• 한국유체기계학회 논문집
• /
• 제10권4호
• /
• pp.15-20
• /
• 2007

In order to control and balance axial thrust of turbo machine, many types of balancing devices are used but most of them are complicated and sometimes cause troubles. In this study, a very simple device of using shallow grooves mounted on a casing wall, known as "J-Groove", is proposed and studied experimentally and theoretically. The result shows that 70% of axial thrust in an industrial 4-stage centrifugal pump can be reduced at the best efficiency point. Moreover, the analytical method of "interfered gap flow" is established and a simple formula which can determine the optimum dimension of groove and its location is proposed.

• 제어로봇시스템학회논문지
• /
• 제7권6호
• /
• pp.465-470
• /
• 2001

This paper considers a new weighed model reduction method using block diagonal solutions of Lyapunov inequalities. With the input and/or output weighting function, the stability of the reduced order system is guaranteed and an a priori error bound is proposed. to achieve this after finding the solutions of two Lyapunov inequalities and balancing the full order system, we find the reduced order systems using the direct truncation and the singular perturbation approximation. The proposed method is compared with other existing methods using numerical examples.

• 제어로봇시스템학회논문지
• /
• 제8권6호
• /
• pp.484-491
• /
• 2002

We developed a new type of human-sized BWR (biped walking robot) driven by a new actuator based on the ball screw which has high strength and high gear ratio. Each leg of the robot is composed of three pitch joints and one roll joint. In all, a 10 degree-of-freedom robot with two balancing joints was developed. A new type of actuator for the robot is proposed, which is composed of four bar link mechanism driven by the ball screw. The robot overcomes the limit of the driving torque of conventional BWRs. The BWR was designed to walk autonomously by adapting small DC motors for the robot actuators and has a space to board DC battery and controllers. In the performance test, the BWR performed sitting-up and down motion, and walking motion. Through the test, we found the possibility of a high performance biped-walking.

• 한국시스템다이내믹스연구
• /
• 제15권4호
• /
• pp.29-60
• /
• 2014

As every commentators has noted, bureaucratic corruption, which has complicated causes, is prevalent phenomenon in Korean society. Especially, most people realize that systemic corruption has a strong negative effect on society; however, only few studies reflect on the nature of 'systemic corruption' and it seems that no established theory explains the phenomenon. Thus, this study suggest that we look more carefully into the nature and mechanisms of 'systemic corruption'. Interdisciplinary approach based on the integrated model of structure-behavior to analyse the nature of bureaucratic corruption. The system dynamics method can test the mechanisms of 'systemic corruption'. With this way, the factors generating systemic corruption represent the relationships reinforcing and balancing within system dynamics model. This paper also consider 'isomorphism' and 'dominance' as control mechanisms to systemic corruption. From the CLD(Causal Loop Diagram), three main areas(rent in organization, networking, control mechanisms) are overlapped and it indicates dynamic relationships of systemic corruption in organizations.

• 한국정밀공학회지
• /
• 제10권2호
• /
• pp.14-21
• /
• 1993

Pneumatic actuators have greater power to weight ratio than electric ones, but they have been rarely used as robotic actuators because of poor accuracy resulted from nonliearity of air. On the other hand, electric servo motors have glld controllability, but they have poor power to weight ratio. For the heavy load handling robot a combined actuating method was developed for vertical and horizontal axes of RISTBOT-ll which handles up to 250kgf load. In this paper, the control method is implemented and analyzed for the manufactured heavy load handling robot.

• 유체기계공업학회:학술대회논문집
• /
• 유체기계공업학회 2005년도 연구개발 발표회 논문집
• /
• pp.354-358
• /
• 2005

The magnitude of the axial force acting on turbopump bearings has a great influence on the operational reliability and service life of a turbopump. In the turbopump under current investigation the cavity vanes are introduced to the pump shroud casing to control the axial thrust of the turbopump. To investigate the effect of the cavity vanes, 3D computational flow analyses for a propellant pump stage including an inducer, impeller, volute and secondary flow passages are performed with and without the vanes. The results show that the cavity vanes are very effective in reducing the magnitude of axial thrust without notable changes on the overall performance of the turbopump.

