• Nuclear Engineering and Technology
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• 제53권11호
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• pp.3685-3693
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• 2021

This paper presents a disturbance observer-based robust backstepping load-following control (DO-RBLFC) scheme for modular high-temperature gas-cooled reactors (MHTGRs) in the presence of actuator saturation and disturbances. Based on reactor kinetics and temperature reactivity feedback, the mathematical model of the MHTGR is first established. After that, a DO is constructed to estimate the unknown compound disturbances including model uncertainties, external disturbances, and unmeasured states. Besides, the actuator saturation is compensated by employing an auxiliary function in this paper. With the help of the DO, a robust load-following controller is developed via the backstepping technique to improve the load-following performance of the MHTGR subject to disturbances. At last, simulation and comparison results verify that the proposed DO-RBLFC scheme offers higher load-following accuracy, better disturbances rejection capability, and lower control rod speed than a PID controller, a conventional backstepping controller, and a disturbance observer-based adaptive sliding mode controller.

• 한국정밀공학회지
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• 제14권1호
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• pp.150-157
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• 1997

Uniform weld pool shape is important in determining the weld quality. And weld pool width is one of the most dominant factors of the seld pool shape. In order to control the weld pool width, the fuzzy logic controller, which is well adapted to the complicated nonlinear systems such as welding, was used in this study. The weld pool image was obtained through CCD camera, and the weld pool width was calculated by processing the image. Uaing the calculated width, welding speed, as a control input, was inferred by the fuzzy logic controller. An uniform weld pool width can be successfully obtained regardless of the disturbances in the system.

• 정보처리학회논문지:컴퓨터 및 통신 시스템
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• 제11권5호
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• pp.147-156
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• 2022

다양한 산업을 관리하고 유지하는 산업제어시스템은 주로 외부와의 연결 없이 폐쇄적으로 운영됐지만 최근 인터넷의 발전과 ICT 기술의 도입으로 외부나 공격자의 산업제어시스템에 접근이 쉬워졌다. 잘못된 접근이나 공격은 산업제어시스템의 주요 속성인 가용성을 해칠 수 있으며, 가용성이 침해될 경우 큰 피해가 발생할 수 있다. 본 논문에서는 산업제어시스템에서 명령을 내릴 때 랜덤리스트를 생성해 검증그룹을 구성하여 명령을 검증 후 실행하며, 명령 실행 결과를 이용해 검증을 진행한 검증그룹에 피드백을 적용하는 신뢰 점수 기법을 도입한다. 이를 통해 명령 검증 요청과정에서 랜덤 생성에 발생하는 오버헤드를 줄일 수 있으며, 검증 과정에 유연성을 부여하고 시스템의 가용성을 보장할 수 있다. 시스템의 성능 분석을 위해 스마트 계약 배포 시 걸리는 시간과 가스 사용량, 명령 검증 시 가스 사용량을 측정했다. 그 결과, 기존시스템과 비교해 랜덤리스트를 생성하지만, 스마트 계약 배포에 걸리는 시간은 거의 차이가 없음을 확인했고 스마트 계약 배포에 사용되는 가스는 랜덤리스트 생성과정에서 약 1.4배 증가함을 확인했다. 하지만, 명령 검증 과정에서 명령 검증과 신뢰 점수 기법의 연산을 함께 진행함에도 랜덤 연산을 하지 않아 검증 1회당 약 9% 적은 가스를 사용해 검증 과정에 가용성을 보장한다.

• 한국군사과학기술학회지
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• 제23권3호
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• pp.294-301
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• 2020

Man-In-Simulant Test(MIST) provides a test method to evaluate chemical protective equipments such as protective garments, gloves, footwear and gas mask. The MIST chamber is built to control concentration of chemical vapor that has a activity space for two persons. Non-toxic methyl-salicylate(MeS) is used to simulate chemical agent vapor. We carried out to measure inward leakage MeS vapors by using passive adsorbent dosimeter(PAD) which are placed on the skin at specific locations of the body while man is activity according to the standard procedure in MIST chamber. But more time is required for PADs and there is concern of contamination in PADs by recovering after experiment. Therefore detector for measuring in real time is necessary. In order to analyze in real time the contamination of the personal protective equipment inside the chemical environment, we have developed a wireless real-time gas detector. The detector consists of 8 gas-sensors and 1 control-board. The control-board includes a CPU for processing a signal, a power supply unit for biasing the sensor and Bluetooth-chipset for transmission of signals to external PC. All signals from gas-sensors are converted into digital signals simultaneously in the control-board. These digital signals are stored in external PC via Bluetooth wireless communication. The experiment is performed by using protective equipment worn on manikin. The detector is mounted inside protective equipment which is capable of providing a real-time monitoring inward leakage MeS vapor. Developed detector is demonstrated the feasibility as real-time detector for MIST.

