• Title, Summary, Keyword: instrumentation

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Design of A Robust two-degree-of-freedom Controller for An Inverted Pendulum System (도립진자 시스템에 적용한 강건한 2-자유도 제어기 설계)

  • Ahn, Soo-Joong;Lee, Sang-Chuel;Cho, Do-Hyeoun;Lee, Jong-Yong;Park, Jong-Woo;Lee, Sang-Hyo
    • Proceedings of the KIEE Conference
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    • pp.847-849
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    • 1999
  • 본 논문에서는 도립 진자 시스템에 대하여 모델의 불확실성에도 불구하고 수레의 위치가 기준 입력을 추종하는 강건한 2-자유도(two degree of freedom) 제어기를 설계한다. 도립 진자 시스템의 모델 불확실성은 기약 분해 불확실성으로 고려하고, 기준 입력 추종 성능은 도립 진자 시스템의 수레 위치가 원하는 기준 위치로 추종하는 문제를 고려한다. 이러한 강건 안정화와 기준입력 추종사이의 절충 문제를 해결하기 위해서 2-자유도 제어기를 설계한다. 2-자유도 제어기는 프리필터와 피드백 제어기로 구성된다. 설계 절차에 따라 얻어진 제어기는 모의 실험을 통해 그 성능을 확인한다.

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Control of the flexible system under irregular disturbance by using of 『random gain』

  • Cho, Yun-Hyun;Yang, Jae-Hyuk;Kim, Dae-Jung;Park, Sang-Tae;Chung, Jae-Wook;Hoon Heo
    • 제어로봇시스템학회:학술대회논문집
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    • pp.435-439
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    • 1998
  • A control strategy for flexible structure under irregular disturbance by using of$\boxDr$random gain$\boxUl$is developed and implemented. System equation is transformed to stochastic domain by F-P-K approach from physical domain. A controller is designed in the stochastic domain, accordingly system is controlled by$\boxDr$random gain$\boxUl$in time domain. In the paper, a new control technique is successfully employed for flexible system under white noise, and the result is verified by Monte-Carlo simulation and compared with the performance via LQR controller.

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Long Term Clinical and Radiological Follow-up Study in Spondylolisthesis, Grade I : Decompression with or without Instrument (GradeⅠ요추부 척추 전방 전위증의 치료 : 감압성 후궁절제술과 고정기구 삽입술의 비교)

  • Chung, Seung Young;Kim, Gook Ki;Lim, Young Jin;Kim, Tae Sung;Leem, Won;Rhee, Bong Arm
    • Journal of Korean Neurosurgical Society
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    • v.30 no.sup2
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    • pp.235-241
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    • 2001
  • Objective : Controversy exists which surgical treatment better in lumbar grade I spondylolisthesis, decompressive laminectomy with or without lumbar instrumentation. Methods : Out of Sixty-four patients with lumbar spondylolisthesis underwent surgery, 18 patients operated with decompressive laminectomy alone and 44 patients with decompession and lumbar instrument, during recent 5-years between January, 1994 and December, 1998. The author studied a long term follow-up in the above two groups to analyzing the overall clinical outcomes in each group and to determining the incidence of pos-toperative radiologic instability. Results : 1) Overall postoperative symptoms improvement were not so different in both groups. 2) Postoperative progressive subluxation is more common after decompressive laminectomy without instrumentation than with instrumentation group. 3) Overall clinical outcomes were slightly better in decompressive laminectomy without instrumentation than with instrumentation group but there was no significant difference. 4) Postoperative radiologic changes did not seem to influence the patient-reported clinical outcomes. 5) Postoperative complications is more common in decompressive laminectomy with instrumentation group than without instrumentation group. Conclusion : In the surgical management of grade I spondylolisthesis, the efficiency and superiority of surgical treatments requires the cost effectiveness and risk/benefit analysis of decompressive laminectomy with or without instrumentation. Therefore, Further detailed studies of long term follow up in a large number of patients in each group are needed for choice of best treatment.

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해양플렌트를 위한 4륜구동 청소 로봇 시스템 개발

  • Kim, Min;Choi, Myoung-Hoon;Jeong, Jae-Hoon;Kim, Hyun-Jo;Kang, Min-Woo;Park, Won-Hyeon;Kim, Gwan-Hyung;Byun, Gi-Sik
    • Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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    • pp.919-920
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    • 2014
  • 따개비(barnacle)는 선저부에 붙어서 번식하며 딱딱한 석회질 껍데기로 덮여있다. 이로 인하여 선박의 속도를 저하시키고 도료기능을 상실시키는 주요인이 된다. 이를 제거하기 위해 작업자가 직접 액체를 분사하고 브러쉬로 세척해야 한다는 불편함과 위험에 노출되기 때문에 선박작업용 로봇이나 기계들이 많이 개발되고 있다. 현재 연구 중이거나 개발이 완료된 것 중에는 영구자석 또는 전자석 휠을 사용하거나 공압을 이용하여 수직벽면에서 작업을 한다. 특히 공압 방식을 많이 사용하였는데 수직벽면에 로봇이 밀착될 만큼 강한 공압이 필요하게 되기 때문에 부가적인 장치가 많이 필요하다. 본 논문에서는 부가적인 장치를 최소화하고 효과적인 동작을 하기위해 전자석 방식을 선택 하였으며 간편하게 선박의 수직벽면을 작업할 수 있는 전자석 방식의 4륜 로봇을 개발하고자 한다. 선박의 수직벽면 작업용 4륜구동 로봇을 전자석을 이용하여 수직벽면에 부착할 수 있도록 설계하였으며 자력의 세기와 방향을 제어하여 로봇이 선박의 수직면에 밀착되어 자유롭게 이동이 가능하도록 개발 하고자 한다.

