
( GARCH )
[1]
80
[2]
89
[3]
85
[4]
85
[5]
89 67 1-33
[6]Clare, A. D., Maras, M. and Thomas, S.
H., "The Integration and Efficiency of
International Bond Markets." Journal of
Business Finance & Accounting, 1995,
vol.22 (2), p313-322.
[7]Engle, R. E. and C. W. J. Granger,
"Cointegration and Error Correction:
Representation, Estimation, and
Testing." Econometrica, 1987, vol.55,
p251-276.
[8]Hendershott, P.H., "The Structure of
International Interest Rates: the U.S.
Treasury Bill Rate and the Eurodollar
Deposit Rate." Journal of Finance, 1967,
vol.22, p455-465.
[9]Johansen, S., "Estimation and
Hypothesis Testing of Cointegration
Vectors in Gaussian Vector
Autoregressive Models." Econometrica,
1991, vol.59, p1551-1580
[10]Johansen, S. and K. Juselius,
"Maximum Likelihood Estimation and
Inference on Cointegration with
Application to the Demand for Money."
Oxford Bulletin of Economics and
Statistic, 1990, vol.52, p169-209.
[11]Kenneth, L. Smith, "Government Bond
Market Seasonality Diversification, and
Cointegration: International Evidence."
The Journal of Financial Research,
2002, vol.25, p203-221.
[12]Karfakis, Costa and Anthony Phipps,
"Modeling the Australian Dollar-US
Dollar Exchange Rate Using
Cointegration Techniques." Review of
International Economics, 1999, vol.7
(2), p265-279.
[13]Lin, A., and P. E. Swanson, "Measuring
Global Money Market Interralationships:
An Investigation of Five Major World
Currencies." Journal of Banking and
Finance, 1993, vol.17, p609-628.
[14]Lin, A., and S. Leu, "Offshore Money
Markets Integration- Evidence of the
U.S. Dollar Yields in Taiwan Singapore,
and United Kingdom." Sun Yat-sen
Management Review, 1994, vol.2, p1-13.
[15]Lin, A., and P. E. Swanson, "The U.S.
Dollar in Global Money Markets: A
Multivariate Cointegration Analysis."
The Quarterly Review of Economics and
Finance, 1997, vol.37, p139-150.
[16]Phylaktis, K., "Capital Market
Integration in the Pacific Basin region:
An Impulse Response Analysis." Journal
of International Money and Finance,
1999, vol.18, p267-287.
BJT peak voltage detector
Abstract
This paper introduces a newly designed peak voltage detector, which consists of a
reference current generator, a differential amplifier with one-sided load transistor, a charge
transistor, a compensation current generator, a capacitor, a resistor, and an output stage.
Among them, the current in the reference current generator is copied in order to provide it to
the differential amplifier, the compensation current generator, and the output stage. The
differential amplifier serves as a comparator, and the charge transistor supplies the capacitor
with needed charge current. The compensation current generator is configured to provide
compensation current for compensating the voltage drop of the capacitor due to the base
currents in the bipolar transistors, and the output stage is configured to shift the voltage
signal on the capacitor to provide a precise peak voltage of input signal. The peak voltage
detector in this paper can accurately measure the peak voltage of input signal and it also
comes up with advantages like simple circuit design, minimal chip size, and good for use
with small devices. In addition, the inclusion of output stage can further prevent the held
peak voltage disruption from the accessing activities of the outer circuits. In the meantime,
the proposed peak voltage detector can further give a good elimination for the overshoot
voltage in the differential amplifier.
Key words: peak voltage detector, differential amplifier, overshoot voltage.
