• International Journal of Aeronautical and Space Sciences
• /
• 제16권2호
• /
• pp.247-253
• /
• 2015

The components of an aero-engine gas path cannot be monitored in a timely way due to a lack of real-time monitoring technologies. As an attempt to address this problem, we have conducted research on a condition monitoring technology based on the charging characteristics of particles in an aero-engine gas path, and emphatically analyze the formation of particles in an aero-engine gas path, the charging mechanism of carbon particles and the factors that influence the charge quantity and polarity. The verification experiments are performed on the simulated experiment platform and a turbo-shaft engine test bench. The results show the carbon particles' carry charge, and an obvious change in the total electrostatic charge level in the aero-engine gas path due to the increased carbon particles produced by burning or abnormal metal particles; the charge number is related to the size of particles, and the bigger carbon particles carry a negative charge and metal particles carry a positive charge; the change in engine power can lead to an obvious change in the level of electrostatic charge in the gas path, and the change in electrostatic charge results from the extra carbon particles formed in the rich-oil burning process. The research provides a reference for establishing the baseline of electrostatic charge while the engine runs on different power. The study also demonstrates the validity of the electrostatic monitoring technology and establishes a base for developing the application of electrostatic monitoring technology in aero-engines.

• 청정기술
• /
• 제20권2호
• /
• pp.97-102
• /
• 2014

현재 고효율 백색 발광다이오드(light emitting diode, LED) 구현을 위한 고점도 형광체 토출에 대한 많은 연구가 진행 중이다. 백색 발광다이오드에서 제품성능에 영향을 미칠 수 있어 고점도 형광체의 정량토출은 중요하다. 그러나 기존 연구에서 고점도 형광체 정량토출의 어려움이 있었다. 고점도 형광체의 정량토출을 위해서 본 연구에서는 다양한 점도에서 미세토출이 가능한 정전기력 프린팅 기술을 적용하였다. 전압 변화에 따른 요구 적출형(drop on demand, DOD) 토출 실험을 진행하여 토출 시 노즐의 메니스커스 각도와 토출 도트 직경 사이의 상관관계를 도출하였다. 토출 전압이 증가함에 따라, 토출 메니스커스 각도는 증가하고 토출 도트 직경은 감소하였다.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.1587-1592
• /
• 2003

There are three kinds of singularity in controlling redundant manipulators. Kinematic, algorithmic and representation singularities are those. If manipulators fall into any singularity without proper action to avoid it, the control system must go away from our desire, and we can meet a dangerous situation. Hence, we have to deal the singularities very carefully. In this paper, we describe an on-line solution for avoiding the occurrence of both algorithmic and kinematic singularities in task-priority based kinematic controllers of robotic manipulators. Representation singularity can be easily avoided by using proper representation algorithm, so, in this paper, we only consider kinematic and algorithmic singularities. The proposed approach uses a desired task reconstruction and a successive task projection in order to maintain the measure for singularity over a user defined minimum value. It shows a gain in performance and a better task error especially when working in proximity of singular configurations. It is particularly suitable for autonomous systems where an off-line trajectory control scheme is often not applicable. The advantage and performance of the proposed controller is verified by simulation works. And, the experiment with real manipulator is remaining for the future works.

• 한국정밀공학회지
• /
• 제33권2호
• /
• pp.129-138
• /
• 2016

This paper presents a natural corners-based SLAM (Simultaneous Localization and Mapping) with a robust data association algorithm in a real unknown environment. Corners are extracted from raw laser sensor data, which are chosen as landmarks for correcting the pose of mobile robot and building the map. In the proposed data association method, the extracted corners in every step are separated into several groups with small numbers of corners. In each group, local best matching vector between new corners and stored ones is found by joint compatibility, while nearest feature for every new corner is checked by individual compatibility. All these groups with local best matching vector and nearest feature candidate of each new corner are combined by partial compatibility with linear matching time. Finally, SLAM experiment results in an indoor environment based on the extracted corners show good robustness and low computation complexity of the proposed algorithms in comparison with existing methods.

• 산업공학
• /
• 제20권3호
• /
• pp.288-297
• /
• 2007

Success of semiconductor/LCD industry depends on its yield and quality of product. For the purpose, FDC (Fault Detection and Classification) system is used to diagnose fault state in main manufacturing processes by monitoring time series data collected by equipment sensors which represent various conditions of the equipment. The data set is segmented at the start and end of each product lot processing by a trigger event module. However, in practice, segmented sensor data usually have the features of data asynchronization such as different start points, end points, and data lengths. Due to the asynchronization problem, false alarm (type I error) and missed alarm (type II error) occur frequently. In this paper, we propose a robust process fault detection system by integrating a process event detection method and a similarity measuring method based on dynamic time warping algorithm. An experiment shows that the proposed system is able to recognize abnormal condition correctly under the asynchronous data situation.

