• Nuclear Engineering and Technology
• /
• v.22 no.4
• /
• pp.371-379
• /
• 1990

The Xenon spatial oscillation may give rise to operational difficulties in a nuclear power plant. In this study, in order to investigate the Xenon instability for a PWR, the frequency-domain technique is adopted by using Generalized Nyquist Criterion, which is more general and suitable for the multi-input/multi-output system. Also linearized modal fluxes are obtained by a modal expansion. This model has been implemented to test the axial Xenon stability of YGN-1 unit against the changes in plant operating parameters ; power level, control rod position, and core average burnup. The results show that the increase of power level and the deeper insertion of control rod have the destabilizing effect, and that the burnup progress makes the core less stable. Also the results show that the overestimation due to modal interaction was found not to be significant.

• Journal of the Korean Magnetics Society
• /
• v.4 no.4
• /
• pp.303-306
• /
• 1994

Fundamental characteristics of giant magnetostrictive alloy $Terfenol-D(Tb_{0.3}Dy_{0.7}Fe_{1.9~1.95})$ are rreasured and discussed on the application for actuators. The magnetostriction is measured by laser displacement rreasuring system and the applied compressive stress is measured by load cell. Magnetostrictions increased as the applied compressive stresses increased. When the stress is 7 MPa, the magnetostriction is 1000 ppm at 1500 Oe. As the stresses iocreased from 0 to 14 MPa, the magnetic fields for saturating the magnetostriction also increased. The temperature increased during the experiment is $0.3^{\circ}C$, so the thermal expansion is negligible in these experirrents. The feedback or temperature control function should be added for the precise position control actuator.

• Journal of Institute of Control, Robotics and Systems
• /
• v.14 no.3
• /
• pp.236-241
• /
• 2008

This paper presents a method to recognize the plane regions for movement of walking robots. When the autonomous agencies using stereo camera or laser scanning sensor is under unknown 3D environment, the mobile agency has to detect the plane regions to decide the moving direction and perform the given tasks. In this paper, we propose a very fast method for plane detection using normal vector of a triangle by 3 vertices defined on a small circular region. To reduce the effect of noises and outliers, the triangle rotates with respect to the center position of the circular region and generates a series of triangles with different normal vectors based on different three points on the boundary of the circular region. The vectors for several triangles are normalized and then median direction of the normal vectors is used to test the planarity of the circular region. The method is very fast and we prove the performance of algorithm for real range data obtained from a stereo camera system.

• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.6
• /
• pp.411-416
• /
• 2016

This paper presents the design methodology of an unknown input observer for Lipschitz nonlinear systems with unknown inputs in the framework of convex optimization. We use an unknown input observer (UIO) to consider both nonlinearity and disturbance. By deriving a sufficient condition for exponential stability in the linear matrix inequality (LMI) form, existence of a stabilizing observer gain matrix of UIO will be assured by checking whether the quadratic stability margin of the error dynamics is greater than the Lipschitz constant or not. If quadratic stability margin is less than a Lipschitz constant, the coordinate transformation may be used to reduce the Lipschitz constant in the new coordinates. Furthermore, to reduce the maximum singular value of the observer gain matrix elements, an object function to minimize it will be optimally designed by modifying its magnitude so that amplification of sensor measurement noise is minimized via multi-objective optimization algorithm. The performance of UIO is compared to a nonlinear observer (Luenberger-like) with an application to a flexible joint robot system considering a change of load and disturbance. Finally, it is validated via simulations that the estimated angular position and velocity provide true values even in the presence of unknown inputs.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.23 no.2
• /
• pp.100-106
• /
• 2013

This paper presents design and control of an 'Omni-directional Cleaning Robot (OdCR)' which employs omni-wheels at three edges of its triangular configuration. Those omni-wheels enable the OdCR to move in any directions so that lateral movement is possible. For OdCR to be localized, a StarGazer sensor is used to provide accurate position and heading angle based on landmarks on the ceiling. In addition to that, ultrasonic sensors are installed to detect obstacles around OdCR's way. Experimental studies are conducted to test the functionality of the system.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2013.10a
• /
• pp.115-117
• /
• 2013