Ming-chuen Shiau: Associate Professor, Department of Electrical Engineering, HIT
(A/D converter)
(maximum likelihood decoding system)
[1]-[11]
[1] OP1
OP2 D1 D2
R1 R2 C
OrCAD PSpice
V(OUT) 0.01V
OP1
V(IN)
V(OUT) D1
C1
V(OUT) V(IN)
V(IN) V(OUT)
D2 D1
C
V(OUT) V(IN)
[12]-[13] [12]-[13]
[12]-[13]
OverShoot Voltage
Vos
(voltage transfer characteristic)
Vos
Vos
MOS
(BJT)
(BJT)
( R1
NPN MN1 )
(
NPN MN2 MN3 MN4
PNP MP1 )
PNP MP2
NPN MN5 MN6
PNP MP3 MP4
R2
NPN MN7 MN8
[12]-[13]
R2
SPICE
SPICE
V(IN) NPN
MN3 Vb(MN3) NPN
MN2 Ic MN2
NPN MN3 Ic
MN3
IR 1
PNP MP1 MP2
C
NPN MN3 Vb(MN3)
C V(C)
Ib(MN3) NPN MN3
R2
N P N M N 3
Vb(MN3) V(IN)
Vpeak
C
C V(C)
NPN MN3
Vb(MN3) Vpeak
OverShoot Voltage Vos
NPN MN2
NPN MN2
C
V(C)
Vos [14]
T 27 C
Vos 77.6mV
V IN
Vpeak NPN
MN2
C
V(C)
(6)
V(C) NPN
MN7 Vbe
V(OUT)
5 NPN
MN7 IR
NPN MN7 Vbe
IS
(saturation current) SPICE
[15]
(6) (7) (9)
V(OUT)
Vpeak
NPN MN2
(MN3) NPN MN3
(common -emitter
current gain) (12)
(11) (14)
(BJT)
Vpeak
Vpeak C
NPN MN3 Ib(MN3)
NPN MN7 Ib(MN7)
V(OUT)
V(OUT)
( PNP MP3 )
Ib(MN3) Ib(MN7)
NPN MN2
NPN
MN3 IR
NPN MN7
IR (
PNP MP3 )
IR NPN
MN3 (MN3)
IR NPN MN7
(MN7)
PNP MP4
IR NPN
MN5 (MN5)
PNP MP4 PNP MP3
NPN
2
NPN
Q2N2222 NPN PNP
Q2N3906 PNP
( PNP MP3 IS
) R1 R2
50K 650K
C 3nF
(BJT)
(1)
(2)
4 PNP
8 NPN 2 1
(3) V(OUT)
C
[1] Robert , F. C., and Frederick ,F. D.,Operational Amplifier & Linear
Integrated Circuits, Prentice-Hall,Englewood Cliffs, pp. 180-182, 1991.
[2] David,C.D.,"Tracking Peak Detect or,"U.S. pat. 5304939, Apr.1994.
[3] Ericson, M. N., and Simpson, M. L.,"ALow-power CMOS Peak Detect andHold Circuit for Nuclear," IEEE
Transactions on Nuclear Science,vol.42, pp.724-728 ,1995.
[4] Eiji ,S.,Kiyoshi, F., and Masafumi, K.,"Peak Detector," U.S. pat. 5546027,Aug., 1996.
[5] Ozguc ,I.H. , "Dual Stage Differ- entialAdaptive Peak Detector for DataCommunications Receivers," U.S.pat.5502746, Mar., 1996.
[6] Smith ,M.D., "Differential CrossCoupled Peak Detector," U.S. pat.5828240,Oct., 1998.
[7] Assadian, K., and Kosiec, J. H., "PeakDetector Circuit," U.S. pat.
5969545,Oct., 1999.[8] Lee ,J.C., and Brauns, G..T., "Offset-
compensated Peak Detector withOutput Buffering,"U.S. pat. 6051998,Apr., 2000.
[9] Wight ,M.S., Brazeau, S. H., and Grant,I. I., "Low Amplitude Peak Detector,"U.S. pat. 6064238, May, 2000.
[10]Chen, C.M., and Chen, P. F., "PeakDetector," U.S. pat. 6472861,Oct.,2002.
[11]
476418 2002[12]
5 1 7 1 6 12003
[13]
523592 2003[14]Laker, K. R., and Sansen,W. M. C.,
Design of Analog Integrated Circuits
and Systems, New York, McGraw-Hill,pp. 357-375,1994.
[15]Fjeldly, T. A., Ytterdal, T., and Shur,M.,Introduction to Device Modeling
and Circuit Simulation, Newyork,John Wiley & Sons, pp.166-185,1997.