• 한국정밀공학회지
• /
• 제29권4호
• /
• pp.426-432
• /
• 2012

In this study, kinematic analysis of forward kinematic, inverse kinematic and jacobian for 6-bar parallel robot was analyzed. In order to analyze the maximum workspace of 6-bar parallel robot, maximum revolution range of active joint was calculated. Also, to analyze forward dynamics and inverse dynamics of 6-bar parallel robot, recurdyn and simmechanics was utilized. Using a PI controller and Feedforward controller make an experiment with square motion of end_effector. The reference value of active joint and trace of end_effector were compared with actual experimental value.

• 로봇학회논문지
• /
• 제12권2호
• /
• pp.228-238
• /
• 2017

The CALEB10 is a multi-legged biomimetic underwater robot. In the last research, we developed a swimming pattern named ESPG (Extended Swimming Pattern Generator) by observing diving beetle's swimming actions and experimented with a positive buoyancy state in which CALEB10 floats on the water. In this paper, however, we have experimented with CALEB10 in a neutral buoyancy state where it is completely immersed in water for pitch motion control experiment. And we found that CALEB10 was unstably swimming in the pitch direction in the neutral buoyancy state and analyzed that the reason was due to the weight proportion of the legs. In this paper, we propose a pitch motion control method to mimic the pitch motion of diving beetles and to solve the problem of CALEB10 unstably swimming in the pitch direction. To control the pitch motion, we use the method of controlling additional joints while swimming with the ESPG. The method of obtaining propulsive force by the motion of the leg has a problem of giving propulsive force in the reverse direction when swimming in the surge direction, but this new control method has an advantage that a propulsive moment generated by a swimming action only on a target pitch value. To demonstrate validity this new control method, we designed a dynamics-based simulator environment. And the control performance to the target pitch value was verified through simulation and underwater experiments.

• 한국자동차공학회논문집
• /
• 제23권5호
• /
• pp.486-493
• /
• 2015

In this paper, a battery model for electric vehicle virtual platform was developed. A battery model consisted of a battery cell model and battery thermal management system. A battery cell model was developed based on Randles equivalent circuit model. Circuit parameters in the form of 3D map data was obtained by charge-discharge experiment of Li-Polymer battery in various temperature condition. The developed battery cell model was experimentally verified by comparing voltages. Thermal management system model was also developed using heat generator, heat transfer and convection model, and cooling fan. For verification of the developed battery model in vehicle level, the integrated battery model was applied in to EV(electric vehicle) virtual platform, and virtual driving simulation using UDDS velocity profile was conducted. The accuracy of the developed battery model has been verified by comparing the simulation results from EV platform with the experimental data.

• 로봇학회논문지
• /
• 제7권4호
• /
• pp.284-291
• /
• 2012

Recently, development of underwater robot has actively been in progress in the world as ROV(Remotely Operator Vehicle) and AUV(Autonomous Unmmanded Vehicle) style. But KIOST(Korea Institute of Ocean Science and Technology), beginning in 2010, launched the R&D project to develop the robot, dubbed CRABSTER(Crab + (Lob)ster) in a bid to enhance the safety and efficiency of resource exploration. CRABSTER has been designed to be able to walk and swim with its own legs without screws. Among many research subjects regarding CRABSTER, optimal swimming patterns are handled in this paper. In previous studies, drag forces during one period with different values for angle of each joint were derived. However kinematics of real-robot and fluid-dynamics are not considered. We conducted simulations with an optimization algorithm for swimming by considering simplified fluid dynamics in this paper. Drag-coefficients applied to the simulation were approximated values calculated by CFD(Computational Fluid Dynamics : Tecplot 360, ANSYS). In addition, optimized swimming patterns were applied to a real robot. The experiments with the real robot were conducted in circumstances in the water. As a result, when the experiments were carried out in the water, a regular pattern of drag force output came out depending on the movement of the robot. We confirmed the fact that the drag forces from the simulation and the experiment has a high similarity.

• 반도체디스플레이기술학회지
• /
• 제4권1호
• /
• pp.1-8
• /
• 2005

Linear motor can be directly applied to the system needed linear motions without rotary motions. To control high-speed and high-resolution, the development of the linear motors is recently required in the high-integrated and speed process industry This paper presents thermal and vibration analyses as well as measurement standards of the newly developed linear motors through analyzing the thermal behaviors and vibration characteristics of the advanced products. The thermal measurements are conducted for comparing the developed linear motor with the advanced linear motor and the Finite Volume Method(FVM) is used to identify the measurement results. And then the vibration measurement are carried out in the developed and advanced linear motors with respect to the speed. To identify the measurement results, the Finite Element Method is utilized in the developed and advanced linear motors, respectively. The FVM, FEM, and experiments make it possible to understand these characteristics. The improvement is suggested through their results conducted experiment and analyses.