• 정보저장시스템학회:학술대회논문집
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• 2005.10a
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• pp.242-245
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• 2005

The rotating flow in the space between co-rotating disks is of considerable importance in information storage systems. Hard disk drivers(HDD) in computer are used extensively as data storage capacity. The trend in the computer industry to produce smaller disk drives rotating at higher speed requires an improved understanding of fluid motion in the space between disks. In this study, we have tried LES model for inner-disk flowfield to investigate the flow disturbance and the flow structure driven by co-rotating disks. The boundary pattern between inner region and outer region obtained lobe-shape structure clearly and its number has been validated on experimental data by our previous study. We obtain the spectra of velocity and pressure components with several frequencies. We revealed there are two kinds of disturbances, one is global wave propagation and another is local wave propagation on Ekman boundary layer.

• 유체기계공업학회:학술대회논문집
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• 2004.12a
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• pp.309-314
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• 2004

The experimental loop was designed and installed to measure the disc positions, disc back stop load and differential pressure with flow velocity for 3 inch and 6 inch swing check valves. The tests were performed at various conditions of upstream flow disturbance source and distance from the tested check valves to investigate the effect of the upstream flow conditions on the disc stability of the swing check valves. The selected disturbance sources were elbow, globe valve, and orifice. The experimental results are presented herein.

• The Journal of Korea Robotics Society
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• v.19 no.1
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• pp.8-15
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• 2024

This paper proposes a linear model predictive control of 6-DOF remotely operated underwater vehicles using nonlinear robust internal-loop compensator (NRIC). First, we design a integrator embedded linear model prediction controller for a linear nominal model, and then let the real model follow the values calculated through forward dynamics. This work is carried out through an NRIC and in this process, modeling errors and external disturbance are compensated. This concept is similar to disturbance observer-based control, but it has the difference that H_∞ optimality is guaranteed. Finally, tracking results at trajectory containing the velocity discontinuity point and the position tracking performance in the disturbance environment is confirmed through the comparative study with a traditional inverse dynamics PD controller.

• Proceedings of the KIEE Conference
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• 1999.07a
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• pp.268-270
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• 1999

A dry winding is adopted in ${\mu}$ SMES devices. In these kinds of devices, MPZ and quench propagation velocity are important characteristics in the fabrication of ${\mu}$SMES devices. In this Paper, the influence of disturbance, Cu ratio and external field on MPZ and quench propagation velocity was investigated.

• Journal of the Korean Society for Precision Engineering
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• v.34 no.4
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• pp.265-272
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• 2017

Velocity ripple in manufacturing processes reduces productivity and limits the precision of the product. In practice, the frequency and phase of velocity ripples always change minutely, which makes it impossible to compensate for the ripple by simply inserting an opposite feed-forward signal in the system. In this study, an active-phase compensation algorithm was developed to enable the velocity-ripple controller to track the phase change of the ripples in real time. The proposed controller can compensate for the velocity ripple whatever its cause, including disturbance by the torque ripple. The algorithm consists of three functional modules: the velocity-ripple extractor, the synchronized integrator, and the phase shifter. Experimental results showed that the proposed controller clearly reduces velocity ripples with phase variation.

• The Journal of the Acoustical Society of Korea
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• v.22 no.4E
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• pp.167-175
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• 2003

Shear wave velocity was measured and grain size analysis was conducted on two core samples obtained in unconsolidated marine sediments of the western continental margin, the East Sea. A pulse transmission technique based on the Hamilton frame was used to measure shear wave velocity. Duomorph ceramic bender transducer-receiver elements were used to generate and detect shear waves in sediment samples. Time delay was calculated by changing the sample length from the transducer-receiver element. Time delay is 43.18 μs and shear wave velocity (22.49 m/s) is calculated from the slope of regression line. Shear wave velocities of station 1 and 2 range from 8.9 to 19.0 m/s and from 8.8 to 22 mis, respectively. Shear wave velocities with depth in both cores are qualitatively in agreement with the compared model〔1〕, although the absolute value is different. The sediment type of two core samples is mud (mean grain size, 8-9Φ). Shear wave velocity generally increases with sediment depth, which is suggesting normally consolidated sediments. The complicated variation of velocity anisotropy with depth at station 2 is probably responsible for sediment disturbance by possible gas effect.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.1
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• pp.101-108
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• 2004

