• Journal of the Korean Institute of Telematics and Electronics B
• /
• v.33B no.4
• /
• pp.27-40
• /
• 1996

This paper proposed a kinematic modeling methodlogy and feedback control system based on kinematics for 2 degrees of freedom of 4-wheeled mobile robot. We assigned coordinate systems to specify the transformation matirx and write the kinematic equation of motion. We derived the actuated inverse and sensed forwared solution for the calculation of actual robot orientation and the desired robot orientation. It is the most significant error and has the largest impact on the motion accuracy. To calculate the WMR position in real time, we introduced the dead-reckoning algorithm and composed two feedback control system that is based on kinematics. Through the simulation result, we compare with the ffedback control system for position control.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.4 no.6
• /
• pp.616-623
• /
• 1999

Elevator velocity pattern is basL'C! on combining the time-based velocity pattern according to which the car m trip from starting position to vicinity of target position, and distance-based velocity pattern for precise landing ( of car. To obtain the lide comfortability, the impact caused by velocity pattern switching should be minimizLD b by removing the discontinuity of velocity and acceleration. In this paper, new velocity pattern generation m method which ensure the continuity of velocity and acceleration during pattern switching is proposed. P ProPOSLD velocity pattern also shorten the landing time to the target position.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2006.11a
• /
• pp.457-462
• /
• 2006

This paper is concerned with the active vibration control experiment on cylindrical shell equipped with Macro Fiber Composite(MFC) actuators. The MFC actuators were glued to the cylindrical shell in circumferential directions. To verify the theoretical result, vibration test using impact hammer and accelerometer was carried out. It was found from experiments that theoretical result predicts experimental result to some extent. The positive position feedback controllers were designed and applied to the test article. It was observed that the resonant amplitude of the fundamental mode was reduced by 20dB thus achieving active vibration control. The active vibration control of the response subject to non resonant excitation has been of interest. We developed the combination of the positive position feedback controller which can cope with the fundamental mode and the positive position feedback controller which can counteract the external disturbance with non resonant frequency. It was found from experiments that the hybrid controller can suppress the vibration amplitude successfully.

• Nuclear Engineering and Technology
• /
• v.54 no.3
• /
• pp.803-810
• /
• 2022

The small modular liquid-metal fast reactor (SMFR) is an important component of advanced nuclear systems. SMFRs exhibit relatively low breeding capability and constraint space for control rod installation. Consequently, control rods are deeply inserted at beginning and are withdrawn gradually to compensate for large burnup reactivity loss in a long lifetime. This paper is committed to investigating the impact of control rod compensation operation on core neutronics characteristics. This paper presents a whole core fine depletion model of long lifetime SMFR using OpenMC and the influence of depletion chains is verified. Three control rod position schemes to simulate the compensation process are compared. The results show that the fine simulation of the control rod compensation process impacts significantly the fuel burnup distribution and absorber consumption. A control rod equivalent position scheme proposed in this work is an optimal option in the trade-off between computation time and accuracy. The control position is crucial for accurate power distribution and void feedback coefficients in SMFRs. The results in this paper also show that the pin level power distribution is important due to the heterogeneous distribution in SMFRs. The fuel burnup distribution at the end of core life impacts the worth of control rods.

• Structural Engineering and Mechanics
• /
• v.82 no.2
• /
• pp.233-244
• /
• 2022

Following a loss of control, the impact against a road barrier in a turn predominates among the most severe motorcyclist accidents. These road restraint devices can be equipped with a motorcycle screen, the function of which is to restrain the rider and minimize the consequences of the impact in terms of the severity of injuries. The performance of these screens is evaluated by the European normative procedure EN1317-8, which specifies the test conditions, based on one or two configurations. In practice, however, these impact conditions are very diverse, difficult to extrapolate from accident analysis and therefore poorly investigated. This study is interested in improving knowledge of these impact conditions in terms of impact speed, impact angle and particularly position of the rider. A finite element model has been developed to simulate the dynamic behavior of the rider from loss of control to impact on the screen. Statistical analysis of the results shows a high variability of the impact conditions, in particular with regard to the direction of turn (to the right or to the left). Some improvements are suggested in order to overcome the limitations inherent in standard procedures.

