• International Journal of Fluid Machinery and Systems
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• 제3권4호
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• pp.352-359
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• 2010

In recent years, the market has shown increasing interest in pump-turbines. The prompt availability of pumped storage plants and the benefits to the power system achieved by peak lopping, providing reserve capacity, and rapid response in frequency control are providing a growing advantage. In this context, there is a need to develop pumpturbines that can reliably withstand dynamic operation modes, fast changes of discharge rate by adjusting the variable diffuser vanes, as well as fast changes from pumping to turbine operation. In the first part of the present study, various flow patterns linked to operation of a pump-turbine system are discussed. In this context, pump and turbine modes are presented separately and different load cases are shown in each operating mode. In order to create modern, competitive pump-turbine designs, this study further explains what design challenges should be considered in defining the geometry of a pump-turbine impeller. The second part of the paper describes an innovative, staggered approach to impeller development, applied to a low head pump-turbine project. The first level of the process consists of optimization strategies based on evolutionary algorithms together with 3D in-viscid flow analysis. In the next stage, the hydraulic behavior of both pump mode and turbine mode is evaluated by solving the full 3D Navier-Stokes equations in combination with a robust turbulence model. Finally, the progress in hydraulic design is demonstrated by model test results that show a significant improvement in hydraulic performance compared to an existing reference design.

• 한국소음진동공학회논문집
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• 제22권3호
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• pp.284-290
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• 2012

In this research, a new type of haptic master device using electrorheological(ER) fluid for minimally invasive surgery(MIS) is devised and control performance of the proposed haptic master is evaluated. The proposed haptic master consists of ER bi-directional clutch/brake for 2 DOF rotational motion(X, Y) using gimbal structure and ER brake on the gripper for 1 DOF rotational motion (Z). Using Bingham characteristic of ER fluid and geometrical constraints, principal design variables of the haptic master are determined. Then, the generation of torque of the proposed master is experimentally evaluated as a function of applied field of voltage. A sliding mode controller which is robust to uncertainties is then designed and empirically realized. It has been demonstrated via experiment that the proposed haptic master associated with the controller can be effectively applied to MIS in real field conditions.

• 대한기계학회논문집A
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• 제20권3호
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• pp.850-860
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• 1996

This paper considers a sliding mode controller for a depth and course control of a class of submersible Vehicles. Since the vehicle used here shows complex dynamic characteristics sensitive to speed variation and buoyancy, robustness in control of vertical and horizontal plane motions of the vehicle is achieved by using the sliding mode controller of which a structure varies according to a pre-designed principle, so called the variable structure control. To compare this controller with another in robustness, PID controller for the same model of vehicle is designed. From various simulations for two controllers, it is shown that the sliding mode controller is the more robust anainst to modeling errors and disturbances.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.373-375
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• 2004

The SRM is more robust and lower cost than other type motors. The inverter for SRM cannot have shoot through fault, since a phase winding of SRM is independent of other phase windings. The SRM has high starting torque and high power density. But it has torque ripples due to nonlinear magnetic characteristics. Therefore, SRM has highly non-linear torque producing characteristics. Because fuzzy logic is a flexible and general-purposed method for implementing non-linear dynamic functions, it is effective for the control of high current SRM. We design the fuzzy controller and demonstrate the fuzzy control system by MATLAB.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 춘계학술대회 논문집
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• pp.173-179
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• 2002

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C50) fur robotic manipulators to achieve trajectory tracking angles. Digital signal processors are used in implementing real time adaptive control algorithms to provide motion for robotic manipulators. In the proposed scheme, adaptation laws are derived from the improved second stability analysis based on the indirect adaptive control theory. The proposed control scheme is simple in structure, fast in computation, an suitable fur implementation of real-time control. Moreover, this scheme does not require an accurate dynamic modeling, nor values of manipulator parameters and payload. Performance of the adaptive controller is illustrated by experimental results for a SCARA robot.

• 한국소음진동공학회논문집
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• 제16권11호
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• pp.1100-1107
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• 2006

As environmental vibration requirements on precision equipment become more stringent, use of pneumatic isolators has become more popular and their performance is subsequently required to be further improved. Performance of passive pneumatic isolators is related to various design parameters in a complicated manner and, hence, is very limited especially in low frequency range by chamber volume. In this study, transmissibility behavior of the pneumatic isolators depending on frequency and dynamic amplitude are presented. Then, an active control technique, time delay control, which is adequate for a low frequency nonlinear system, is applied. A procedure of applying the time delay control law to a pneumatic isolator is presented and it's effectiveness in the transmissibility performance is shown. Comparison between passive and active pneumatic isolators is made based on simulation.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1463-1467
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• 2005

This paper proposes an analytical redundancy technique for fault diagnostics of the sensor in steer-by-wire system. We use incorporating vehicle dynamics modeling into the design of a diagnostic system for steer-by-wire system. The use of a model of vehicle dynamics improves the speed and accuracy of the diagnoses. The proposed fault diagnostics algorithm is based on parity-space methods to generate residuals. To reduce the effects of modeling uncertainty and dynamic transients, the residuals are subject to filtering. We construct diagnostic system consisting residual threshold for detection and isolator with using the directional residual vector.

• 한국정보통신학회논문지
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• 제4권3호
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• pp.611-618
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• 2000

This paper presents a shape classification method of dynamic image based on adaptive fuzzy inference. It describes the design scheme of fuzzy inference algorithm which makes it suitable for low speed systems such as conveyor, uninhabited transportation. In the first Discrete Wavelet Transform(DWT) is utilized to extract the motion vector in a sequential images. This approach provides a mechanism to simple but robust information which is desirable when dealing with an unknown environment. By using feature parameters of moving object, fuzzy if - then rule which can be able to adapt the variation of circumstances is devised. Then applying the implication function, shape classification processes are performed. Experimental results are presented to testify the performance and applicability of the proposed algorithm.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2007년도 춘계학술대회A
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• pp.831-836
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• 2007

This paper proposes an optimal galloping trajectory which costs low energy and guarantees the stability of the quadruped robot. In the realization of the fast galloping, the trajectory design is important. As a galloping trajectory, we propose an elliptic leg trajectory, which provides simplified locomotion to complex galloping motions of animals. However, the elliptic trajectory, as an imitation of animal galloping motion, does not guarantee stability and minimal energy consumption. We propose optimization based on the energy and stability using a genetic algorithm, which provides the robust and global solution to a multi-body, highly nonlinear dynamic system. To evaluate and verify the effectiveness of the proposed trajectory, computer simulations were carried out.

• The Journal of the Acoustical Society of Korea
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• 제16권2E호
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• pp.27-31
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• 1997

This paper proposes a new rejection algorithm which distinguishes unregistered spoken words(or non-keywords) from registered vocabulary. Two kinds of garbage models are employed in this design ; the original garbage model and a new word garbage model. The original garbage model collects all non-keyword patterns where the new word garbage model collects patterns classified by recognizing each non-keyword pattern with registered vocabulary. These two types of garbage models work together to make a robust reject decision. The first stage of processing is the classification of an input pattern through the original garbage model. In the event that the first stage of processing is ambiguous, the new word dependent garbage model is used to classify thye input pattern as either a registered or non-registered word. This paper shows the efficiency of the new word dependent garbage model. A Dynamic Multisection method is used to test the performance of the algorithm. Results of this experiment show that the proposed algorithm performs at a higher level than that of the original garbage model.