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Implementation & Application of Instrumentation System on Performance Evaluation for Korea-Radio Train Control System (통신기반 열차제어시스템 성능평가용 계측시스템 구현 및 적용)

  • Lee, Jae-Ho;Lee, Kang-Mi;Park, Pyoung-Sik
    • The Transactions of The Korean Institute of Electrical Engineers
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    • v.62 no.12
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    • pp.1777-1783
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    • 2013
  • This study aims to implement an instrumentation system measuring and analysing real-time data of information flow between respective subunits composing train control system as the performance evaluation method for wireless communication based urban railway train control system under development for a Korean model. It analyses system functional requirements regarding subsystems composing wireless communication based train control system and test items for functions presented in each specification and examines data and measurement point for measuring according to test items in order to implement an instrumentation system. And, it clearly defines requirements of an instrumentation system to avoid malfunction or error in operation of train control system. It reviews data processing method and display method for effective analysis of data flow between respective subunits with measured data, designs and makes an instrumentation system. Ultimately, it applies to a performance test of train control system and makes sure an instrumentation system in normal working order.

Thermo-structural monitoring of RCC dam in India through instrumentation

  • Ashtankar, V.B.;Chore, H.S.
    • Structural Monitoring and Maintenance
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    • v.2 no.2
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    • pp.95-113
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    • 2015
  • The knowledge of the behavior of any roller compacted concrete (RCC) dam and its foundation is gained by studying the service action of the dam and its foundation using measurements of an external and internal nature. The information by which a continuing assurance of structural safety of the RCC dam can be gauged is of primary importance. Similarly, the fact that the information on structural and thermal behavior and the properties of concrete that may be used to give added criteria for use in the design of future RCC dams is of secondary importance. Wide spread attention is now being given to the installation of more expensive instrumentation for studying the behavior of concrete dams and reservoirs and forecasting of any adverse trends. In view of this, the paper traces installation and need of the comprehensive instrumentation scheme implemented to monitor the structural and thermal behavior of 102.4 m high RCC dam constructed near Mumbai in India. An attempt is made in the present paper to emphasize the need to undertake an instrumentation program and evaluate their performance during construction and post construction stage of RCC structures. Few typical results, regarding the thermal and structural behavior of the dam, obtained through instrumentation installed at the dam site are presented and compared with the design considerations. The fair agreement is seen in the response observed through instrumentation with that governing the design criteria.

A CYBER SECURITY RISK ASSESSMENT FOR THE DESIGN OF I&C SYSTEMS IN NUCLEAR POWER PLANTS

  • Song, Jae-Gu;Lee, Jung-Woon;Lee, Cheol-Kwon;Kwon, Kee-Choon;Lee, Dong-Young
    • Nuclear Engineering and Technology
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    • v.44 no.8
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    • pp.919-928
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    • 2012
  • The applications of computers and communication system and network technologies in nuclear power plants have expanded recently. This application of digital technologies to the instrumentation and control systems of nuclear power plants brings with it the cyber security concerns similar to other critical infrastructures. Cyber security risk assessments for digital instrumentation and control systems have become more crucial in the development of new systems and in the operation of existing systems. Although the instrumentation and control systems of nuclear power plants are similar to industrial control systems, the former have specifications that differ from the latter in terms of architecture and function, in order to satisfy nuclear safety requirements, which need different methods for the application of cyber security risk assessment. In this paper, the characteristics of nuclear power plant instrumentation and control systems are described, and the considerations needed when conducting cyber security risk assessments in accordance with the lifecycle process of instrumentation and control systems are discussed. For cyber security risk assessments of instrumentation and control systems, the activities and considerations necessary for assessments during the system design phase or component design and equipment supply phase are presented in the following 6 steps: 1) System Identification and Cyber Security Modeling, 2) Asset and Impact Analysis, 3) Threat Analysis, 4) Vulnerability Analysis, 5) Security Control Design, and 6) Penetration test. The results from an application of the method to a digital reactor protection system are described.

Control of The Soft Starter using Bluetooth (Bluetooth를 이용한 Soft Starter 제어)

  • Bae, Jong-Il;Hwang, Yeong-Yeun;Lee, Dong-Cheol;Bae, Cheol-Min
    • Proceedings of the KIEE Conference
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    • pp.2735-2737
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    • 2005
  • Been using widely Soft Starter control system is $Y-{\Delta}$ method, Reactor method, Resistor method etc. and this methods are big mobile warfare kind and voltage drop and can not operate because suspending load because smallest operation acceleration Torque is small.

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