• 대한임베디드공학회논문지
• /
• 제3권2호
• /
• pp.119-125
• /
• 2008

This paper presents the polygon-based Q-leaning and Cascade Support Vector Machine algorithm for object search with multiple robots. We organized an experimental environment with ten mobile robots, twenty five obstacles, and an object, and then we sent the robots to a hallway, where some obstacles were lying about, to search for a hidden object. In experiment, we used four different control methods: a random search, a fusion model with Distance-based action making (DBAM) and Area-based action making (ABAM) process to determine the next action of the robots, and hexagon-based Q-learning and dodecagon-based Q-learning and Cascade SVM to enhance the fusion model with DBAM and ABAM process.

• 대한기계학회논문집
• /
• 제18권8호
• /
• pp.2177-2183
• /
• 1994

The rapid expansion or condensible gas such as moist air of steam gives rise to nonequilibrium condensation. As a result of irreversibility of condensation process in the supersonic cascade flow of low pressure steam turbine, the entropy of the flow is increased, and the efficiency of the turbine is decreased. In the present study, to investigate the flow of moist air in 2-dimensional cascade made as the configuration of the tip section of the last actual steam turbine moving blade, the static pressure at both sides of pressure and suction of blade are measured by static pressure taps and the distribution of Mach number on both surfaces of the blade are obtained by using the measured static pressure. Also, the flow field is visualized by a schlieren system. From the experimental results, the effects of the stagnation temperature and specific humidity on the flow properties in a 2-dimensional stationary cascade of a practical steam turbine blade are clearly identified.

• 한국정보통신학회논문지
• /
• 제6권3호
• /
• pp.421-426
• /
• 2002

Hybrid cascade multilevel PWM inverter has advantages of hybrid structure which enhances the better utilization of power semiconductor switches, that is, both hi호 power-low frequency switch, GTO and low power-high frequency switch, IGBT can be used in the same circuit. In this paper, a static var compensator using hybrid cascade 5-level PWM inverter is presented for high voltage/high power applications. The proposed system is modelled by circuit DQ transformation, and thus an equivalent circuit is obtained which reveals the important characteristics of the system and lead to the related equations. Finally, circuit structure and characteristics is presented and the validity of the characteristics analysis is shown through PSIM simulation.

• 설비공학논문집
• /
• 제13권7호
• /
• pp.564-571
• /
• 2001

The present study investigated the effect of key parameters on the performance of a cascade system using R-22 and R-23 refrigerants. Experimental data for the cascade system have been compared with simulation results using thermodynamic analysis. The cascade system tested at the evaporating temperature of $-80^{\circ}C $ and the condensing temperature of$40^{\circ}C $. The key experimental parameters were the evaporating temperature of the HTC(-35, -30, -25, -20, $-15^{\circ}C $) and mass flux of the HTC(200, 250, 300kg/$m^2$s). As the evaporating temperature and the mass flux of the HTC were increased respectively, the COP and the refrigerating efficiency were increased and then decreased while the volume flow rate per unit refrigeration capacity showed the opposite trend. The maximum COP and refrigerating efficiency were obtained at the evaporating temperature of the HTC of $-25^{\circ}C $ and the mass flux of 250 kg/$m^2$s.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
• /
• pp.1412-1415
• /
• 1996

In this paper, a new identification method of the cascade control system is proposed which can overcome the weak points of Krishnaswamy and Rangaiah(1987)'s method. This new method consists of two steps. One is on-line process identification using the numerical integration to approximate the two process dynamics with a high order linear transfer function. The other is a model reduction technique to derive out low order transfer function(FOPTD or SOPTD) from the obtained high order linear transfer function to tune the controller using usual tuning rules. While the proposed method preserves the advantages of the Krishnaswamy and Rangaiah(1987)'s method, it has such a simplicity that it requires only measured input and output data and simple least-squares technique. Simulation results show that the proposed method can be a promising alternative in the identification of cascade control systems.