Research on Stone Industrial Development in
Taiwan
Abstract
In 1960s, the development of Taiwan stone industrial started in Hualien. It was one of
the essential processing industrials in the eastern of Taiwan. After rapid expansion from 70s
to 80s, stone industrial reached the peak of evolution in 90s. The processing facilities and
producing capacity of Taiwan, only comparatively lower than Italy, became the 2nd status in
the world. With the regression and fluctuation of Taiwan construction industrial, as a role of
material suppliers, the stone industrial encountered enormous market disadvantages.
This research presents essential issues of stone industrial, inclusive of industrial
progression, the analysis of success factors and difficulties, the operation strategies
suggested, and the following research on related topics, hopefully providing the constructive
suggestions for factory owners and the authority concerned.
Key words: stone industrial construction processing and manufacturing.
Lin Chen-Ju: Lecturer, Department of International Tourism Business, Taiwan Hospitality and TourismCollege
dimension stone
block
slab
( ) construction
materials
60
m o s a i c
( ) memorials
and landmarks
( ) furniture
and decoration
( ) souvenirs
1
1
first mover advantage
followers
1967
1972
1976
1986
1987
1990 7
1992
1995
1996
( )
1990-1996
66%
14
10 10
( )
1980
Porter1980
T h r e e
Generic Strategies
stuck in the middle
2
Porter
SWOT
Porter1990
[U1] elements1 demand 2
logistics 3
strategies 4
strength weakness
opportunities threats
4
4
1
23
4
.
1.
various issues.
2.
85
3.
85
4.
91
5.
85-90
6.
82 6
7. ,
8 5 1 2
.
1. Porter, M. E., Competitive Strategy:
Techniques for Analyzing Industries
and Competitors, New York: Free
Press, 1980.
2. Porter, M. E., Competitive
Advantage: Creating and Sustaining
Superior Performance, New York:
Free Press, 1985.
3. Stone World, various issues.
A Study on the Effect of Entering WTO
on the Automobile Industry Policy in Taiwan
Abstract
The purpose of this study is to investigate the effect of entering WTO on the automobile
industry policy in Taiwan. First of all, the study analyzed the capital and subsidiary policy
on the automobile industry in Taiwan before entering WTO. After that, the study analyzed
the recent effect of WTO on the automobile industry. Finally, the study discussed the
advantages and disadvantages of WTO to Taiwan's automobile industry policy; moreover,
the recent situation was also explained in the study.
Key words: Policy, GATT, WTO, Tariff Quota.
Hua-Yin Liu: Postgraduate student, Graduate Institute of International Politics, National Chung HsingUniversity
WTO
GATT 1995 WTO GATT
GATT
WTO
WTO
WTO
WTO
2002 11
8 7 1
WTO
1953-1984
1985-1991
1991 2 1989
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80
1990
3
1983
303
1986
(Laser) 1500 1998
IMPREZA
2000
4
40
10
5 10
40
1953
GATT1994
1964
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4 5 2 3 1996
http://www.moea.gov.tw/~ecobook/season/sa635.htm
6
6
2
4 1 2
10
6
WTO
GATT1994 16 1
3 3
GATT1994 3
1
1980
1985
WTO
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1.
10,000
20
1990 1993
1
2 20
2.
7,500 4
9
WTO
140
9 WTO1999
http://www.moeaboft.gov.tw/global_org/wto/WTO-into/into6/into_001.htm
12
37
1.
2 0 0 0
25 2001
35
6 30
1
cc
2.
12 2
3%
3. 3 2
2000cc
2001cc 2
4.
12%
12%
2003 10 14
2004 1 1
2001 10 31
2011
2003
2003 1
WTO
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2003 1
1 12 31 10
2002
2003
GATT1994 3
1
11
GATT1994
2001
11 21 7
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10
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1999
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NISSAN
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9
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13 2002 11 16
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20,000
7,000 600
4.
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1.
