• International Journal of Automotive Technology
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• 제8권3호
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• pp.351-359
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• 2007

In this study, a hierarchical switching control scheme based on robust control theory is proposed for tracking control of vehicle longitudinal acceleration in the presence of large uncertainties. A model set consisting of four multiplicative-uncertainty models is set up, and its corresponding controller set is designed by the LMI approach, which can ensures the robust performance of the closed loop system under arbitray switching. Based on the model set and the controller set, a switching index function by estimating the system gain of the uncertainties between the plant and the nominal model is designed to determine when and which controller should be switched into the closed loop. After theoretical analyses, experiments have also been carried out to validate the proposed control algorithm. The results show that the control system has good performance of robust stability and tracking ability in the presence of large uncertainties. The response time is smaller than 1.5s and the max tracking error is about $0.05\;m/S^2$ with the step input.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.756-759
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• 1997

Multi-arm cooperation robot system is required for more specific and dextrous jobs such as transferring very large or heavy objects, or grasping work piece while processing on it. There is little research on 3-dimensional multi-arm robot. Here we propose two performance indices presenting isotropy of end-effector's acceleration and velocity capabilities with constraints of joint torques, that is Isotropic Acceleration Radius [IAR] and Isotropic Velocity Radius [IVRI. Also the procedure to find 3-dimensional IAR, IVR is proposed, where available acceleration set concept is used. The case of 3-dimensional two 3 joint robot system was simulated and the distributions of IAR, IVR was studied.

• Nuclear Engineering and Technology
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• 제54권2호
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• pp.532-545
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• 2022

In-depth convergence analyses for neutronics/thermal-hydraulics (T/H) coupled calculations are performed to investigate the performance of nonlinear methods based on the Fixed-Point Iteration (FPI). A simplified neutronics-T/H coupled system consisting of a single fuel pin is derived to provide a testbed. The xenon equilibrium model is considered to investigate its impact during the nonlinear iteration. A problem set is organized to have a thousand different fuel temperature coefficients (FTC) and moderator temperature coefficients (MTC). The problem set is solved by the Jacobi and Gauss-Seidel (G-S) type FPI. The relaxation scheme and the Anderson acceleration are applied to improve the convergence rate of FPI. The performances of solution schemes are evaluated by comparing the number of iterations and the error reduction behavior. From those numerical investigations, it is demonstrated that the number of FPIs is increased as the feedback is stronger regardless of its sign. In addition, the Jacobi type FPIs generally shows a slower convergence rate than the G-S type FPI. It also turns out that the xenon equilibrium model can cause numerical instability for certain conditions. Lastly, it is figured out that the Anderson acceleration can effectively improve the convergence behaviors of FPI, compared to the conventional relaxation scheme.

• International Journal of Automotive Technology
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• 제4권3호
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• pp.109-117
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• 2003

The analysis and evaluation of the transient performance by the transient response specifications under various acceleration speeds and types based on driver's typical acceleration habit are implemented by the experimental study to provide the appropriate direction for the transient control in a gasoline engine. The concept of the transient response specifications which consist of delay time, rising time, maximum overshoot and settling time, and the analysis method using them are introduced to evaluate the characteristics of the transient performance quantitatively. Furthermore four acceleration speeds and four acceleration types are set respectively to realize the various transient states which are similar to the real drive. Several performance parameters in terms of engine speed, manifold absolute pressure, fuel injection duration and air excess ratio are measured simultaneously during the various acceleration using a throttle actuator controlled by a PC. The transient response specifications characterized well the transient performance for the various acceleration speed and types quantitatively. Delay and rising time with increment of the acceleration speed became shorter, but settling time did longer. Intensified acceleration type appeared to be the most economical in view of fuel consumption, and linear acceleration type was found to have the least harmful emission concentration.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2011년도 정기총회 및 추계학술대회 논문집
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• pp.275-280
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• 2011

