• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10a
• /
• pp.589-594
• /
• 1993

This paper presents a fault detection strategy that discriminates the faulty sensor and that detects the component fault using a bank of observers for the system in which sensor fault and component fault can occur simultaneously. Observers as many as the number of measurements are designed, and each observer uses measurements excluding sequentially one measurement, to estimate the state variables. The faulty sensor can be found out by comparing each state variable from different observer. Next, component fault can be detected by using measurements from the sensors excluding the faulty sensor. The suggested strategy is applied to a nonisothermal, series reaction with unknown reaction kinetics in a CSTR. This strategy is found out to perform well even in the case that the sensor and component fault occur simultaneously. Since each observer is designed to be independent of reaction kinetics, this strategy is not affected by the model uncertainty and nonlinearity of the reaction kinetics.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.1553-1558
• /
• 2003

The authors investigate influences of manipulator dynamics on and roles of kinesthetic sensation and visual sensation in a Human-Machine Cooperative System (HMCS). At first, the general structure and essential transfer functions of HMCSs are described based on the previous work. Then, after showing theoretical treatment of manipulator dynamics, this paper analyzes the influences on HMCSs in two cases: one is the control design focusing on tool dynamics and reaction force transfer function, and the other is that specifies maneuver transfer function and transfer function for object dynamics variation. In addition to conventional experiments only employing kinesthetic sensation, other experiments with both kinesthetic and visual sensations are performed to examine difference in the roles of these sensations and the validity of the design without the visual sensation.

• 제어로봇시스템학회:학술대회논문집
• /
• 1999.10a
• /
• pp.45-48
• /
• 1999

Model predictive control algorithm requires a relevant model of the system to be controlled. Unfortunately, the first principle model describing a polymerization reaction system has a large number of parameters to be estimated. Thus there is a need for the identification and control of a polymerization reactor system by using available input-output data. In this work, the polynomial auto-regressive moving average (ARMA) models are employed as the input-output model and combined into the nonlinear model predictive control algorithm based on the successive linearization method. Simulations are conducted to identify the continuous styrene polymerization reactor system. The input variables are the jacket inlet temperature and the feed flow rate whereas the output variables are the monomer conversion and the weight-average molecular weight. The polynomial ARMA models obtained by the system identification are used to control the monomer conversion and the weight-average molecular weight in a continuous styrene polymerization reactor It is demonstrated that the nonlinear model predictive controller based on the polynomial ARMA model tracks the step changes in the setpoint satisfactorily. In conclusion, the polynomial ARMA model is proven effective in controlling the continuous styrene polymerization reactor.

• International Journal of Aeronautical and Space Sciences
• /
• v.8 no.1
• /
• pp.10-20
• /
• 2007

For spacecraft attitude control, reaction wheel (RW) steering laws with more than three wheels for three-axis attitude control can be derived by using a control allocation (CA) approach.1-2 The CA technique deals with a problem of distributing a given control demand to available sets of actuators.3-4 There are many references for CA with applications to aerospace systems. For spacecraft, the control torque command for three body-fixed reference frames can be constructed by a combination of multiple wheels, usually four-wheel pyramid sets. Multi-wheel configurations can be exploited to satisfy a body-axis control torque requirement while satisfying objectives such as minimum control energy.1-2 In general, the reaction wheel steering laws determine required torque command for each wheel in the form of matrix pseudo-inverse. In general, the attitude control command is generated in the form of a feedback control. The spacecraft body angular rate measured by gyros is used to estimate angular displacement also.⁵ Combination of the body angular rate and attitude parameters such as quaternion and MRPs(Modified Rodrigues Parameters) is typically used in synthesizing the control command which should be produced by RWs.¹ The attitude sensor signals are usually corrupted by noise; gyros tend to contain errors such as drift and random noise. The attitude determination system can estimate such errors, and provide best true signals for feedback control.⁶ Even if the attitude determination system, for instance, sophisticated algorithm such as the EKF(Extended Kalman Filter) algorithm⁶, can eliminate the errors efficiently, it is quite probable that the control command still contains noise sources. The noise and/or other high frequency components in the control command would cause the wheel speed to change in an undesirable manner. The closed-loop system, governed by the feedback control law, is also directly affected by the noise due to imperfect sensor characteristics. The noise components in the sensor signal should be mitigated so that the control command is isolated from the noise effect. This can be done by adding a filter to the sensor output or preventing rapid change in the control command. Dynamic control allocation(DCA), recently studied by Härkegård, is to distribute the control command in the sense of dynamics⁴: the allocation is made over a certain time interval, not a fixed time instant. The dynamic behavior of the control command is taken into account in the course of distributing the control command. Not only the control command requirement, but also variation of the control command over a sampling interval is included in the performance criterion to be optimized. The result is a control command in the form of a finite difference equation over the given time interval.⁴ It results in a filter dynamics by taking the previous control command into account for the synthesis of current control command. Stability of the proposed dynamic control allocation (CA) approach was proved to ensure the control command is bounded at the steady-state. In this study, we extended the results presented in Ref. 4 by adding a two-step dynamic CA term in deriving the control allocation law. Also, the strict equality constraint, between the virtual and actual control inputs, is relaxed in order to construct control command with a smooth profile. The proposed DCA technique is applied to a spacecraft attitude control problem. The sensor noise and/or irregular signals, which are existent in most of spacecraft attitude sensors, can be handled effectively by the proposed approach.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.65 no.11
• /
• pp.1925-1930
• /
• 2016

Fuel cell power generation system, unlike conventional energy sources, converts chemical energy into electrical energy through electrochemical reaction of hydrogen and oxygen. This paper presents the control of interleaved multi-phase boost converter as the feasibility study on small-scale prototype electric railway vehicle application using fuel cell generation system. PSIM simulation program is to be used to implement the modeling of the electrical fuelcell as well as traction motor control with interleaved multi-phase boost converter. Comparing the input current ripple rate, two-phase interleaved boost converter is less than the boost converter. But the more multi-phase not less proportional to the ripple factor. we confirmed that the amplitude of the input current ripple rate of converter depend on duty ratio.