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2002
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10
2003 1 9
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18
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20
21
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10
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2002
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19 http://www.ttvma.org.tw/chinesestatistic.htm
20 WTO2002 140-141
21 WTO 2003 1 2
22 2003 9 5 www.chb.com.tw/news/html/industry_report/09209/industrial_920905_3.html
1999
4,211
5.63%
42 3
WTO
WTO
WTO
24
25
2002
33.4
23 2001 4 24
http://www.chvv.ncue.edu.tw/vehicletec/vehicle%20technology%20educate/page001.htmwww.chvv.ncue.edu.tw/24 2002 9 625 ( ) http://www.cnfi.org.tw/
92 94
2003 6 20
92 94 29
9
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30 WTO
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100% 31
NISSAN
29 92 94 2003 6 2030 -- 1998
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1. 1999
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1
135-162
2. 1998 WTO
50 221-256
3. 1999
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http://www.moeaboft.gov.tw/global_or
g/wto/WTO-into/into6/into_001.htm
4. 2002
( )
http://mail.nhu.edu.tw/~society/e-j/25/25-
14.htm
5. 1996 9
2 3 http://www.moea.gov.tw/
~ecobook/season/sa635.htm
1 . 2002 9 4
http://ec.chinatimes.com.tw/scripts/chinat
imes/iscstext.exe?DB=ChinaTimes&Func
tion=ListDoc&From=80&Single=1
2. 2003 1 2 WTO
3. 2002 12 23
http://tw.news.yahoo.com/2002
/12/23/finance/ctnews/3717907.html
4. 2002 9 6
http://ec.chinatimes.com.tw/scripts
/chinatimes/iscstext.exe?DB=ChinaTimes
&Function=ListDoc&From=61&Single=
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6. 2002 9 27
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NEWS/FINANCE/TRADE/1007650.shtml
7. 2002 12 4
8. 2001 10 12
9. 2002 10 23
WTO
http://news.chinatimes.com/
1. 2001
2. 2003
92 94
3.
7http://www.moeaidb.gov.tw/idy/method/i
mportant/index.htm
1. 1998
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txogmRAwUC:www.chb.com.tw/ccbii/htm
l/what_s_new_industrial_news_1202.htm
+%E8%A3%95%E9%9A%86%E6%B1
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2.
http://www.ttvma.org.tw/chinesestatistic.h
tm
3 .
2002 9 27 www.chb.com.
tw/news/html/industry_report/09/09109_i
mported_automobiles.html
4 .
2003 9 5 www.chb.com.tw/
news/html/industry_report/09/09209_imp
orted_automobiles.html
5. ( )
http://www.cnfi.org.tw/
6. 2001
http://www.motorsafety.com.tw/carsafety/
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%BE%FA%B5%7B.asp
7. 2002 1
19 2002
http://www.docamof.gov.tw/Frame-
7.htm
8. 2001 12 5
WTO
1
3
http://www.epochtimes.com/b5/1/11/16/n
149841.htm
9. 2002 WTO
61.222.52.195/net/Chin_zin/index.asp
10. 2001
http://www.chvv.ncue.edu.tw/
vehicletec/vehicle%20technology%20ed
ucate/page001.htmwww.chvv.ncue.edu.t
w/
11. 2002 1
http://www.cnfi.org.tw/cnfi/What's9101.
htm
12. 2001 12 3
http://magazines.sina.com.tw/bnext/cont
ents/20011105/20011105-006_5.html
13. 1998
WTO
http://www.chinabiz.org.tw/maz/InvCina
/199804-050/199804-074-2.htm
Chaotic Character Phenomenon and
Numerical Analysis of Axisymmetric
Sudden Expansion Flow
Abstract
In this study, the standard k-ε turbulence model and the modified RNG- method-derived
k-ε turbulence model were employed in an axisymmetric sudden expansion flow with or
without swirling effect. A comparison of the velocity profiles was made with these
turbulence models. From the calculating results, the performance of RNG model is better and
in agreement with experiment than that of k-ε model. Furthermore, we innovatively utilized
periodical inlet conditions to simulate the sudden expansion flow. Surprisingly, striking
features of limit cycles of chaos were depicted in the phase diagrams. Thus, we could have
an idea that the intermittent sudden expansion flow is both turbulent and chaotic character for
the fluid/system dynamics. In brief, the RNG turbulent model could characterize the flow-
field energy cascade and dissipation processes more accurately and efficiently.
