• The Transactions of the Korean Institute of Electrical Engineers
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• v.38 no.4
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• pp.298-306
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• 1989

Robustness of adaptive pole-placement control against unmodeled dynamics is proved. This proof is done by showing that the sufficient condition for robustness, conic condition and stability of a specific operator, is satisfied for a larger set of unmodeled dynamics. The simulation results show the proposed method is quite powerful. And the difference between the concept of the pseudoplant control and the known internal model control is shown by the closed loop analysis.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.27 no.4
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• pp.220-227
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• 2015

Complex thermal hydraulic characteristics exist inside the reactor because the reactor internals consist of fuel assembly, internal structures and so on. In this study, to examine the effect of Reynolds-Averaged Navier-Stokes (RANS)-based two-equation turbulence models in the analysis of flow distribution inside a 1/5 scaled-down APR+, simulation was performed using the commercial computational fluid dynamics software, ANSYS CFX R.13 and the predicted results were compared with the measured data. It was concluded that reactor internal flow pattern was locally different depending on the turbulence models. In addition, the prediction accuracy of k-${\varepsilon}$ model was superior to that of other two-equation turbulence models and this model predicted the relatively uniform distribution of core inlet flow rate.

• Journal of the Semiconductor & Display Technology
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• v.4 no.2 s.11
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• pp.25-32
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• 2005

This paper proposes a method for the intelligent load distribution of two cooperating robots(TCRs) using fuzzy logic. The proposed scheme requires the knowledge of the robots' dynamics, which in turn depend upon the characteristics of large flat panel displays(LFPDs) carried by the TCRs. However, the dynamic properties of the LFPD are not known exactly, so that the dynamics of the robots, and hence the required Joint torque, must be calculated for nominal set of the LFPD characteristics. The force of the TCRs is an important factor in carrying the LFPD. It is divided into external force and internal force. In general, the effects of the internal force of the TCRs are not considered in performing the load distribution in terms of optimal time, but they are essential in optimal trajectory planning; if they are not taken into consideration, the optimal scheme is no longer fitting. To alleviate this deficiency, we present an algorithm for finding the internal-force (actors for the TCRs in terms of optimal time. The effectiveness of the proposed system is demonstrated by computer simulations using two three-joint planner robot manipulators.

• Proceedings of the Korean Society Of Semiconductor Equipment Technology
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• 2005.09a
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• pp.110-123
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• 2005

This paper proposes an intelligent method for the optimal load distribution of two cooperating robots(TCRs) using fuzzy logic. The proposed scheme requires the knowledge of the robots' dynamics, which in turn depend upon the characteristics of large flat panel displays(LFPDs) carried by the TCRs. However, the dynamic properties of the LFPD are not known exactly, so that the dynamics of the robots, and hence the required joint torque, must be calculated for nominal set of the LFPD characteristics. The force of the TCRs is an important factor in carrying the LFPD. It is divided into external force and internal force. In general , the effects of the internal force of the TCRs are not considered in performing the load distribution in terms of optimal time, but they are essential in optimal trajectory planning: if they are not taken into consideration, the optimal scheme is no longer fitting. To alleviate this deficiency, we present an algorithm for finding the internal-force factors for the TCRs in terms of optimal time. The effectiveness of the proposed system is demonstrated by computer simulations using two three-joint planner robot manipulators.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.21 no.1
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• pp.34-40
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• 2022

In this paper, a flow analysis of a swash-plate type hydraulic piston pump installed on a hydraulic flow supply system for marine vessels is presented. A model and governing equations for computational fluid dynamics (CFD) analyses of swash-plate type hydraulic piston pumps were built, and simulation results regarding the internal flow field of the pump were obtained. By analyzing the internal flow of the swash-plate type hydraulic piston pump, we can confirm the time-dependent stroke of each piston as the pump rotates. We also verified that by analyzing the pulsating flow against the slope of the swash plate, the simulation results match well with the experimental results. The natural frequency of the system was computed to be approximately 380 Hz by applying and analyzing the fast Fourier transform (FFT) of each swash plate slope evaluated.

• Transactions of the Korean hydrogen and new energy society
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• v.33 no.4
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• pp.363-371
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• 2022

In this study, the operation characteristics of the internal reforming type molten carbonate fuel cell (MCFC) were studied using computational fluid dynamics (CFD) analysis according to the steam to carbon ratio (S/C ratio), operating temperature, and gas utilization. From the simulation results, the distribution of gas composition due to the electrochemical reaction and the reforming reaction was predicted. The internal reforming type showed a lower temperature difference than the external reforming type MCFC. As the operating temperature decreased, less hydrogen was produced and the performance of the fuel cell also decreased. As the gas utilization rate decreased, more gas was injected into the same reaction area, and thus the performance of the fuel cell increased.

