• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2006.05a
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• pp.384-387
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• 2006

Vertical L/UL (Load/Unload) velocity is very important parameter to determine the L/UL performance, and the vertical velocity is determined by the actuator velocity and the ramp profile. However, it is not easy to precisely control the actuator rotating velocity during the L/UL process. Especially in emergency parking, servo system doesn't operate, it is impossible to control an actuator velocity. Then, the vertical unloading velocity depends on only ramp profile. The ramp height and the sliding length for L/UL process in SFF (Small Form Factor) HDD are restricted due to slimness and small media. For these reasons, it is very difficult to design the ramp profile in SFF HDD. Therefore, this study analyzes the unloading dynamic characteristics for various ramp profiles and makes the thesis for ramp profile design.

• Transactions of the Society of Information Storage Systems
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• v.2 no.2
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• pp.150-155
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• 2006

Vertical L/UL (Load/Unload) velocity is very important parameter to determine the L/UL performance, and the vertical velocity is determined by the actuator velocity and the ramp profile. However, it is not easy to precisely control the actuator rotating velocity during the L/UL process. Especially in emergency parking, servo system doesn't operate, it is impossible to control an actuator velocity. Then, the vertical unloading velocity depends on only ramp profile. The ramp height and the sliding length for L/UL process in SFF (Small Form Factor) HDD are restricted due to slimness and small media. For these reasons, it is very difficult to design the ramp profile in SFF HDD. Therefore, this study analyzes the unloading dynamic characteristics for various ramp profiles and makes the thesis for ramp profile design.

• Proceedings of the Korean Magnestics Society Conference
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• 2007.05a
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• pp.260.1-260.1
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• 2007

• Proceedings of the KIEE Conference
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• 1998.11b
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• pp.423-425
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• 1998

Resonance effects and nonlinear frictions which generate many problems in control system exist in almost all the servo system. therefore, In this paper, the design procedure which employs $H_{\infty}$ control theory after augmenting with two integrators is proposed to track the ramp input. Limit cycles are unavoidable by the effect of interaction between two integrators and Coulomb friction in these system. The describing function is used to check the limit cycles and decide the coefficients of two integrators to minimize the effect of the limit cycles.

• Journal of Drive and Control
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• v.13 no.3
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• pp.24-31
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• 2016

The performance characteristics of a dynamic control system are evaluated according to the transient and steady-state responses. The transient performance is the controllability of the output for the tracking of the reference or the ability to reduce or reject the effects of unwanted disturbances; alternatively, the steady-state performance is represented by the magnitude of the control error at the steady state. As the effects of the two performances on each other are reciprocal, a controller design that shows a zero steady-state error for the ramp input is uncommon because of the challenge regarding the achievement of an acceptable transient response. This paper proposes a PI+double-integral controller for the elimination of the steady-state error for the ramp input while a sound transient performance is maintained. The control-gain design procedure is described by the second-order response for the step input and the response of the error dynamics for the ramp input. The PI+double-integral controller is designed for the first-order transfer function that is derived from a system identification with the open-loop experiment data of the dc-motor. The simple structure of the proposed controller enables the adoption of a low-end microcontroller for the implementation of a real-time control. The experiment results show that the control performance is as effective as that of the simulation analysis for the operating point of linear system; furthermore, the PI+double-integral controller can be conveniently applied to the control system, which is desirable for the improvement of the steady-state error.

• Nuclear Engineering and Technology
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• v.35 no.5
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• pp.399-411
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• 2003

A model predictive control method is applied to design an automatic controller for thermal power control in a reactor core. The basic concept of the model predictive control is to solve an optimization problem for a finite future at current time and to implement as the current control input only the first optimal control input among the solutions of the finite time steps. At the next time step, the second optimal control input is not implemented and the procedure to solve the optimization problem is then repeated. The objectives of the proposed model predictive controller are to minimize the difference between the output and the desired output and the variation of the control rod position. The nonlinear PWR plant model (a nonlinear point kinetics equation with six delayed neutron groups and the lumped thermal-hydraulic balance equations) is used to verify the proposed controller of reactor power. And a controller design model used for designing the model predictive controller is obtained by applying a parameter estimation algorithm at an initial stage. From results of numerical simulation to check the controllability of the proposed controller at the $5\%/min$ ramp increase or decrease of a desired load and its $10\%$ step increase or decrease which are design requirements, the performances of this controller are proved to be excellent.

