• The Transactions of the Korean Institute of Power Electronics
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• v.9 no.1
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• pp.42-49
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• 2004

This paper presents a new method of external load disturbance compensation using deadbeat load torque observer and gain compensation by parameter estimator. The response of the permanent magnet synchronous motor(PMSM) follows the nominal plant. The load torque compensation method is composed of a deadbeat observer. To reduce the noise effect, the post-filter implemented by moving average(MA) process is adopted. The parameter compensator with recursive least square method(RLSM) parameter estimator is suggested to make the new system work as same as the name plate system which in used to take gains. The proposed estimator is combined with a high performance load torque observer to resolve the problems. As a result, the proposed control system has a robust and precise system against the load torque and the parameter variation. A stability and usefulness are verified by computer simulation and experiment.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.8
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• pp.145-155
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• 1998

An $H{\infty}$ controller with a roll eccentricity filter is proposed to alleviate the effect of entry thickness variation and roll eccentricity occured in rolling stands themselves of tandem cold mills. A robust controller to the disturbances is designed by H$_{\infty}$ control techniques, which can reflect the input direction of disturbances and the knowledge of disturbance spectrum in the frequency domain. First, fundamental problems in tandem cold mills such as process transport delay inherent in the exit thickness measurement and the feedforward loading of roll eccentricity signals on the exit thickness be overcome by the roll eccentricity filtering and the compensation for the error of gaugemeter thickness estimator. And non-satndard $H{\infty}$ control problem caused by the selection of weighting function having poles on the $J{\omega}$-axis is discussed. The resultant controller composed by an $H{\infty}$ controller and an estimator for the roll eccentricity is evaluated through computer simulations. The effectiveness of the proposed control method is compared to that of the conventional LQ controller method and a feedforward controller for the roll eccentricity, which has been already studied.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.7 s.184
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• pp.84-92
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• 2006

This paper deals with determination of motions of a humanoid robot using genetic algorithm. A humanoid robot has some problems of the structural instability basically. So, we have to consider the stable walking gait in gait planning. Besides, it is important to make the smoothly optimal gait for saving the electric power. A mobile robot has battery to move autonomously. But a humanoid robot needs more electric power in order to drive many joints. So, if movements of walking joint don't maintain optimally, it is hard to sustain the battery power during the working period. Also, if a gait trajectory doesn't have optimal state, the expected lift span of joints tends to be decreased. Also, if a gait trajectory doesn't have optimal state, the expected lift span of joints tends to be decreased. To solve these problems, the genetic algorithm is employed to guarantee the optimal gait trajectory. The fitness functions in a genetic algorithm are introduced to find out optimal trajectory, which enables the robot to have the less reduced jerk of joints and get smooth movement. With these all process accomplished by PC-based program, the optimal solution could be obtained from the simulation. In addition, we discuss the design consideration fur the joint motion and distributed computation of tile humanoid, ISHURO, and suggest its result such as structure of the network and a disturbance observer.

• Journal of Nuclear Fuel Cycle and Waste Technology(JNFCWT)
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• v.18 no.3
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• pp.363-372
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• 2020

Anionic radionuclides pose one of the highest risks to the long-term safety assessments of disposal repositories. Therefore, techniques to immobilize and separate such anionic radionuclides are of crucial importance from the viewpoints of safety and waste volume reduction. The main objective of this study is to design a separator with minimum pressure disturbance, based on the concept of a conventional cyclone separator. We hypothesize that the anionic radionuclides can be immobilized onto a nanomaterial-based substrate and that the particles generated in the process can flow via water. These particles are denser than water; hence, they can be trapped within the cyclone-type separator because of its design. We conducted particle tracking analysis using computational fluid dynamics (CFD) for the conventional cyclone separator and studied the effects due to the morphology of the separator. The proposed sandglass-like design of the separator shows promising results (i.e., only one out of 10,000 particles escaped to the outlet from the separation zone). To validate the design, we manufactured a laboratory-scale prototype separator and tested it for iron particles; the efficiency was ca. 99%. Furthermore, using an additional magnetic effect with the separator, we could effectively separate particles with ~100% efficiency. The proposed sandglass-like separator can thus be used for effective separation and recovery of immobilized anionic radionuclides.

