• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2004.10a
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• pp.468-473
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• 2004

This paper deal with basic concept of Hardware In the Loop System(HILS) for hydraulic excavator. Hydraulic excavator has many nonlinearities because of P-Q diagram, dead zone and saturation of valve, single acting cylinder, heavy manipulator. So, actual test is needed when new component or control algorithm is developed but many restrictions exist. Hydraulic circuit of excavator is too complex to model mathematically but dynamic equation of manipulator has made good progress in previous studies. Basic concept of HILS and AMESim model of hydraulic components is contained in this paper.

• Journal of Drive and Control
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• v.9 no.2
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• pp.8-14
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• 2012

Electro-hydraulic spring return actuator(ESRA) is utilized for air conditioning facilities in a nuclear power plant. It features self-contained, hydraulic power that is integrally coupled to a single acting hydraulic cylinder and provides efficient and precise linear control of valves as well as return of the actuator to the de-energized position upon loss of power. In this paper, the algebraic equations of ESRA at steady-state have been developed for the analysis of static characteristics that includes control pressure and valve displacement of pressure reducing valve, flow force on flapper as well as its displacement over the entire operating range. Also, the effect of external load on piston deviation is investigated in terms of linear system analysis. The results of static characteristics show the unique feature of force balance mechanism and can be applied to the stable self-controlled mechanical system design of ESAR.

• 한국신재생에너지학회:학술대회논문집
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• 2011.11a
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• pp.38.1-38.1
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• 2011

This study investigates the effects of Pierson-Moskowitz, Jonswap spectrum that are typical irregular wave spectrums for wind turbine system with jacket support structure. Also various offshore environmental parameters based on korean local condition were used in our study. The loads acting on the system was considered by referring to the Design Load Case from IEC guide line. And improved von Karman model was used as a turbulence model. As a result, various significant wave height and peak spectral period cause noticeable difference of extreme and fatigue loads prediction.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.19 no.6
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• pp.575-582
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• 2009

This study presents the vibration excitation system to extract the aerodynamic stability derivatives which is generally called as flutter derivatives in civil engineering. The system consists of the excitation part to give a forced harmonic motion to the model and the sensing part to measure the aerodynamic forces as well as inertia forces acting on a bridge model. A data processing algorithm for extracting the flutter derivatives from the measured forces is also presented. From the wind tunnel tests, verification of present system was done by comparing the measured and analytical results for rectangular shaped model. The effects of excitation frequencies and amplitudes on flutter derivatives are discussed. Five kinds of actual bridge model were presented from the wind tunnel.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.10
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• pp.826-832
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• 2016

A two-wheeled balancing mobile robot (TWBMR) has the characteristics of both nonlinear and underactuated system. In this paper, the disturbances acting on a TWBMR are classified into body disturbance and wheel disturbance. Additionally, we describe a nonlinear disturbance observer, which is suitable as a single input multi-output (SIMO) system for the longitudinal motion of TWBMR. Finally, we propose a reasonable disturbance compensation technique that combines the indirect reference input of equilibrium point and the direct torque compensation input. Simulations and experimental results show that the proposed disturbance compensation method is an effective way to achieve robust postural stability, specifically on inclined terrains.

• Korean Journal of Computational Design and Engineering
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• v.18 no.6
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• pp.407-416
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• 2013

Acting an important risk management tool for main contractors, pre-qualification has served a key marketing tool for subcontractors in various industries. Current industrial environment has required the time intensive pre-qualification ability to small and medium-size subcontractors as a matter of competitive business. In order to support the subcontractors, this paper proposes a database model for pre-qualification management system (PQMS) that automates the pre-qualification process by using information technologies. The modeling process consists of specifications for its requirements, functional modules, and a database model for the PQMS.

• Wind and Structures
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• v.15 no.5
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• pp.441-462
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• 2012

This article presents theoretical investigations on techniques for the improvement of the dynamic characteristics of slender bridges under wind action. Aerodynamically effective control shields are applied as controlled actuators. The first part of the article describes the modelling of the uncontrolled aeroelastic system. Acting aerodynamic forces are consistently characterised using linear time-invariant transfer elements in terms of rational functions. On this basis, two configuration levels of the uncontrolled system are represented with linear time-invariant state-space models and investigated. The second part of the article addresses controller design and the behaviour of the controlled aeroelastic system. Both fundamental limits for stabilisation and the efficiency for attenuating the influence of gusts are described for different actuator mechanisms. The results are derived and discussed with methods of control theory.

• Journal of Ocean Engineering and Technology
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• v.14 no.2
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• pp.7-12
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• 2000

This paper presents a non-regressor based adaptive control scheme for the trajectory tracking of underwater vehicle-mounted manipulator systems(UVMS). The adaptive control system includes a class of unmodeled effects is applied to the trajectory control of an UVMS. The only information required to implement this scheme ios the upper bound and lowe bound of the system parameter matrices the upper bound of unmodeled effects the number of joints the position and attitude of the vehicle and trajectory commands. The adaptive control law estimates control gains defined by the combinations of the bounded constants of system parameter matrices and of a filtered error equation. To evaluate the performance of the non-regressor based adaptive controller computer simulation was performed with a two-link planar robot model mounted on an underwater vehicle. The hydrodynamic effects acting on the manipulator are included. It is assumed that the vehicle's motion is slow and can be predicted with a proper compensator.

• Proceedings of the KIEE Conference
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• 1993.07a
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• pp.102-105
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• 1993

The objective of this study is to solve the operation scheduling problem of plural battery energy storage systems (BESS), and to find useful intonation from its result. Unlike conventional energy storage system, BESS has on hardware characteristics such as high efficiency, fast-acting response and operational loss. Considering rate constraints of thermal unit power as well as hardware characteristics of BESS, the operation scheduling has an intricated problem. In order to solve this optimization problem, we use successive approximations dynamic programming. In two types of operation, the proposed algorithm is applied to test system. one is daily optimal operation, the other weekly optimal operation.

• Bulletin of the Korean Chemical Society
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• v.20 no.4
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• pp.411-416
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• 1999

A new kind of differential flow induced chemical wave is introduced by theoretical calculation. A differential flow between the counter acting species of a dynamical activator-inhibitor system may destabilize its homogeneous reference state and cause the medium to self-organize into a pattern of travelling waves through the differential flow instability (DIFI). In a chemical system, also, the differential bulk flow may change the dynamics of the system, thus it has been refered to as the differential flow induced chemical instability (DIFICI). For DlFICI experiments, one directional flow has been commonly employed, resulting in periodic wave patterns generally. In this study, we considered two directional flow for the DIFICI wave by exchanging artificially the flow direction at some period.