• 제어로봇시스템학회논문지
• /
• 제4권1호
• /
• pp.19-25
• /
• 1998

발란싱 축소모델의 상태변수는 플랜트의 상태변수에 대한 정보를 주지 못한다. 발란싱 축소모델을 좌표 변환하여 얻은 상태유지 축소모델은 그 축소오차가 발란싱 축소모델의 축소오차와 같음을 증명하였다. 상태축소오차를 정의하였고, 이 오차를 구하는 방법을 제시하였는데, 이 오차는 축소모델의 차수가 정해지면 불변임을 증명하였다. 상태유지 축소모델의 상태변수는 그 상태축소오차가 작은 경우 원 시스템의 상태변수를 근사하는 장점이 있다. 상태유지 축소모델을 저차원제어기 설계에 적용하여 저차원 상태변수가 플랜트의 상태변수를 근사하는 예를 보여주었다.

• 한국컴퓨터정보학회:학술대회논문집
• /
• 한국컴퓨터정보학회 2012년도 제45차 동계학술발표논문집 20권1호
• /
• pp.217-218
• /
• 2012

기기간(M2M, Machine-to-Machin) 통신의 한 응용으로서 스마트 그리드 네트워크는 다수의 기기 통신으로 인한 전송 데이터의 방대한 양을 대표적 특징으로 꼽을 수 있다. 이에 현재 사용가능한 통신 기술들을 그대로 사용할 경우, 병목현상 혹은 네트워크 혼잡 등 네트워크 장애 및 전송 지연이 발생할 수 있다. 특히 스마트 그리드 네트워크의 상향 트래픽은 시간조절이 가능한 주기적 미터링 데이터와 지연민감한 이벤트 데이터로 나뉜다. 이에 본 논문에서는 각 트래픽 특성에 따라 트래픽양의 대다수를 이룰 미터링 데이터의 전송시간 조절을 이용한 혼잡제어 기법을 제안한다. 이를 통해 지연민감한 이벤트 데이터의 지연시간 내 전송 보장 확률을 높이고, 트래픽을 분산시킴으로써 전송 효율을 높이고자 한다.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2003년도 춘계학술대회논문집
• /
• pp.985-990
• /
• 2003

With the rotational speed of the hard disk drive (HDD) increased, the low frequency structural vibration induced by the unbalance force gives rise to the structure home noise of the personal computer, and finally degrades the noise quality. As the unbalance of the hard disk drive is decided by the mechanical assembly allowance between clamping and platter disk, there is limit to control this unbalance by the improved assembly method. To improve the noise and vibration performance of PC, basically the unbalance of HDD needs to be measured absolutely and reduced during the stage of the disk assembly. This study introduces the HDD unbalance measurement methods of the absolute magnitude based on the mobility concept, and the unbalance location information with the acceleration orbit.

• 한국컴퓨터정보학회논문지
• /
• 제23권10호
• /
• pp.23-31
• /
• 2018

Recently, there have been many studies on machine learning. Among them, studies on reinforcement learning are actively worked. In this study, we propose a controller to control bicycle using DDPG (Deep Deterministic Policy Gradient) algorithm which is the latest deep reinforcement learning method. In this paper, we redefine the compensation function of bicycle dynamics and neural network to learn agents. When using the proposed method for data learning and control, it is possible to perform the function of not allowing the bicycle to fall over and reach the further given destination unlike the existing method. For the performance evaluation, we have experimented that the proposed algorithm works in various environments such as fixed speed, random, target point, and not determined. Finally, as a result, it is confirmed that the proposed algorithm shows better performance than the conventional neural network algorithms NAF and PPO.