• Journal of Environmental Impact Assessment
• /
• v.22 no.4
• /
• pp.381-387
• /
• 2013

In order to improve the environmental vibration, it is necessary to method for not only reduce the vibration source, but also control the vibration path. In this study, we used borebole for estimate the vibration reduction. And also, we analyzed displacement and vibration velocity caused by the position of borehole as well as the condition of borehole in ground structure. Visual FEA(Finite Element Analysis) program was used in this numerical analysis. The results are as follows : The displacement magnitude and X, Y direction displacement were represented to different results due to the condition and position of borehole, and were represented to the lowest values when the position of borehole is the most close condition from the vibration source. And also, the vibration velocity was decreased as using borebole in ground structure. The isolation efficiency of the vibration was calculated to maximum 18.40% when borehole was established to the most close position from the vibration source and the receive point.

• Journal of the Korean Home Economics Association
• /
• v.34 no.5
• /
• pp.265-282
• /
• 1996

This study investigated the relation between parents' verbal control modes and children's maladjustment. The subjects were 445 mothers and their children of sixth grade in elementary schools located in Seoul. To assess the parents' verbal control modes, questionnaire developed by Lee Kyung Hee(1993) was used. The modified version of Achenbach and Edelbrock's CBCL(Child Behavior Checklist) was administered to assess the children's maladjustment. The results were as follows : 1)Significant differences were found in parents' verbal control modes in terms of children's sex difference and social status level. 2) Significant differences were found in children's maladjustment in terms of children's sex difference and social status level. 3) There was a significant correlation between father's verbal control modes and children's maladjustment. Children's maladjustment was related positively to imperative mode and negatively to the person-oriented and position-oriented modes. The best variable explaining girl's maladjustment was father's position-oriented modes. 4) The negative impact of father's imperative mode in combination with the mother's imperative mode on the children's adjustment was greater than other combinations of the father and mother's verbal control modes.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.54 no.2
• /
• pp.181-187
• /
• 2018

In order for the probe to perform ocean exploration and survey research, it is necessary to adjust the position of the ship as desired by dynamic positioning system. The dynamic positioning system of T/S NARA is applied to K-POS dynamic positioning system of Kongsberg, which makes maintaining the ship's position, changing position and heading control possible. T/S NARA is not capable of dynamic positioning if one or more propulsive forces are lost with DP Level One. However, it is predicted that dynamic positioning can be achieved even at the time of missing one thrust in a good sea condition. Therefore, we want to analyze the effect of each propulsion on the performance of dynamic position system. When one of the bow thruster and azimuth thrusters lost their propulsion, maintaining the ship's position, changing position and heading control performance were compared and analyzed. If the situation occurred disable from using the bow thruster, they can not maintain ship's position. Azimuth thruster was influential for the ship's position control and bow thruster was influential in heading control. The excellent dynamic positioning performance can be achieved, considering the propulsion power that will have a impact on each situation in the future.

• Journal of Astronomy and Space Sciences
• /
• v.29 no.4
• /
• pp.351-362
• /
• 2012

We made a study on real-time determination method for relative position using the laser-measured distance data between satellites. We numerically performed the determination of relative position in accordance with extended Kalman filter algorithm using the vectors obtained through nonlinear equation of relative motion, laser simulator for distance measurement, and attitude determination of chief satellite. Because the spherical parameters of relative distance and direction are used, there occur some changes in precision depending on changes in relative distance when determining the relative position. As a result of simulation, it was possible to determine the relative position with several millimeter-level errors at a distance of 10 km, and sub-millimeter level errors at a distance of 1 km. In addition, we performed the determination of relative position assuming the case that global positioning system data was not received for long hours to see the impact of determination of chief satellite orbit on the determination of relative position. The determination of precise relative position at a long distance carried out in this study can be used for scientific mission using the satellite formation flying.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.18 no.6
• /
• pp.787-796
• /
• 2008

When the manipulator collides with surroundings, there occurs an impulse. To reduce the impulse, the self motion should maintain the manipulator's position by the minimally effective mass. At this time, we can use the local joint torque minimization algorithm to resolve the redundancy. In this study, to reduce the impulse and damages by the impact between the manipulator and surroundings, new control algorithm for the minimization of the joint torque using the kinetic redundancy and the impact minimization is proposed. It adapts fuzzy logic and genetic algorithm to the conventional local joint torque minimization algorithm. The proposed algorithm is applied to a 3-DOF redundant planar manipulator. Simulation results show that the proposed algorithm works well.