Key words: Turbulence Model, Sudden Expansion, Limit Cycle, Chaotic.
Jiunn-Shean Chiang Instructor, Department of Mechanical Engineering, HIT.Yen-Hung Liu Graduate student, Department of Mechanical Engineering, NCHU.
( )
(Recalculation)
(Swirling Type) (Side Inlet)
(Flame Holder)
B a c k
Roschke
H. J. Sheen [1]
(
) P. A. Dellenback[2]
Baoyu[3] CFX K-
Epslion
(Chaos)
Chang[4] C
[5]
(LES)
Koronaki[6]
(wall function)
RNG
Charles[7]
k-ε
F. D. Stull[8] k-ε
k-ε
Rodi[9] (Eddy)
k-ε
P. Bradshaw[10]
Yakhot & Orszag [9][11]
RNG model k-ε
model
RNG model
1
Dellenback[2]
(1)
(Newtown Flow)
(2) (Ful ly
Develop)
(3) (Adiabatic)
(Impermeable)
3.1
X
Y
S
Launder Spalding[12]
k-ε
Yakhot Orszag[9][11]
(Mean Strain)
k-ε
[13] SRNG
(3.7)
3.2
(A) (Inlet Condition)
1.0
k ε
POLIS[13]
T I
5%
Dellenback[2]
Chang[4]
(3.8)
50 k
POLIS[13]
5%
(B)
(Neumann boundary condition)
Dellenback[2] Chang[4]
(C)
(No-Slip
Condition)
(D)
( A x i s -
symmetric Condition)
(Finite Volume Method)
(Staggered Grid System)
[14]
(Hybrid Scheme)
CFL
SIMPLEST
(Under-Relaxation)
10-4
5.1
2 4 (KE-
Uniform, RNG-Uniform)
(KE-Exp, RNG-Exp)
2 4
(Exp.Ref[2])
5.2
2
2
RNG k-ε
x/D=2.0 RNG
RNG
RNG k-ε
5 6
RNG k-ε
RNG Xr/h=9.1 k-ε Xr/h=8.2
Xr/h=9.3 RNG
Koronaki[6]
Yakhot[9]
RNG k-ε
x/D=2.0
RNG
(
) (
)
3 4 x/D=2.0
RNG
7
k -ε KE
RNG
(Dissipation)
k-ε RNG
RNG
(e.g. Komologov
Energy Spectrum) k-ε
RNG
k-ε
5 RNG C
5.3
5.3.1.
Baoyu[3] 8
k-ε RNG
(1)
( F r e e
Vortex)
(2)
9
RNG
5.3.2.
RNG model k-ε model
C RNG model
RNG
Chang[4]
9
(e. g. )
LES(Large Eddy
Simulation) DNS(direct Numerical
Simulation)
C
LES DNS
5.4
RNG
C F L
Courant number 0.1
10
2.0
11
T = 0.04 (f=
25Hz)
(resonance)
(lock-over) (lock-
in)
12 15
(Chaotic)
( S i m p l e
Attractor)
(Stranger Attractor)
-
(
)
k-ε RNG
(1)
(2)RNG model k-ε model
C RNG model
(3)
(4)
1.Sheen H. J., W. J. Chen, T. L. Huang,
"Correlation of Swirl Number for a
Radial-Type Swirl Generator",
Experiment Thermal and Fluid Science,
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Neitzel, "Measurements in Turbulent
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1988.
3.Baoyu G., A. G Tim. Langrish, F. F
David., "Simulation of Turbulent Swirl
Flow in an Axisymmetric Sudden
Expan-
sion", AIAA Journal, Vol. 26, pp. 1-15,
2002.
4.Chang K. C., C. S. Chen, "Development
of A Hybrid Turbulence Model for
Swirling Recirculating Flows Under
Moderate to Strong Swirl Intensities"
Int. Journal for Numerical Methods in
Fluids, Vol. 16, pp. 421-443, 1993.
5.Jorg Schluter, "Influence of
Axisymmetric Assumptions on Large
Eddy Simulations of a Confined Jet and
a Swirl Flow", submitted for publication
to International Journal of
Computational Fluid Dynamics, 2001.