• Proceedings of the KIEE Conference
• /
• 2003.07d
• /
• pp.2271-2273
• /
• 2003

Control Rod Control System(CRCS) is to control nuclear reaction of reactor by moving Control Rod Drive Mechanism(CRDM) with speed and direction signal from Reactor Regulating System(RRS). CRCS is made up of two parts : control cabinet and power cabinet. And this paper presents mainly power cabinet design for system reliability. To increase reliability of power cabinet, controller, power supply and communication line arc doubly designed and supervision and diagnosis function are applied.

• Journal of Korean Society on Water Environment
• /
• v.20 no.2
• /
• pp.145-150
• /
• 2004

This study investigated the effect of chlorine dose and chlorine reaction time for the formation of haloacetic acids (HAAs). According to the results, HAA formation was highly affected by chlorine dose and chlorine reaction time. HAA formation reached a plateau value at 30 mg/L of chlorine dose and 24 hr of chlorine reaction time. For the speciation of formed HAAs in the test water, the concentration of brominated-HAAs was significantly lower than that of chlorinated-HAAs because of low level of bromide ion concentration in the test water. It also investigated the removal efficiency of HAA precursors by several unit processes, such as ozone alone, UV alone, and combined ozone/UV system. Of them, ozone/UV system was proved as the best process to control the HAAs formation. The increase of the brominated-HAAs was observed during ozonation with and without UV irradiation showing the slight increase of total HAA concentrations.

• Journal of Korean Society of Industrial and Systems Engineering
• /
• v.17 no.32
• /
• pp.243-253
• /
• 1994

Work environments have been changed with the advent of new technologies, such as computer technology. The newer technologies, the more changes in our work conditions. However, human cognitive limits can't keep up with the change of work environments. Mental workload has been an important factors in designing modem work environments such as human-computer interaction. Designing man-machine systems requires knowledge and evaluation of the human cognitive processes which control information flow workload. Futhermore, under an urgent situation, human operator may suffer the work stress, work error, and resultant deleterious work performance. To describe the work performance in the urgent work situations, with time stress and dynamic event occurence, a new concept of information density was introduced. For a series of experiments performed for this study, three independent variables(information amount system processing time, information density) were evaluated using such dependent variables as reaction time, number of error, and number of failure. The results of statistical anlysiss indicate that the amount of information effected on all of five dependent measure. Number of failure and number of secondary task score were effected by both amount of information and operational speed of system, but reaction time of secondary task were effected by both amount of information and information density.

• Development and Reproduction
• /
• v.4 no.2
• /
• pp.203-213
• /
• 2000

To investigate the effects of reactive oxygen species (ROS) on capacitation, acrosome reaction in human spermatozoa. Human spermatozoa were incubated with xanthine-xanthine oxidase (X-XO), $H_2O$$_2$, sodium nitroprusside (SNP) or lymphocyte. Otherwise, spermatozoa were incubated under low $O_2$ (5 ％) condition. Chlortetracycline (CTC) staining was conducted to assess capacitation and acrosome reaction. Analysis of lipid peroxidation was done by spectrophotometric determination of malondialdehyde (MDA) production in spermatozoa. $H_2O$$_2$, X-XO, SNP and lymphocyte treatment significantly increased capacitated spermatozoa within 1 h of incubation. There was no significant difference in capacitation between low- and high $O_2$ groups. In the presence of low concentration of $H_2O$$_2$, lipid peroxidation decreased significantly. However, under the high concentration of $H_2O$$_2$, lipid peroxidation significantly increased at the end of incubation compared to control. In the presence of high concentration of lymphocytes, lipid peroxidation significantly increased compared to control at 1hr of incubation. There was no significant difference in lipid peroxidation according to $O_2$ concentration examined. Acrosome reaction (AR) was evaluated by CTC staining after the progesterone challenge. In all ROS groups, AR increased compared to control. The X(100 $\mu$M) - XO (100mIU) system was the most potent to induce AR. Taken together, it suggested positive control of AR by ROS and the positive relationship between the lipid peroxidation and AR. The early onset of capacitation in the presence of ROS suggest that ROS might be a positive regulator of sperm capacitation and hyperactivation.

• Transactions of the Korean Society for Noise and Vibration Engineering
• /
• v.12 no.10
• /
• pp.749-757
• /
• 2002

Excessive vibration in flexible structures is a problem encountered in many different fields, causing fatigue of structural components. Passive techniques, though sometimes limited in their capabilities, have been used in the past to attenuate vibrations. Recently active techniques have been developed to enhance vibration control performance beyond that provided by their passive counterparts. Most often, the focus of active control methods has been to suppress structure displacements. In cases where vibration results in structure failures, displacement suppression may not be the best choice of control approaches (it can, in fact, increase dynamic loads which would be even more harmful to supports) . This paper presents two optimal control methods for attenuating steady state vibrations in flexible structures. One method minimizes shaft displacements while another minimizes dynamic reaction forces. The two methods are applied to a model of a typical flexible structure system and their results are compared. It is found that displacement minimization can increase loads, while load minimization decreases loads.