• Journal of Drive and Control
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• v.13 no.4
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• pp.52-58
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• 2016

The mechanical design for biped walking of a humanoid robot doing the Argentina Tango is presented in this paper. Biped walking has long been studied in the area of robotic locomotion. The aim of this paper is to implement an Argentina Tango dancer-like walking motion with a humanoid robot by using a trajectory generation scheme. To that end, this paper uses blending polynominals whose parameters are determined based on PSO (Particle Swarm Optimization) according to conditions that make the most of the Argentina Tango's characteristics. For the stability of biped walking, the ZMP (Zero Moment Point) control method is used. The feasibility of the proposed scheme is evaluated by simulating biped walking with the 3D Simscape robot model. The simulation results show the validity and effectiveness of the proposed method.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.187-188
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• 2011

This paper proposes the hybrid Complex-PSO algorithm based on the complex search method and particle swarm optimization (PSO) for unconstrained optimization. This hybridization intends to produce faster and more accurate convergence to the optimum value. These hybrid will concentrate on determining the dynamic load model parameters, the ZIP model and induction motor model parameters. Measurement-based parameter estimation, which employs measurement data to derive load model parameters, is used. The theoretical foundation of the measurement-based approach is system identification. The main objective of this paper is to demonstrate how the standard particle swarm optimization and complex method can be improved through hybridization of the two methods and the results will be compared with that of their original forms.

• Proceedings of the Acoustical Society of Korea Conference
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• autumn
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• pp.479-482
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• 2004

In this article we consider a single maneuvering target Tracking algorithm in the presence of missing measurements and high clutter environments for multi-sensor target tracking problem. The tracking algorithm is based on the Particle filtering method to predict and update target states. Proposed is the AMM-PF(Auxiliary Multiple Model Particle Filter)[2] method for maneuvering target tracking to improve performance in track estimate and maintenance with a high level of uncertainty. The algorithm we propose is compared to the Extended Kalman Filter(EKF). A simulation study is included.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.4
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• pp.817-823
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• 2009

This paper proposes a robust method for mapping of a caterpillar-type mobile robot which inherently has uncertainty in its modeling by compensating for the estimated pose error of the robot. In general, a caterpillar type robot is difficult to model, which results in inaccuracy in Simultaneous Localization And Mapping(SLAM). To enhance the robustness of the SLAM for a caterpillar-type mobile robot, we factorize the SLAM posterior, where we used particle filter to estimate the position of the robot and Extended Kalman Filter(EKF) to map the environment. The simulation results show the effectiveness and robustness of the proposed method for mapping.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.27 no.11
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• pp.69-75
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• 2013

This paper proposes a new algorithm for the optimal placement of a step voltage regulator(SVR) in distribution system with Distributed Generators(DG) using a Particle Swarm Optimization(PSO). The objective function of this algorithm is to find optimal placement for minimum loss while maintaining each node voltage fluctuations within upper and lower limits. In the objective function of proposed algorithm, the deviations to reference voltage and the distribution loss are considered. To verify effectiveness of the proposed method, simulation is implemented using MATLAB.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.151-157
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• 2005

In the chemical, mineral and electronics industries, mechanically stirred tanks are widely used for complex liquid and particle mixing processes. In order to understand the complex phenomena that occur in such tanks, it is necessary to investigate flow field in the vessel. Most difficulty on the numerical analysis of stirred tank flow field focused particularly on free surface analysis. In order to decrease the dead zone and improve the flow efficiency of a system with free surface, this paper presents a new method that overcomes free surface effects by properly combining the benefits of using experiment and 3-D CFD. This method is applied to study the mixing flow in an agitated tank. From the results of experimental studies using the PIV (particle image velocimetry) system, the distribution of mixing flow including free surface are obtained. And these values that are expressed as a velocity vector field have been patched for simulating the free surface. The results of velocity distribution obtained by 3-D CFD are compared with those of experimental results. The experimental data and the simulation results are in good agreement.

• 유체기계공업학회:학술대회논문집
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• 2000.12a
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• pp.176-183
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• 2000

The performance of gas turbines decreases as their operating hours increase. Compressor fouling is the main reason for this time-dependent performance degradation. Airborne particles adhere to the blade surface and results in the change in the blade shape. It is difficult to exactly analyze the mechanism of the compressor fouling because the growing process of the fouling is very slow and the dimension of the fouled depth is very small compared with blade dimensions. In this study, an analytic method to predict the motion of particles and their deposition inside axial flow compressors is proposed. The analytic model takes into account the blade shape and the flow within the blade passage. Comparison of simulation result with field data shows the feasibility of the model. Influence of the particle distribution on the compressor fouling is also examined.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2006.06a
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• pp.269-270
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• 2006

A finite difference lattice Boltzmann model which allows us to simulate gas-liquid two-phase flows with large density difference, for instance, 800 times for air and water is considered. Two-particle model is used and the density difference is introduced by changing the acceleration according to the fluid density. Numerical measurement of surface tension agrees well with theoretical predictions. Simulations of two-phase phenomenon for phase-transition is carried out, showing applicability of the model for two-phase flows. The two-dimensional cavitating flow around a board set up in the fluid way is also simulated. As a result, it was confirmed that the FDLB method with two-particle model was effective in numerical simulation of cavitating flow and the bubble periodically grew up at the low pressure area behind the board, in which the fluid condition was influenced by the cavitation number.

• Journal of ILASS-Korea
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• v.5 no.2
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• pp.43-52
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• 2000

Numerical simulation of steady, non-evaporating hollow-cone sprays interacting with concentric annular air jets is performed using the discrete stochastic particle method in KIVA. The spray characteristics such as SMD, mean droplet velocity, liquid volume flux, air/liquid mass ratio, and droplet number density arc obtained and compared with the measurements involving different air flow rates in large and small annuli. Overall satisfactory agreement is achieved between calculation and experiment except for the deviation in the downstream SMD arising from uncertainty in the size distribution function at injection, and inaccuracy in the averaged spray parameters due to the small volumes of axisymmetric 2-D sector meshes close to the axis.

• Journal of Electrical Engineering and Technology
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• v.13 no.1
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• pp.211-219
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• 2018

This paper designs a nonlinear PI-type controller for the robust control of a boost DC-DC converter using a particle swarm optimization (PSO) algorithm. Based on the common knowledge that the transient responses can be improved if the P and I gains increase when the transient error is big, a nonlinear PI-type control design method is developed. A design procedure to autotune the nonlinear P and I gains is given based on a PSO algorithm. The proposed nonlinear PI-type controller is implemented in real time on a Texas Instruments TMS320F28335 floating-point DSP. Simulation and experimental results are given to demonstrate the effectiveness and practicality of the proposed method.