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Founti, N. C. Markatos, "Numerical
Study of Turbulent Diesel Flow in a
Pipe with Sudden Expansion", Applied
Mathematical Modelling, Vol. 25, pp.
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of Dump Combustors with Flame
Holders", AIAA-75-165, 1975.
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Phys. Fluids A, Vol. 4, pp. 1510-1520,
1992.
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Scientific Computing, Vol. 1, No. 1, pp.
3-51, 1986.
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Numerical Computation of Turbulent
Flow", Computer Methods in Applied
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Publishing Co., New York, 1980.
" GPS/INS "
GPS INS
GPS/INS
(2nd order) (Guassian Noise)
(
) (Runge-Kutta method or Hermite interpolation)
GPS/INS
GPS/INS
/
/
Non-linear GPS/INS navigation for
autonomous mobile vehicles
Abstract
Nowadays, there has been a major upsurge of interest in the integrated GPS/INS usage
as a cost-effective way of providing the accurate and the reliable navigation for military and
civil applications. Therefore, in this research, we propose a concisely and well-designed non-
linear architecture for the autonomous mobile vehicles. This system evaluates performance
with a decentralized architecture for the fusion of information from different asynchronous
sources.
The GPS/INS filter mechanism, in this research, was developed with an error model
including linear and non-linear components. The latter consists of a quadratic function of
states and was approximated by a Gaussian-noise term thereby allowing Kalman filter being
used under the varying measurement sets. Moreover an integrator dealing with navigation
system has to provide continuous and dense outputs at the equidistant-time steps and also
supplemented by a Runge-Kutta method or Hermite interpolation scheme.
Conclusively, the corresponded network simulations and experimental results will be
presented to demonstrate this novel non-linear navigation architecture of integrated GPS/INS
in usage of the autonomous mobile and/or remote pilot vehicles.
Key words: Non-linear GPS/INS navigation for autonomous mobile vehicles.
Chih-Yeh King Assistant Professor, Department of Electrical Engineering, HIT
(GPS/INS)
(
) [1~3] US-
GPS [4,5] GLONASS
[6,7]
GPS/INS
GPS
INS
INS/GPS Kalman
Filter
GPS INS
(Pseudo-
range, Pseudo-range-rate) GPS/INS
GPS IMU
[8,9]
GPS
GPS INS
GPS/INS
GPS/INS
[10~15] Strapdown
(
) GPS
1 Hz.
(Kalman Filter) 5 Hz
GPS
GPS
(Second-
order terms)
Quadratic Filter
2.1 GPS/INS
(Body-axes)
(Color-noise) Quadratic
Filter
(Color-noise) Quadratic
Filter
(Noise Correlated)
(e)Integrated nonlinear GPS/INS error
model
(d) Vehicle's rotation Equation
Predicator's criterira:
[16~18] [H]
GPS (Pseudo-range &
Pseudo-range rate)
GPS (dB, dF)
GSM/GPRS
GPS
P C (
)
( (a), (b))
[P(0|0)], [Q], [R]
( (c))
( (d))
(GPS/INS)
(Hermite Interpolation)
(On-board)
Kalman
([P(0|0)], [Q], [R]
)
1. [P(0|0)], [Q], [R]
2. [H]
3. GPS
LabVIEW MATLAB
GPS/INS
1. LabVIEW
( R S - 2 3 2 ,
PIMCIA, USB) GPS
NIMA-0183
(Pseudo-range &
Pseudo-range rate)
(WGS84/TWD97)
2. GPS/INS
MATLAB
(State Predicator)
0.2 sec 1
s e c (
Accelerometer, Gyroscope)
GPS/INS
3. GPS/INS
(Second-order forms)
Quadratic filter
Color noise
4. (
[1] E. M. Nebot and H. Durrant-Whyte, "A
high integrity navigation architecture for
an outdoor autonomous vehicles",
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pp. 81-97, 1999.
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[3] R. C. Hart, C. J. Gramling, J. K.
Deutschmann, A. C. Long, D. H. Oza,
W. L. Steger, "Autonomous navigation
initiatives at NASA GSFC flight
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International Astro-dynamics
Symposium, 96-C-23, pp. 125-130,
1996.