• Journal of Korean Society of Coastal and Ocean Engineers
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• v.7 no.1
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• pp.75-90
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• 1995

A mathematical model for the dynamic analysis of a riser system with the inclusion of internal flow and nonlinear effects due to large structural displacements is developed to investigate the effect of internal flow on marine riser dynamics. The riser system accounts fir the nonlinear boundary conditions and includes a steady flow inside the pipe which is modeled as an extensible or inextensible. tubular beam subject to nonlinear three dimensional hydrodynamic loads such as current or wave excitation. Galerkin's finite element approximation and time incremental operator are implemented to derive the matrix equation of equilibrium for the finite element system and the extensibility or inextensibility condition is used to reduce degree of freedom of the system and the required computational time in the case of a nonlinear model. The algorithm is implemented to develop computer programs used in several numerical applications. The investigations of the effect of infernal flow on riser vibration due to current or wave loading are performed according to the change of various parameters such as top tension, internal flow velocity, current velocity, wave period, and so on. It is found that the effect of internal flow can be controlled by the increase of top tension. However, careful consideration has to be given in the design point particularly for the long riser under the harmonic loading such as waves. And it is also found that the consideration of nonlinear effects due to large structural displacements increases the effect of internal flow on riser dynamics.

• Journal of Korean Society on Water Environment
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• v.31 no.2
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• pp.181-195
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• 2015

Algal blooms in lakes are one of major environmental issues in Korea. A three-dimensional, hydrodynamic and water quality model was developed and tested in Lake Euiam to assess the performance and limitations of numerical modeling with multiple algal groups using field data commonly collected for algal management. In this study, EFDC was adopted as the basic model framework. Simulated vertical profiles of water temperature, dissolved oxygen and nutrients monitored at five water quality monitoring stations from March to October 2013, which are closely related to algal dynamics simulation, showed good agreement with those of observed data. The overall spatio-temporal variations of three algal groups were reasonably simulated against the chlorophyll-a levels of those estimated from the limited monitoring data (chlorophyll-a level and cell numbers of algal species) with the RMSEs ranging from 2.6 to $17.5mg/m^3$. Also, note that $PO_4-P$ level in the water column was a key limiting factor controlling the growth of three algal groups during most of simulation period. However, the algal modeling results were not fully attainable to the levels of observation during short periods of time showing abrupt increase in algae throughout the lake. In particular, the green algae/cyanobacteria and diatom simulations were underestimated in late June to early July and early October, respectively. The results shows that better understanding of internal algal processes, neglected in most algal modeling studies, is necessary to predict the sudden algal blooms more accurately because the concentrations of external $PO_4-P$ and specific algal groups originated from the tributaries (mainly, dam water releases) during the periods were too low to fully capture the sharp rise of internal algal levels. In this respect, this study suggests that future modeling efforts should be focused on the quantification of internal cycling processes including vertical movement of algal species with respect to changes in environmental conditions to enhance the modeling performance on complex algal dynamics.

• Journal of the Korean Society of Safety
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• v.35 no.3
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• pp.96-104
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• 2020

The numerical simulations were conducted to investigate the thermal-fluid phenomena occurred inside the experimental apparatus during a PCCS, used to remove heat released in accidents from a containment of light water nuclear power plant, operation. Numerical simulations of the flow and heat transfer caused by wall condensation inside the containment simulation vessel (CSV), which equipped with 18 vertical heat exchanger tubes, were conducted using the commercial computational fluid dynamics (CFD) software ANSYS-CFX. Shear stress transport (SST) and the wall condensation model were used for turbulence closure and wall condensation, respectively. The simulation using the actual size of the apparatus. However, rather than simulating the whole experimental apparatus in consideration of the experimental cases, calculation resources, and calculation time, the simulation model was prepared only in CSV. Selective simulation was conducted to verify the effects of non-condensable gas(NC gas) concentration, CSV internal pressure, and wall sub-cooling conditions. First, as a result of the internal flow of CSV, it was observed that downward flow due to condensation occurred surface of the vertical tube and upward flow occurred in the distant place. Natural convection occurred actively around the heat exchanger tube. Due to this rising and falling internal flow, natural circulation occurred actively around the heat exchanger tubes. Next, in order to check the performance of built-in condensation model using according to the non-condensable gas concentration, CSV internal flow and wall sub-cooling, the heat flux values were compared with the experimental results. On average, the results were underestimated with and error of about 25%. In addition, the influence of CSV internal pressure and wall sub-cooling was small, but when the condensate was highly generated due to the low non-condensable gas concentration, the error was large compared to the experimental values. This is considered to be due to the nature of the condensation model of the CFX code. However, in spite of the limitations of CFD, it is valid to use the built-in condensation model of CFD for PCCS performance prediction from a conservative perspective.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.237-240
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• 1996

Internal Force based control of dual redundant manipulator is proposed. One is resolved acceleration type control in the decoupled joint space which includes null motion space and the other is in the impedance control fashion in which the desired impedances are decoupled in three subspace, internal motion controlled space, orthogonal to that space, and the null motion controlled space. The internal force is formulated with its basis set meaningful. The object dynamics is also briefly evolved beforehand.