• Journal of Korean Society of Environmental Engineers
• /
• v.30 no.7
• /
• pp.743-750
• /
• 2008

In water treatment plant the Dissolved Ozone Flotation(DOF) System may be employed because this system has various abilities, such that it can remove SS using microbubbles, and it can exert strong oxidation power in removing taste and odor, color, and microbial agents. In order to investigate effectiveness of the DOF system in water treatment, removal characteristics of various water quality parameters were observed depending on the different levels of ozone concentrations. Removal efficiencies of water quality parameters in DOF system were compared with those in DAF(Dissolved Air Flotation) system and in CGS(Conventional Gravity Settling) system. Optimum ozone dose obtained in the pilot experiments was 2.7 mg/L. With increasing ozone dose higher than 2.7 mg/L, removal rates of turbidity, KMnO$_4$ consumption, UV$_{254}$ absorbance, and TOC were reversely lowered. High concentration of ozone dissociate organic matter in water, so that increasing dissolved organic level in effluent. Removal rates of water quality parameters at optimum ozone dose were obtained, such that removal rates of turbidity, KMnO$_4$ consumption, TOC, and UV$_{254}$ asorbance were 88.9%, 62.9%, 47%, and 77.3% respectively. Removal rate of THMFP was 51.6%. For all the parameters listed above, the DOF system was more effective than the DAF system or the CGS system. It is found that the DOF system may be used in advanced water treatment not only because the DOF system is more efficient in removing water quality parameters than the existing systems, but because the DOF system is also required smaller area than the CGS system for the treatment plant.

• Transactions on Control, Automation and Systems Engineering
• /
• v.4 no.1
• /
• pp.17-22
• /
• 2002

Endoscopes for industrial and medical fields are expected to have multi degree-of-freedom (DOF) motions. A multi-DOF ultrasonic motor we developed consists of a spherical rotor and a bar-shaped stator, and the rotor rotates around three perpendicular axes using three natural vibration modes of the stator. In this study, a multi-DOF unilateral master-slave system for active endoscope using the multi-DOF ultrasonic motor is developed. The configurations of master and slave arms for active endoscope are similar, so that an operator can easily handle the master-slave system. First, driving characteristics of the multi-DOF ultrasonic motor are measured in order to design the slave arm and its controller. Next, the master arm and the slave arm are designed. Then, the unilateral feedback controller for the master-slave system is developed. Finally, the motion control tests of rotor are conducted. As a result, the possibility of the endoscope is confirmed.

• Journal of Magnetics
• /
• v.21 no.3
• /
• pp.379-386
• /
• 2016

To satisfy the requirement of magnetically suspended control moment gyroscope (MSCMG) that magnetic bearing can provide torque, a novel 4DOF hybrid magnetic bearing (HMB) with integrated structure was designed. Mathematical models of forces and torques are established by using equivalent magnetic circuit method. The current stiffness, displacement stiffness, tilting current stiffness and angular stiffness of the 4DOF hybrid magnetic bearing are derived by the mathematical models. Equivalent magnetic circuit method and finite element method (FEM) simulation results indicate that the force has a good linear relationship with both displacement and current, and the torque has a good linear relationship with angular displacement and current. The novel 4DOF HMB is capable of achieving control in both two radial translational degrees of freedom (DOF) and also two radial rotational DOFs. The 4DOF HMB is well adapted to MSCMG system, exhibiting advantages in the controllable DOF, light weight and easy to control.

• Journal of the Korean Society for Precision Engineering
• /
• v.26 no.8
• /
• pp.79-88
• /
• 2009

This paper presents the analytical stiffness analysis method for a low-DOF planar parallel manipulator. An n-DOF (n<3) planar parallel manipulator to which 1- or 2-DOF serial mechanism is connected in series may be used as a positioning device in planar tasks requring high payload and high speed. Differently from a 3-DOF planar parallel manipulator, an n-DOF planar parallel counterpart may be subject to constraint forces as well as actuation forces. Using the theory of reciprocal screws, the planar stiffness is modeled such that the moving platform is supported by three springs related to the reciprocal screws of actuations (n) and constraints (3-n). Then, the spring constants can be precisely determined by modeling the compliances of joints and links in serial chains. Finally, the stiffness of two kinds of 2-DOF planar parallel manipulators with simple and complex springs is analyzed. In order to show the effectiveness of the suggested method, the results of analytical stiffness analysis are compared to those of numerical stiffness analysis by using ADAMS.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.6 no.1
• /
• pp.37-47
• /
• 2005

This Paper proposes a practical design and implementation methodology for a disturbance rejection controller. In a 2 Degree-Of-Freedom (DOF) structure, disturbance rejection performance can be improved without a high gain in forward-loop controller which might cause unwanted side-effects in conventional controller. But, since design methodology of 2 DOF controller is originally derived from the 2 DOF theory, it is not easy to utilize fer various industrial applications. Disturbance observer is a simple, but very effective 2 DOF controller. In this paper, practical issues are discussed from basic idea of DOB to technical procedure for design and implementation. Additionally, a methods and their examples of experimental modeling are explained. The proposed method is demonstrated by two examples of linear-type motor systems.

