• Earthquakes and Structures
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• 제13권1호
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• pp.1-8
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• 2017

This article is all about using the MR damper with an external lever system for mitigation torsional and transitional lateral displacements by using of PID control algorithm. The torsional modes are so destructive and can be varied during an earthquake therefore, using a semi-active control system mostly recommended for them. In this paper the corner lateral displacement of each floor obtains and then it equivalents in a solid member and it connects to an MR damper, which relies to a rigid structure to reduce the response. An MR damper is a semi-active control system, which can absorb a lot of energy by injecting current to it. This amount of current is very low and needs low power supply, but it increases the amount of damper force, rather than inactive systems like viscous dampers. This paper will show the appropriate algorithm for current injection into MR damper when the eccentricity of the load is changed by using of Bouc-Wen and Bingham's methods and illustrates the coincidence of them.

• 드라이브 ㆍ 컨트롤
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• 제11권3호
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• pp.31-40
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• 2014

This paper proposes a multi absorbing wave energy converter design, in which a hydrostatic transmission is used to transfer wave energy to electric energy. The most important feature of this system is its combination of the pressure coupling principle with the use of a hydraulic accumulator to eliminate the effects of wave power fluctuation; this maintains a constant speed of the hydraulic motor. Tilt motion of a floating buoy was employed as the power take-off mechanism. Furthermore, a PID controller was designed to carry out the speed control of the hydraulic motor. The design offers some advantages such as extending the life of the hydraulic components, increasing the amount of energy harvested, and stabilizing the output speed.

• Nuclear Engineering and Technology
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• 제53권2호
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• pp.455-465
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• 2021

The Molten Salt Reactor (MSR), one of the six advanced reactor types of the 4th generation nuclear energy systems, has many impressive features including economic advantages, inherent safety and nuclear non-proliferation. This paper introduces a system analysis code named TREND, which is developed and used for the steady and transient simulation of MSRs. The TREND code calculates the distributions of pressure, velocity and temperature of single-phase flows by solving the conservation equations of mass, momentum and energy, along with a fluid state equation. Heat structures coupled with the fluid dynamics model is sufficient to meet the demands of modeling MSR system-level thermal-hydraulics. The core power is based on the point reactor neutron kinetics model calculated by the typical Runge-Kutta method. An incremental PID controller is inserted to adjust the operation behaviors. The verification and validation of the TREND code have been carried out in two aspects: detailed code-to-code comparison with established thermal-hydraulic system codes such as RELAP5, and validation with the experimental data from MSRE and the CIET facility (the University of California, Berkeley's Compact Integral Effects Test facility).The results indicate that TREND can be used in analyzing the transient behaviors of MSRs and will be improved by validating with more experimental results with the support of SINAP.

• 한국지능시스템학회논문지
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• 제17권6호
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• pp.738-743
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• 2007

본 연구는, 팔(하완)을 잃은 장애자용 인공 의수를 장애자가 자신의 의도에 따라 제어하기 위한 센서 시스템과 제어알고리즘에 관한 것이다. 먼저 장애자의 여러 가지 동작 의도를 검출할 수 있는 센싱 시스템을 연구하고 이 센싱 시스템으로부터 발생된 신호를 사용하여 인공의수를 제어하는 방법에 대하여 연구한다. 센서로서는 전기 저항식 굽힘 센서를 사용한다. 이 굽힘 센서를 팔의 상완 이두근과 오구완근에 각각 1개씩 단단히 부착한다. 부착된 센서로부터 출력된 신호는 근육의 굴곡량을 나타내며 팔의 동작의도를 판단 할 수 있는 신호처리 시스템을 통과시켜 하완의 굴곡과 신전 운동, 손의 내전과 외전 운동을 구별한다. 그리고 구별된 신호로부터 실제 팔의 운동 각도를 추정하여 인공의수의 각도를 제어한다. 본 연구의 효용성을 증명하기 위해 2개의 액추에이터와 포텐셔미터를 가진 간단한 인공의수를 제작하여 제어 실험을 하였다. 실험에서 실제 팔의 각도와 인공의수의 제어 각도 사이에는 센서 외부에서 발생되는 노이즈 및 인공의수의 회전 관성, 기계적인 마찰 등으로 인한 오차가 발생하였다. 따라서 오차 값과 오차의 변화 값에 근거한 퍼지 제어 알고리듬을 이용하여 재 실험을 한 결과 하완의 굴곡/신전 운동에서는 평균 약 4도, 손의 회내/외 운동에서는 평균 약 3도의 오차가 측정되어, 퍼지제어기를 설치한 이전보다 오차가 크게 개선되었다.