• 한국연초학회지
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• 제7권2호
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• pp.189-197
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• 1985

The purpose of this study is to improve the method and the apparatus for recovering freon-11 used in a process for increasing the filling capacity of tobacco. The first, the theoretical recovery rate of freon-11 was calculated from vapour pressure and thermodynamic properties of freon-11. The second, the usability of theoretical data was evaluated by the comparison between the theoretical data and the experimental data from the pilot plant. The result obtained under the present experiment condition was quite similar to the rate at 15kg/cm2 and 5$^{\circ}C$, but the theoretical data evaluated were 0.1 to 0.3% lower than the experimental data at 20 to 25kg/cm2 and 5$^{\circ}C$. The recovery rate of the cooling and the compression system was about 95% with freon-11 used in this system and that with freon-11 concentrate of waste gas was about 3 to 3.6% at 20 to 25kg/cm2 and 5$^{\circ}C$.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 2003년도 추계학술대회논문집
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• pp.359-362
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• 2003

Damping systems have been widely used to various industrial structures and are mainly hydraulic and pneumatic devices nowadays. In this work, a novel damping system based on the colloidal suspension in the field of nanotechnology is investigated. The colloidal suspension consists of Iyophobic working fluid and hydrophobic-coated porous particle. The mechanism of mechanical energy dissipation in damping system based on the colloidal suspension with nano-porous particles is different from that of the existing hydraulic damping system. The absorbed energy of the damping system using colloidal suspension can be calculated through the mechanical equilibrium condition by the superficial tensions of liquid-gas Interface in the hydrophobic surface in nano-porous particles. The results from an analytic approach have a reasonable agreement with experimental results.

• 소성∙가공
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• 제31권3호
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• pp.124-128
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• 2022

NdFeB magnets have been positioned as the core materials in advanced technologies such as MRI (magnetic resonance imaging), FA (factory automation system), robot, motors, and so on based on the highest magnetic properties. To effectively improve the refined microstructure, the plastic deformation has been known as the good alternatives by the recrystallization. However, it has been regarded as being impossible because of the few slip systems in the RE-Fe-B magnets at room temperature. The purpose of this study was to investigate the possibility of control of grain refinement and magnetic anisotropy of NdFeB alloy powder by the severe plastic deformation. The NdFeB magnet powder was fabricated by gas atomization process, and the powder was pre-compacted at high temperature. The pre-compacted billets were deformed by HPT (high pressure torsion), and then the deformed billets were observed microstructure and magnetic properties. After the HPT process at room temperature, the grain size decreased with increasing because of the melted Nd-rich phase, and the anisotropy of Nd₂Fe₁₄B phase was formed after the HPT process.

• International Journal of Control, Automation, and Systems
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• 제1권1호
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• pp.134-141
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• 2003

A major research issue associated with service robots is the creation of an environment recognition system for mobile robot navigation that is robust and efficient on various environment situations. In recent years, intelligent autonomous mobile robots have received much attention as the types of service robots for serving people and industrial robots for replacing human. To help people, robots must be able to sense and recognize three dimensional space where they live or work. In this paper, we propose a three dimensional environmental modeling method based on an edge enhancement technique using a planar fitting method and a neural network technique called "Growing Neural Gas Network." Input data pre-processing provides probabilistic density to the input data of the neural network, and the neural network generates a graphical structure that reflects the topology of the input space. Using these methods, robot's surroundings are autonomously clustered into isolated objects and modeled as polygon patches with the user-selected resolution. Through a series of simulations and experiments, the proposed method is tested to recognize the environments surrounding the robot. From the experimental results, the usefulness and robustness of the proposed method are investigated and discussed in detail.in detail.