• 한국전산유체공학회:학술대회논문집
• /
• 한국전산유체공학회 1995년도 추계 학술대회논문집
• /
• pp.64-69
• /
• 1995

A computer code for solving the Reynolds averaged full Navier-Stokes equations has bent developed for analysis of gas and steam turbine cascade flows with the option of using one of two types of turbulence model. One is the Baldwin-Lomax model and the other is standard $k-{\varepsilon}$ model. The numerical integration is based on the explicit four stage Runge-Kutta scheme and finite volume method. To be verified, the resulting code is applied to VKI turbine cascade and compared with the previous experimental results. Finally, the flowfield around a steam turbine cascade is analyzed. Comparisons with experimental data show that present numerical scheme is an accurate Navier-Stokes solver and can give very good predictions for both gas and steam turbine cascade flow.

• 한국전산유체공학회:학술대회논문집
• /
• 한국전산유체공학회 2008년도 학술대회
• /
• pp.355-358
• /
• 2008

In order to investigate the physical mechanism of the energy cascade in homogeneous isotropic turbulence, we introduce Galilean-invariant energy and its transfer rate in the real space as a function of position, time and scale. By using a database of direct numerical simulations (DNS) of homogeneous isotropic turbulence, it is shown that (i) fully developed turbulence consists of multi-scale coherent vortices of tubular shapes, (ii) the energy at each scale is mainly confined in vortex tubes with the radii of the same order of the length scale, and (iii) the energy transfer takes place around pairs (especially, anti-parallel pairs) of such vortex tubes. Based on these observations, it is suggested that the energy cascade can be caused, in the real space, by the process of the stretching and creation of smaller (i.e. thinner) vortex tubes by the straining field around pairs of larger (i.e. fatter) vortex tubes. Indeed, it is quite easy to find such events (in our DNS fields) which strongly support this scenario of the energy cascade.

• 한국전산유체공학회:학술대회논문집
• /
• 한국전산유체공학회 2008년 추계학술대회논문집
• /
• pp.355-358
• /
• 2008

In order to investigate the physical mechanism of the energy cascade in homogeneous isotropic turbulence, we introduce Galilean-invariant energy and its transfer rate in the real space as a function of position, time and scale. By using a database of direct numerical simulations (DNS) of homogeneous isotropic turbulence, it is shown that (i) fully developed turbulence consists of multi-scale coherent vortices of tubular shapes, (ii) the energy at each scale is mainly confined in vortex tubes with the radii of the same order of the length scale, and (iii) the energy transfer takes place around pairs (especially, anti-parallel pairs) of such vortex tubes. Based on these observations, it is suggested that the energy cascade can be caused, in the real space, by the process of the stretching and creation of smaller (i.e. thinner) vortex tubes by the straining field around pairs of larger (i.e. fatter) vortex tubes. Indeed, it is quite easy to find such events (in our DNS fields) which strongly support this scenario of the energy cascade.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2001년도 춘계학술대회논문집
• /
• pp.768-773
• /
• 2001

The self-noise from blade cascade at off-design points mainly comes from separated boundary layer and vortex sheddings, and is also dependent on blade shape. If the incidence angle to the cascade increases, the stalling in blades may occur and the noise level increases significantly. The hybrid method using acoustic analogy was employed to compute the far-field noise spectra and directivity patterns from the separated vortex shedding at off-design points of the cascade of impeller. This paper is compared with the experimental data of a stationary cascade in the same conditions. The simulated result is in excellent .agreement with the measured data except th slight under-prediction near the maximum radiation angle for a dipole sound.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
• /
• pp.104-106
• /
• 2007

In this paper, we propose an approach to design of optimized Cascade controller for Rotary Inverted Pendulum system using Hierarchical Fair Competition-based Genetic Algorithm(HFCGA). GAs may get trapped in a sub-optimal region of the search space thus becoming unable to find better quality solutions, especially for very large search space. The Parallel Genetic Algorithms(PGA) are developed with the aid of global search and retard premature convergence. HFCGA is a kind of multi-populations of PGA. In this paper, we design optimized Cascade controller by HFCGA for Rotary Inverted Pendulum system that is nonlinear and unstable. Cascade controller comprise two feedback loop, parameters of controller optimize using HFCGA. Then designed controller evaluate by apply to the real plant.