• 전기의세계
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• v.26 no.2
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• pp.99-103
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• 1977

The object of this work is to study an optimal design problem of the proportional load-frequency controller for the single-control area power system. The selfservice power station is still a popular means as a power supplying source on ships or in a certain manufacturing area. The power system of this kind can be formulated as a single control-area system and it attracts a certain academic interest in controlling the system frequency under disturbances. In this paper, the single control-area system is mathematically formulated as a linear, time-invariant system in state-space under certain assumptions. The optimal proportional control law and the realization of the controller in closed loop-version is studied so that the final system designed can attain the system frequency to the nominal stationing value after the small load-disturbance. As in general cases of optimal design problems, the performance index is assumed to be quadratic in states and the control effort, and the infinite time control process is assumed in this work. The final control system realized depicts certain improvements in case study; in stability, transient responses and in steady-state frequency deviation, even though the steady state error did not attain the zero value.

• Proceedings of the KIEE Conference
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• 2001.11b
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• pp.92-95
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• 2001

This study presents neural load disturbance observer that used to deadbeat load torque observer and regulation of the compensation gain by parameter estimator. As a result, the response of PMSM fellows that of the nominal plant. The load torque compensation method is compose of a neural deadbeat observer. To reduce of the noise effect, the post-filter, which is implemented by MA process, is proposed. The parameter compensator with RLSM(recursive least square method) parameter estimator is suggested to increase the performance of the load torque observer and main controller. The proposed estimator is combined with a high performance neural torque observer to resolve the problems. As a result, the proposed control system becomes a robust and precise system against the load torque and the parameter variation. A stability and usefulness, through the verified computer simulation, are shown in this paper.

• Journal of the Korean Chemical Society
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• v.39 no.1
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• pp.14-22
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• 1995

This paper is concerned with the design of optimal surface heating patterns that result in focusing acoustic energy inside a subsurface target volume at a specified target time. The surface of the solid is heated by an incident laser beam which gives rise to shear and compressional waves propagating into the solid. The optimal heating design process aims to achieve the desired energy focusing at the target with minimal laser power densities and minimal system disturbance away from the target. The optimality conditions are secured via the conjugated gradient method and by the finite element method along with using the half-space Green's function matrix. Good quality energy focusing is achived with the optimal designs reflecting the high directivity of the photothermally generated shear wave patterns.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.30 no.6
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• pp.1044-1055
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• 1997

To find out generating mechanism of eddies in the polar frontal zone of the East Sea, we carried out a series of numerical experiments using the nonlinear $1^{1/2}-layer$ model allowing the effect of the polar front. We assumed the polar front at about $39^{\circ}N$ in zonal direction with the cold water region in the northern part and the warm water region in the southern part of the model ocean. To examine the effect of the frontal motion without the influence of the Tsushima Current from the beginning of the geostrophic adjustment, the initial state of the model ocean was assumed motionless. Eastward current was caused by the geostrophic adjustment process in the polar frontal zone that induced a steady northward coastal current along the Korean coast to satisfy the mass continuity. The overshooting of this coastal current acted as an initial disturbance of the zonal flow field which caused meanders and eddies. The spatial scales of eddies were in good agreement with the baroclinic instability theory.

• IEMEK Journal of Embedded Systems and Applications
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• v.13 no.2
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• pp.65-71
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• 2018

In order to make the underwater vehicle carry out the mission in a submarine environment, it is needed to plan a safe and efficient route to a given destination and prevent the autonomous submersible from colliding with obstacles while moving along the planned route. The function of collision avoidance makes the travel distance of the autonomous submersible longer. Moreover, it should move slowly near to obstacles against their moving disturbance. As a result, this invokes the degradation of the navigation efficiency in the process of collision avoidance. The side effect of the collision avoidance is not ignorable in the case of high congested environments such as the coast with many obstacles. In this paper, we suggest a path planning method which provides the route with minimum travel time considering collision avoidance in congested environment. For the purpose, we define environmental congestion map related to geometric information and obstacles. And we propose a method to consider the moving cost in the RRT scheme that provides the existing minimum distance path. We verified that the efficiency of our algorithm with simulation experiments.

• International Journal of High-Rise Buildings
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• v.3 no.4
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• pp.297-304
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• 2014

Recently, there have been some reported examples of structural collapse due to gravity, subsequent to damage from accident or an excitation that was not prepared for in the design process. A close view of new concepts, such as a redundancy and key elements, has been taken with the aim of ensuring the robustness of a structure, even in the event of an unexpected disturbance. The author previously proposed a sensitivity index of the vertical load carrying capacity to member disappearance for framed structures. The index is defined as the ratio of the load carrying capacity after a member or a set of an adjacent member disappears, to the original load carrying capacity. The member with the highest index may be regarded as a key element. The concept of bio-mimicry is being applied to various fields of engineering, and tree-shaped structures are sometimes used for the design of building structures. In this study a sensitivity analysis is applied to the irregular-framed structures such as tree-shaped structures.