Due to high-speed of trains, the track deformation increases rapidly and may lead to track irregularities causing the track stability problem. To secure the track stability, the continual inspection on track irregularities is required. The paper presents a methodology for identifying track irregularity using the NARX neural network considering non-linearity in the train structural system. A simulation study has been carried out to examine the proposed method. Acceleration time history data measured at a bogie were re-sampled to every 0.25m track irregularity. In the simulation study, two sets of measured data were simulated. The second data set was obtained by a train with 10% more mass than the one for the first data set. The first set of simulated data was used to train the series-parallel mode of NARX neural network. Then, the track irregularities at the second time period are identified by using the measured acceleration data. The closeness of the identified track irregularity to the actual one is evaluated by PSD and RMSE.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2003년도 하계종합학술대회 논문집 V
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• pp.2709-2712
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• 2003

In this paper, dynamic constraints are considered for the analysis of manipulability of robotics systems comprised of two cooperating arms. Given bounds on the torques of joint actuators for each robot, the purpose of this study is to derive the bounds of task acceleration of object carried by the system. Under the assumption of complete constraint contact, a set of examplar polytope describing acceleration bounds of two cooperating robots are included.

• 전기학회논문지
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• 제65권4호
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• pp.642-651
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• 2016

For the acceleration and brake systems of an autonomous vehicle, the dynamic models from acceleration (brake) pedal input to driving(braking) torque at the vehicle wheel are represented by a set of linear transfer functions in this paper. We present an experimental method that can identify these models using a single rectangular pulse response data. Various magnitude of inputs with different running speeds are applied to experimental tests. All the identified models are demonstrated by the measured data. Both acceleration and brake models have been also validated by comparing the velocity of a full vehicle model associated with the proposed models with the measured vehicle velocity.

• Nuclear Engineering and Technology
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• 제53권1호
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• pp.30-43
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• 2021

In the 2D/1D method, a global adjoint CMFD based on the generalized equivalence theory is built to synthesize the 2D radial MOC adjoint and 1D axial NEM adjoint calculation and also to accelerate the iteration convergence of 3D whole-core adjoint transport calculation. Even more important, an advanced yet accurate two-level (TL) CMFD acceleration technique is proposed, in which an equivalent one-group adjoint CMFD is established to accelerate the multi-group adjoint CMFD and then to accelerate the 3D whole-core adjoint transport calculation efficiently. Based on these method, a new code is developed to perform 3D adjoint neutron flux calculation. Then a set of VERA and C5G7 benchmark problems are chosen to verify the capability of the 3D adjoint calculations and the effectiveness of TL CMFD acceleration. The numerical results demonstrate that acceptable accuracy of 2D/1D adjoint calculations and superior acceleration of TL CMFD are achievable.

• Earthquakes and Structures
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• 제3권5호
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• pp.629-647
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• 2012

Multiple acceleration sequences of earthquake ground motions have been observed in many regions of the world. Such ground motions can cause large damage to the structures due to accumulation of inelastic deformation from the repeated sequences. The dynamic analysis of inelastic structures under repeated acceleration sequences generated from simulated and recorded accelerograms without sequences has been recently studied. However, the characteristics of recorded earthquake ground motions of multiple sequences have not been studied yet. This paper investigates the gross characteristics of earthquake records of multiple sequences from an engineering perspective. The definition of the effective number of acceleration sequences of the ground shaking is introduced. The implication of the acceleration sequences on the structural response and damage of inelastic structures is also studied. A set of sixty accelerograms is used to demonstrate the general properties of repeated acceleration sequences and to investigate the associated structural inelastic response.

• 제어로봇시스템학회논문지
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• 제12권5호
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• pp.497-504
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• 2006

This paper presents a new technique that derives the dynamic acceleration bounds of multiple cooperating robot systems from given individual torque limits of robots. A set of linear algebraic homogeneous equation is derived from the dynamic equations of multiple robots with friction contacts. The mobility of the robot system is analyzed by the decomposition of the null space of the linear algebraic equation. The acceleration bounds of multiple robot systems are obtained from the joint torque constraints of robots by the medium of the decomposed null space. As the joint constraints of the robots are given in the infinite norm sense, the resultant acceleration bounds of the systems are described as polytopes. Several case studies are presented to validate the proposed method in this paper.