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is relatively difficult to obtain stable control performance. In this report, we applied disturbance estimation and compensation type robust control to all axes in a 3-link electro-hydraulic manipulator. From the results of experiment, it was confirmed that the performance of trajectory tracking and attitude regulating is greatly improved by the disturbance observer, which model is the same for each axis. On the other hand, for the autonomous assembly tasks, it is said that compliance control is one of the most available methods. Therefore we proposed compliance control which is based on the position control by disturbance observer for our manipulator system. To realize more stable contact work, the states in the compliance loop are feedback, where not only displacement but also velocity and acceleration are considered. And we applied this compliance control to Peg-in-Hole insertion task and analyzed mechanical relation between peg and hole. Also we proposed new method of shifting the position of end-effector periodically for the purpose of smooth insertion. As a result of using this method, it is experimentally confirmed that Peg-in-Hole insertion task with a clearance of 0.05［mm］can be achieved.

• Proceedings of the Korean Geotechical Society Conference
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• 2008.03a
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• pp.605-612
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• 2008

The shear wave velocity ($V_s$) has been commonly used to evaluate the dynamic properties of soil. The field $V_s$ probe (FVP) was already developed to assess the shear stiffness of a soft clay. The objective of this study is to investigate the disturbance effects of the FVP due to the penetration. The laboratory tests are conducted in a large-scale consolidometer (calibration chamber). The reconstituted clay is mixed at the water content of 110% using a slurry mixer. The FVP and down-hole test are carried out every 1cm interval to compare the data. In addition, two square rods with transducers are also implemented to get the reference value. The shear waves evaluated by the FVP, dow-hole tests, and reference rods are closely matched. This study suggests that the disturbance effect of the FVP due to the penetration into the soft clay soils is small enough and the $V_s$ evaluated by the FVP reflects well the in-situ characteristics. Furthermore, the combination of the FVP and down-hole test shows the possibility of hybrid equipment.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.1
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• pp.47-53
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• 2004

An electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and its parameter fluctuations are greater than those of an electrically driven manipulator. So it is quite difficult to obtain stable control performance. We have applied a disturbance estimation and compensation type robust control to all the axes in a 6-link electro-hydraulic manipulator. It was confirmed that the performance of trajectory tracking and attitude regulating was greatly improved by the disturbance observer. For autonomous assembly tasks, it is said that compliance control is one of the most popular methods in contact task. We have proposed a compliance control based on the position control by a disturbance observer for our manipulator system. To realize more stable contact work, the states in the compliance loop are feedbacked, where not only displacement but also the velocity and acceleration are considered. We have also applied this compliance control to the Peg-in-Hole insertion task and proposed new methods of (1)rotating of the end-effector periodically in order to reduce the friction force, (2)random searching for the center of a hole and (3)trajectory modification to reduce the impact force. As a result of these new methods, it could be experimentally confirmed that the Peg-in-Hole insertion task with a clearance of 0.007 [mm] could be achieved.

• Journal of Drive and Control
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• v.14 no.2
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• pp.9-15
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• 2017

The steering systems of all-terrain cranes have been developed with various control strategies for the stability and drivability. To optimally control the input steering angle, an accurate mathematical model that represents the actual crane dynamics is required. The derivation of an accurate mathematical model to optimally control the steering angle, however, is difficult since the steering-control strategy generally varies with the magnitude of the crane's longitudinal velocity, and the postures of the crane's working parts vary while it is being driven. To address this problem, this paper proposes an automatic steering-control algorithm that is based on the MPC (model predictive control) with a disturbance observer for all-terrain cranes. The designed disturbance observer of this study was used to estimate the error between the base steering model and the actual crane. A model predictive controller was used for the computation of the optimal steering angle, along with the use of the base steering model with an estimated uncertainty. Performance evaluations of the designed control algorithms were conducted based on a curved-path scenario in the Matlab/Simulink environment. The performance-evaluation results show a sound reference-path-tracking performance despite the large uncertainties.