• International Journal of Highway Engineering
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• v.12 no.2
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• pp.33-41
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• 2010

It is stated in the highway geometric design guide that expressway interchange types should be selected considering a set of input variables including travel demand, topography, construction cost and interchange spacing. However, this selection method has a problem of providing different interchange types even for the same input variables depending upon different applications of engineers discretion. A procedure that produces consistent results is necessary and this paper presents the development of an efficient and reliable procedure based on the quantification of road user costs and construction costs on interchanges. To develop this procedure, a survey of existing expressway interchange types in South Korea was made and 10 basic interchange types and 52 supplementary interchange types were identified. To relate road user costs and construction costs to these interchange types, this research uses two method. First, interchange types were expressed by a set of ramp configurations. Second, road user benefits and construction costs associated with these different interchange types were formulated based on the current national guide of the expressway economical analysis. As a result, it was proved that an interchange type to provide minimum costs could be selected consistently and this research result should be useful for future expressway geometric designs.

• Structural Engineering and Mechanics
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• v.45 no.6
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• pp.759-777
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• 2013

In this paper, a topology optimization method based on the element independent nodal density (EIND) is developed for continuum solids with multiple load cases and multiple constraints. The optimization problem is formulated ad minimizing the volume subject to displacement constraints. Nodal densities of the finite element mesh are used a the design variable. The nodal densities are interpolated into any point in the design domain by the Shepard interpolation scheme and the Heaviside function. Without using additional constraints (such ad the filtering technique), mesh-independent, checkerboard-free, distinct optimal topology can be obtained. Adopting the rational approximation for material properties (RAMP), the topology optimization procedure is implemented using a solid isotropic material with penalization (SIMP) method and a dual programming optimization algorithm. The computational efficiency is greatly improved by multithread parallel computing with OpenMP to run parallel programs for the shared-memory model of parallel computation. Finally, several examples are presented to demonstrate the effectiveness of the developed techniques.

• Journal of the Korean Society of Safety
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• v.30 no.2
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• pp.1-8
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• 2015

Forklift truck is a very convenient transportation vehicle and widely used in industries. However, a lot of overturn accidents occur during operation because of poor understanding on the stability of forklift trucks. The stability of a forklift is defined by the minimum slope of the ramp where a forklift truck overturns. According to the KS BISO 22915-2 code, the stability is determined from the four kinds of stability tests. The equations for the stability of a forklift truck were proposed already in several published literatures and the equations can be used conveniently to estimate the stability and examine the effects of design parameters in forklift trucks. However, because the detail derivation procedure was omitted, it is very difficult to examine the accuracy of the proposed equations and to modify the equations for other types of forklift trucks. In this paper the stability equations were derived again with detail derivations for the four kinds of stability tests. And the effects of acceleration or centrifugal forces were also additionally included in the equations and minor corrections were also made.

• Nuclear Engineering and Technology
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• v.38 no.1
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• pp.81-92
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• 2006

In this study, the core dynamics of a PWR reactor is identified online by a recursive least-squares method. Based on the identified reactor model consisting of the control rod position and the core average coolant temperature, the future average coolant temperature is predicted. A model predictive control method is applied to designing an automatic controller for the thermal power control of PWR reactors. The basic concept of the model predictive control is to solve an optimization problem for a finite future at current time and to implement as the current control input only the first optimal control input among the solutions of the finite time steps. At the next time step, this procedure for solving the optimization problem is repeated. The objectives of the proposed model predictive controller are to minimize both the difference between the predicted core coolant temperature and the desired temperature, as well as minimizing the variation of the control rod positions. In addition, the objectives are subject to the maximum and minimum control rod positions as well as the maximum control rod speed. Therefore, a genetic algorithm that is appropriate for the accomplishment of multiple objectives is utilized in order to optimize the model predictive controller. A three-dimensional nuclear reactor analysis code, MASTER that was developed by the Korea Atomic Energy Research Institute (KAERI) , is used to verify the proposed controller for a nuclear reactor. From the results of a numerical simulation that was carried out in order to verify the performance of the proposed controller with a $5\%/min$ ramp increase or decrease of a desired load and a $10\%$ step increase or decrease (which were design requirements), it was found that the nuclear power level controlled by the proposed controller could track the desired power level very well.