• Journal of Korean Society of Environmental Engineers
• /
• v.27 no.11
• /
• pp.1162-1167
• /
• 2005

Livestock wastewater is known to be very difficult to treat because it contains highly non-biodegradable organic material. Thus the DOF(Dissolved Ozone Flotation) system and the PO2(Pressurized Ozone Oxidation) system were built at the livestock wastewater treatment plant, and characteristics of treatments were investigated in this paper. Suspended Solids(SS) removal efficiency was over 94% by DOF system. 90% of $COD_{Mn}$ was removed, from 620 mg/L down to 63 mg/L by the DOF-PO2 system. During the period of operation, $SCOD_{Cr}$ was removed an average of 82%, from 890 mg/L down to 160 mg/L. 96% of UV-254 absorbance was also removed. TP removal efficiency was over 98%, from 27 mg/L to 0.35 mg/L, and TN was also removed 68% along with suspended solids. It was possible to meet effluent standards of the livestock wastewater treatment plant by the DOF-PO2 system along with biological treatment.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.2278-2282
• /
• 2003

In this paper the structure of 2-DOF controller based on artificial immune network algorithms has been suggested for nonlinear system. Up to present time, a number of structures of the 2-DOF controllers are considered as 2-DOF (2-Degrees Of Freedom) control functions. However, a general view is provided that they are the special cases of either the state feedback or the modification of PID controllers. On the other hand, the immune network system possesses a self organizing and distributed memory, also it has an adaptive function by feed back law to its external environment and allows a PDP (parallel distributed processing) network to complete patterns against the environmental situation, since antibody recognizes specific antigens which are the foreign substances that invade living creatures. Therefore, it can provide optimal solution to external environment. Simulation results by immune based 2-DOF controller reveal that immune algorithm is an effective approach to search for 2-DOF controller.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.1531-1536
• /
• 2003

In this paper the structure of 2-DOF controller based on artificial immune network algorithms has been suggested for nonlinear system. Up to present time, a number of structures of the 2-DOF controllers are considered as 2-DOF (2-Degrees Of Freedom) control functions. However, A general view is provided that they are the special cases of either the state feedback or the modification of PID controllers. On the other hand, The immune network system possesses a self organizing and distributed memory, also it has an adaptive function by feed back law to its external environment and allows a PDP (parallel distributed processing) network to complete patterns against the environmental situation, since antibody recognizes specific antigens which are the foreign substances that invade living creatures. Therefore, it can provide optimal solution to external environment. Simulation results by immune based 2-DOF controller reveal that immune algorithm is an effective approach to search for 2-DOF controller.

• 제어로봇시스템학회:학술대회논문집
• /
• 2005.06a
• /
• pp.1922-1927
• /
• 2005

This paper describes the mechanism of a new biped machine capable of doing human-robot cooperation work. The biped machine, WABIAN-2 is made of two seven degrees of freedom (DOF) legs, a two DOF waist and no DOF trunk. Its leg system consists of two three DOF ankles, two one DOF knees and two three DOF hips to deal with various walk motions. Its height is about 1.2[m], and its weight is 40[kg]. It is designed with large movable range as a human. Also, a knee stretch walk pattern generation for the biped machine to perform natural walk like a human is discussed in this paper. Its leg motion is compensated by using the motion of its waist. Basic knee stretch walk experiments using WABIAN-2 are conducted on the plane, and the validity of its mechanism and walk pattern generator is verified.

• Journal of Institute of Control, Robotics and Systems
• /
• v.10 no.4
• /
• pp.341-349
• /
• 2004

In this paper, the decentralized neural network control of the reference compensation technique is proposed to control a 2-DOF inverted pendulum on an x-y plane. The cart with the 2-DOF inverted pendulum moves on the x-y plane and the 2-DOF inverted pendulum rotates freely on the x-y axis. Since the 2-DOF inverted pendulum is divided into two 1-DOF inverted pendulums, the decentralized neural network control is applied not only to balance the angle of pendulum, but also to control the position tracking of the cart. Especially, a circular trajectory tracking is tested for position tracking control of the cart while maintaining the angle of the pendulum. Experimental results show that position control of the inverted pendulum system is successful.