수평자세제어에 대한 활용은 다양한 진동이 발생하는 환경에서 정확한 수평제어를 필요로 하는 모든 분야에 활용할 수 있다. 이러한 수평제어에 대한 문제는 다수의 액추에이터(Actuator)를 어떠한 방법으로 제어하는가에 따라 그 성능이 달라지며, 발생한 외란에 대하여 어떠한 방법으로 외란을 계측하고 특성을 분석하는 것이 무엇보다 중요하다. 이러한 비선형성이 강한 수평자세제어에 대하여 인공지능기법인 신경회로망의 학습기능을 활용하여 그 수평자세 제어에 대한 성능을 연구하고 있는 추세에 있다. 본 논문에서는 고속이며 신뢰성을 보장하고 있는 CAN 통신방식을 활용하여 3개의 리니어 액추에이터(Linear Actuator)를 동시에 제어하도록 하고, 플랜트의 기울어진 상태는 자이로센서를 활용하여 플랜트의 상태를 지능적으로 판단하게 하였다. 또한 플랜트에 발행하는 왜란은 수평자세제어를 위한 플랜트 위에 볼(ball)을 놓아 비선형적인 왜란이 발생하도록 하였다. 이러한 왜란에 대하여 영상처리 기법을 활용하여 지능적으로 제어하도록 하여 CAN 통신의 활용성과 영상처리시스템(Image Processing System)의 활용성 및 지능제어의 활용성을 제시하고자 한다.

• Journal of Korean Society of Industrial and Systems Engineering
• /
• v.43 no.2
• /
• pp.39-47
• /
• 2020

Postural stability can reduce the likelihood of critical slip and fall accidents in workplaces. The present study aimed to analyze the effect of shoes type on the ability of postural control during quiet standing. The effect of workload on the body balance was also of primary concern. Thirteen healthy male undergraduate students participated voluntarily in the experimental study. Standing on a force plate with wearing slippers, sports shoes, or safety shoes, two-axis coordinate on subjects' center of pressures (COP) was obtained in the two levels, rest and workload. For the workload level, subjects performed treadmill exercise to reach the predetermined level of physical workload. By converting the position coordinates of COPs, the postural sway length in both anterior-posterior (AP) axis and medio-lateral (ML) axis was assessed. ANOVA results showed that, in AP direction, wearing slippers significantly increased the postural sway length compared to wearing sports shoes or safety shoes. No significant difference in the mean sway length in AP axis was observed between sports shoes and safety shoes. In ML direction, both the workload and the shoes type did not significantly affect the mean length of postural sway. However, the postural sway length increased marginally with the slippers especially during the workload condition. This study explains wearing slippers may interfere with the ability of postural control during quiet standing. Physical workload decreases the ability of postural stability further.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.18 no.4
• /
• pp.488-493
• /
• 2008

A mathematical model of molten steel level for continuous casting process is presented, where the molten steel level, input and output flow in the mold, the relation between stopper position and input flow etc. are considered. The mathematical model is implemented and simulated by using MATLAB. Comparing the result of molten steel level from the simulator with that of real plant, the performance of the model is shown to be reasonable. By using this simulator, it is shown that PI controller with variable P gain, adjusted by fuzzy logic system, has better control result than conventional PI controller.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.10 no.4
• /
• pp.388-396
• /
• 2005

SRM has not been put into practical applications widely because of its large torque ripple, acoustic noise and low power factor. In addition, a traditional position sensor is needed for the drive control. So we propose an improved sensorless drive method of Switched Reluctance Motors using impressed voltage pulses. Conventional impressed voltage pulse method has a problem of phase delay because of low-pass filter. So in this paper we propose an unproved sensorless driving method based on the impressed voltage pulse using new pulse-shift circuit technique that overcomes the phase delay and start-up problem. Proposed method is implemented in a simple analog circuit instead of using an expensive DSP.

• Proceedings of the KIEE Conference
• /
• 1996.07b
• /
• pp.1079-1082
• /
• 1996

To automate an excavator the control issues resulting from environmental uncertainties must be solved. In particular the interactions between the excavation tool and the excavation environment are dynamic, unstructured and complex. In addition, operating modes of an excavator depend on working conditions, which makes it difficult to derive the exact mathematical model of excavator. Even after the exact mathematical model is established, it is difficult to design of a controller because the system equations are highly nonlinear and the state variable are coupled. The objective of this study is to design a fuzzy logic controller(FLC) which controls the position of excavator's attachment. This approach enables the transfer of human heuristics and expert knowledge to the controller. Excavation experiments are carried out to check the performance of the FLC.