[4] Eckley, G.P., "Navstar Global
Positioning System Coordinate System
Definitions Representations and
Analysis", The Magnavox Company
Advanced Products Division Report
MRL R-5052, pp. 4-22, March 31, 1975.
[5] Martin, E.H., "Navstar Global
Positioning System Navigation
Mechanization Analysis", The
) G P S
(Pseudo-range & Pseudo-range rate)
Hermite Interpolation
Curve
Fitt ing
[19~24] (DSPs
TMS320C54x) /
GSM/GPRS
GPS/INS
Magnavox Company Advanced Products
Division Report MRL R-5070, pp. 17-
51, May 12, 1975.
[6] J. K. Ray, O. S. Salychev, M. F.
Cannon, "The modified wave estimator
as an alternative to a Kalman filter for
real-time GPS/GLONASS INS
integration", Journal of Geodesy, Vol.
73: pp. 568-576, 1999.
[7] R. E. Phelts, D. Akos, and P. Enge,
"SQM validation report for GNSSP Wg-
B Meeting", Dept. of Aero/Astron.
Engineering, Standford University, May
2000.
[8] M. A. Lewis, A. H. Fagg, G. A. Bekey,
"The USC autonomous flying vehicle:
An experience on real-time behavior
control", IEEE International Conference
on Robotics and Automation, pp. 422-
429, May 1993.
[9] T. S. Stombaugh and S. A. Shearer,
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agriculture vehicles", Proc. European
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121-126, 2001.
[10] Wong, R.V.C., "Development of a
RLG Strapdown Inertial Survey System"
Department of Surveying Engineering
Calgary, pp. 31-68, Alberta, 1988.
[11] Piscane, V.L., Moore, R.C.,
"Fundamentals of Space Systems",
Oxford University Press, pp.245-304,
New York, NY, 1994.
[12] M. Bozorg, E. Nebot, and H. Durrant-
Whyte, "A decentralized navigation
architecture", Proc. IEEE-ICRA,
Belgium, pp. 3413-3418, 1998.
[13] F. A. Faruqi, "Non-linear mathematical
model for integrated globe position and
inertial navigation systems", Applied
Mathematics and Computation, Vol. 115,
pp. 191-212, (2000).
[14] H. D. Stevens, E. S. Miles, S. M.
Rock, R. H. Cannon, "Object-based task-
level control: A hierarchical control
architecture for remote operation of
space robots", Proc. AIAA/NASA
Conference on Intelligent Robotics in
Field, Factory, Service and Space, pp.
264-273, Houston, 1994.
[15] P. W. McBurney, "A robust approach
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Proc. Of IEEE Position, Location, and
Navigation Symposium, 549-556, March
1990.
[16] Handley, S., Langley, P. and Rauscher,
F., "Learning to predict the duration of
an automobile trip", Proc. AAAI, 4th
Annual Conference on Knowledge
Discovery and Data Mining, pp. 219-
223, New York, 1998.
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& Electronic Systems, 1001-1008, Oct.
1994.
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solution for continuous-time Kalman
tracking filters with colored
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domain", IEEE Trans. on Aerospace &
Electronic Systems, 1059-1063, Oct.
1994.
[19] C.Y. King, "Virtual Instrumentation-
Based System in a Real-Time Telemetry
of GPS/GIS", Proceedings on IEEE
RAST2003, Ref: S6BV2, Nov. 20~22,
2003. (Accepted)
[20] "
" 2003
A2 47 ~ 52
Oct. 17, 2003.
[21] C.Y. King, "Study of a Concise
Programming for GPS Positioning and
Navigation", Proceedings on CAC 2003,
C10-4, pp. 548-553, March 13~14, 2003.
[22] C.Y. King, "Virtual Instrumentation-
Based System in Real-time Positioning
of GPS"
Paper ID: F-056, Taiwan, Nov.
14~16, 2002.
[23] C.Y. King, "Study on a real-time
LabVIEW prototype of the GPS
system", AMTE 2002 IEEE/ASME
International Conference, A103, Chia-yi,
Taiwan, Aug. 11~14, 2002.
[24] "
"
105 ~ 114
Aug. 09,
2002.