• 한국자원식물학회:학술대회논문집
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• 한국자원식물학회 2021년도 춘계학술대회
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• pp.60-60
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• 2021

Non-alcoholic fatty liver disease (NAFLD), especially including non-alcoholic steatohepatitis (NASH) is one of the common diseases with 25% of prevalence globally, but there is no thera-peutic access available. Amomum villosum var. xanthioides (Wall. ex Baker) T.L.Wu & S.J.Chen (AX), which is a medicinal herb and traditionally used for treating digestive tract disorders in Asia countries. We aimed to examine pharmacological effects of ethyl acetate fraction of AX (AXEF) against ER stress-induced NASH mice model using C57/BL6J male mice by tunicamycin (TM, 2 mg/kg) injection focusing on the oxidative stress. Mice were orally administrated AXEF (12.5, 25, or 50 mg/kg), silymarin (50 mg/kg) or distilled water daily for 5 days, and outcomes for fatty liver, inflammation, and oxidative stress were measured in serum or liver tissue levels. AXEF drastically attenuated hepatic ER stress-induced NASH which were evidenced by decreases of li-pid droplet accumulations, serum liver enzymes, hepatic inflammations, and cell death signals in the hepatic tissue or serum levels. Interestingly, AXEF showed potent antioxidant effects by quenching of reactive oxidative stress and its final product of lipid peroxide in the hepatic tissue, specifically increase of metallothionein (MT). To confirm underlying actions of AXEF, we ob-served that AXEF increase MT1gene promoter activities in the physiological levels. Collectively, AXEF showed antioxidant properties on TM-induced ER stress of NASH by enhancement of MTs.

• 제어로봇시스템학회논문지
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• 제10권3호
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• pp.205-215
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• 2004

The characteristic ratio assignment (CRA) method〔1〕 is new polynomial approach which allows to directly address the transient responses such as overshoot and speed of response time in time domain specifications. The method is based on the relationships between time response and characteristic ratios($\alpha_i$ ) and generalized time constant (T), which are defined in terms of coefficients of characteristic polynomial. However, even though the CRA can apply to developing a linear controller that meets good transient responses, there are still some fundamental questions to be explored. For the purpose of this, we have analyzed several sensitivities of a linear system with respect to the changes of coefficients itself and $\alpha_i$ of denominator polynomial. They are (i) the unnormalized root sensitivity : to determine how the poles change as $\alpha_i$ changes, and (ii) the function sensitivity to determine the sensitivity of step response to the change of o, and to analyze the sensitivity of frequency response as o, changes. As an other important result, it is shown that, under any fixed T and coefficient of the lowest order of s in denominator, the step response is dominantly affected merely by $\alpha_1, alpha_2 and alpha_3$ regardless of the order of denominator higher than 4. This means that the rest of the$\alpha_i$ s have little effect on the step response. These results provide some useful insight and background theory when we select $\alpha_i$ and T to compose a reference model, and in particular when we design a low order controllers such as PID controller.

• 한국진공학회지
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• 제6권4호
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• pp.298-307
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• 1997