• 지능정보연구
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• 제26권2호
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• pp.1-25
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• 2020

본 연구에서는 모바일 기기를 이용하여 획득한 가스계량기 사진을 서버로 전송하고, 이를 분석하여 가스 사용량 및 계량기 기물 번호를 인식함으로써 가스 사용량에 대한 과금을 자동으로 처리할 수 있는 응용 시스템 구조를 제안하고자 한다. 모바일 기기는 일반인들이 사용하는 스마트 폰에 준하는 기기를 사용하였으며, 획득한 이미지는 가스 공급사의 사설 LTE 망을 통해 서버로 전송된다. 서버에서는 전송받은 이미지를 분석하여 가스계량기 기물 번호 및 가스 사용량 정보를 추출하고, 사설 LTE 망을 통해 분석 결과를 모바일 기기로 회신한다. 일반적으로 이미지 내에는 많은 종류의 문자 정보가 포함되어 있으나, 본 연구의 응용분야인 가스계량기 자동 검침과 같이 많은 종류의 문자 정보 중 특정 형태의 문자 정보만이 유용한 분야가 존재한다. 본 연구의 응용분야 적용을 위해서는 가스계량기 사진 내의 많은 문자 정보 중에서 관심 대상인 기물 번호 및 가스 사용량 정보만을 선별적으로 검출하고 인식하는 관심 문자열 인식 기술이 필요하다. 관심 문자열 인식을 위해 CNN (Convolutional Neural Network) 심층 신경망 기반의 객체 검출 기술을 적용하여 이미지 내에서 가스 사용량 및 계량기 기물번호의 영역 정보를 추출하고, 추출된 문자열 영역 각각에 CRNN (Convolutional Recurrent Neural Network) 심층 신경망 기술을 적용하여 문자열 전체를 한 번에 인식하였다. 본 연구에서 제안하는 관심문자열 기술 구조는 총 3개의 심층 신경망으로 구성되어 있다. 첫 번째는 관심 문자열 영역을 검출하는 합성곱신경망이고, 두 번째는 관심 문자열 영역 내의 문자열 인식을 위해 영역 내의 이미지를 세로 열 별로 특징 추출하는 합성곱 신경망이며, 마지막 세 번째는 세로 열 별로 추출된 특징 벡터 나열을 문자열로 변환하는 시계열 분석 신경망이다. 관심 문자열은 12자리 기물번호 및 4 ~ 5 자리 사용량이며, 인식 정확도는 각각 0.960, 0.864 이다. 전체 시스템은 Amazon Web Service 에서 제공하는 클라우드 환경에서 구현하였으며 인텔 제온 E5-2686 v4 CPU 및 Nvidia TESLA V100 GPU를 사용하였다. 1일 70만 건의 검침 요청을 고속 병렬 처리하기 위해 마스터-슬레이브 처리 구조를 채용하였다. 마스터 프로세스는 CPU 에서 구동되며, 모바일 기기로 부터의 검침 요청을 입력 큐에 저장한다. 슬레이브 프로세스는 문자열 인식을 수행하는 심층 신경망으로써, GPU에서 구동된다. 슬레이브 프로세스는 입력 큐에 저장된 이미지를 기물번호 문자열, 기물번호 위치, 사용량 문자열, 사용량 위치 등으로 변환하여 출력 큐에 저장한다. 마스터 프로세스는 출력 큐에 저장된 검침 정보를 모바일 기기로 전달한다.

• 한국가시화정보학회지
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• 제15권1호
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• pp.11-18
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• 2017

A two-phase flow observed in a heat exchanger or nuclear power generation often has a profound effect on undesirable noise or flow characteristics. Void fraction, which refers to the ratio of gas (or liquid) to the total fluid, affects heat transfer coefficient, vibration and so forth. In other words, void fraction is one of most important parameters in two-phase flow since it contributes to comprehend the characteristics of two-phase flow. We developed a two-phase flow visualization system to measure cross-sectional and volumetric void fractions by using quick closing valves and image processing software. With this system, we could observe the plug, slug, and stratified flow patterns of two-phase flow and measure a myriad of void fractions. As a consequence of the experiment, we found that the estimated void fractions were largely coincident with the predictive values by Chisholm model.