CRT부품 탈가스(outgassing)를 온도를 변화 시켜가며 측정할 수 있고 시료의 열탈착 특성을 측정할 수 있는 TDS(Thermal Desorption Spectroscopy) 측정 장치를 설계 제작하였다. 제작된 시스템은 유효 배기속도를 조절할 수 있는 진공 장치와 시료의 온도조절 장치, 탈가스 측정 가치로 구성되어 있다. 제작된 시스템의 최저 도달 진공도는 $1{\times}10^{-7}$Pa 이하였고 가변 콘덕탄스(conductance)를 채택하여 유효 배기 속도를 조절 할 수 있도록 제작되었다. 가변 콘덕탄스 조절에 따른 시료위치에서의 유효 배기 속도 변화를 측정하였다. 텅스텐 히터와 온도조절기를 이용하여 시료의 온도는 600℃까지 ±1℃ 이내 오차로 조절 할 수 있었으며 온도 상승률도 조절할 수 있었다. 측정계기로 사용한 이온 진공계(ion gauge)와 사중극 질량분석기(quadrupole mass spectrometer)의 감도를 측정하여 정량적인 측정을 할 수 있도록 하였다. 제작된 시스템을 이용하여 CRT 공정에서의 부품별 온도별 측정 예와 공정분석에의 적용 예를 보였다.

• 한국진공학회지
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• 제6권4호
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• pp.308-313
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• 1997

Capacitance Diaphragm Gauge(CDG)를 전달표준기로 사용하여 한국과 영국의 저진 공표준의 국제비교를 수행한 결과 양국 표준기에서 교정한 CDG의 압력비의 차이는 0.05% 이었다. 또한 두 개의 Spinning Rotor Gauge(SRG)를 이용하여 한국과 일본이 고진공표준의 국제비교를 수행한 결과 양국 표준기에서 교정한 SRG의 accommodation coefficient($sigma$)의 차이가 0.4% 이내이었다. CDG와 SRG를 이용한 한국과 영국의 저진공표준기 및 한국과 일 본의 고진공표준기의 국제비교 결과 CDG 및 SRG 자체의 고유오차범위 이내에서 결과가 일치함을 확인할 수 있었다.

• 한국자동차공학회논문집
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• 제19권2호
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• pp.1-11
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• 2011

The skid-steering method that applied a number of mobile robot currently is extremely effective in narrow area. But it contains several problems such as its natural properties, slip, occurred by different direction between vehicle's driving and wheel's rotary. Through this paper, suitable control algorithm of $6{\times}6$ skid steering wheeled vehicle and its driving methods are proposed by analyzing the behavior $6{\times}6$ skid-steered wheeled vehicle model designed by engineering analysis strategy. To do this, based on a behavior of designed driving system, required torque and other performance of in-wheel type motor system are considered, and finally control algorithm for each wheel is proposed and simulated using this model. To test the proposed vehicle system, driver model is designed using PID closed loop system and included in the total driving control algorithm. The Performance of designed vehicle model is verified by using DYC (Direct Yaw Control) cornering mode and slip mode control to follow the steering input which are essential to evaluate the driving performance of $6{\times}6$ vehicle. Proposed modeling strategy and control method will be implemented to the real $6{\times}6$ in-wheel drive type vehicle.

• 제어로봇시스템학회논문지
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• 제13권4호
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• pp.279-285
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• 2007

The objective of the research is two fold. The first is to design and propose a stable and robust learning control algorithm. The controller is CMAC Learning Controller which consists of a model-based controller, such as LQR or PID, as a reference control and a CMAC. The second objective is to implement a reference control and CMAC at two different sampling rates. Generally, a conventional controller is designed based on a mathematical plant model. However, increasing complexity of the plant and accuracy requirement on mathematical models nearly prohibits the application of the conventional controller design approach. To avoid inherent complexity and unavoidable uncertainty in modeling, biology mimetic methods have been developed. One of such attempts is Cerebellar Model Articulation Computer(CMAC) developed by Albus. CMAC has two main disadvantages. The first disadvantage of CMAC is increasing memory requirement with increasing number of input variables and with increasing accuracy demand. The memory needs can be solved with cheap memories due to recent development of new memory technology. The second disadvantage is a demand for processing powers which could be an obstacle especially when CMAC should be implemented in real-time. To overcome the disadvantages of CMAC, we propose CMAC learning controller with multiple sampling rates. With this approach a conventional controller which is a reference to CMAC at high enough sampling rate but CMAC runs at the processor's unoccupied time. To show efficiency of the proposed method, an inverted pendulum controller is designed and implemented. We also demonstrate it's possibility as an industrial control solution and robustness against a modeling uncertainty.