• The Journal of Korea Robotics Society
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• v.14 no.4
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• pp.348-356
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• 2019

The backdrivable servovalve is a desirable component for force and interaction control of hydraulic actuation systems because it provides direct force generation mechanical impedance reduction by its own inherent backdrivability. However, high parametric uncertainty and friction effects inside the hydraulic actuation system significantly degrade its advantage. To solve this problem, this letter presents a disturbance-adaptive robust internal-loop compensator (DA-RIC) to generate ideal interactive control performance from the backdrivable-servovalve-based system. The proposed control combines a robust internal-loop compensator structure (RIC) with an explicit disturbance estimator designed for asymptotic disturbance tracking, such that the controlled system provide stable and ideal dynamic behavior for impedance control, while completely compensating the disturbance effects. With the aid of a backdrivable servovalve, we show that the proposed control structure can be implemented based on a simplified nominal model, and the controller enables implementation without accurate knowledge of the target system parameters and disturbances. The performance and properties of the proposed controller are verified by simulation and experiments.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.46 no.12
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• pp.986-993
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• 2018

Lateral thrust jet has better maneuverability performance than the control surface like the conventional fin for attitude control or orbital transition of guided weapons. However, in the supersonic region, a jet interaction flow occurs due to the lateral thrust jet during flight, and a complicated flow structure is exhibited by the interaction of the shock wave, boundary layer flow, and the vortex flow. Especially, hit-to-kill interceptors require precise control and maneuvering, so it is necessary to analyze the effect of jet interaction flow. Conventional jet interaction analyses were performed under low altitude conditions, but there are not many cases in the case of medium altitude condition, which has different flow characteristics. In this study, jet interaction flow analysis is performed on the lateral jet controlled interceptor operating at medium altitude. Based on the results, the structural characteristics of the flow field and the changes of aerodynamic coefficient are analyzed.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.23 no.2
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• pp.103-108
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• 2014

Growing concerns about environmental pollution have led to an increase in the demand for compressed natural gas (CNG) vehicles in recent years. CNG vehicles are equipped with a cylinder valve installed in a high-pressure vessel to control the CNG flow. The cylinder valve must meet high quality safety standards because the pressure vessel stores high-pressure CNG. Therefore, safety evaluation of the cylinder valve is necessary to ensure the safety of CNG vehicles. In this study, fluid-structure interaction analysis for the structural integrity of the cylinder valve were conducted using a commercial finite element analysis code(ANSYS WORKBENCH V14). The CFD analysis was performed using a steady-state technique according to the inlet and outlet pressures in order to predict the pressure distribution. Structural analysis was performed by a static structure technique at the maximum working pressure to evaluate the structural integrity of the cylinder valve. From the results, the safety factor of the valve component is between 1.57 and 21.5.

• Journal of the Korean Society of Industry Convergence
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• v.17 no.4
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• pp.217-226
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• 2014

Since the world has changed to a society of 21st century high-tech industries, the modern people have become reluctant to work in a difficult and dirty environment. Therefore, unmanned technologies through robots are being demanded. Now days, effects such as voice, control, obstacle avoidance are being suggested, and especially, voice recognition technique that enables convenient interaction between human and machines is very important. In this study, in order to conduct study on the stable motion control of the robot system that has mobile-manipulator structure and is voice command-based, kinetic interpretation and dynamic modeling of two-armed manipulator and three-wheel mobile robot were conducted. In addition, autonomous driving of three-wheel mobile robot and motion control system of two-armed manipulator were designed, and combined robot control through voice command was conducted. For the performance experiment method, driving control and simulation mock experiment of manipulator that has two-armed structure was conducted, and for experiment of combined robot motion control which is voice command-based, through driving control, motion control of two-armed manipulator, and combined control based on voice command, experiment on stable motion control of voice command-based robot system that has mobile-manipulator structure was verified.

• Proceedings of the Korean Vacuum Society Conference
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• 2011.02a
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• pp.24-25
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• 2011

Molecular self-assembly has several advantages over other nanofabrication methods. Molecular building blocks ensure ultrafine pattern precision, parallel structure formation allows for mass production and a variety of three-dimensional structures are available for fabricating complex structures. Nevertheless, the molecular interaction for self-assembly generally relies on weak forces such as van der Waals force, hydrogen bonding, or hydrophobic interaction. Due to the weak interaction, the structure formation is usually slow and the degree of ordering is low in a self-assembled structure. To promote self-assembly, directed assembly methods employing prepatterned substrates or external fields have been developed and gathered a great deal of technological attention as a next generation nanofabrication process. In this presentation a variety of directed assembly methods for soft nanomaterials including block copolymers, peptides and carbon nanomaterials will be introduced. Block copolymers are representative self-assembling materials extensively utilized in nanofabrication. In contrast to colloid assembly or anodized metal oxides, various shapes of nanostructures, including lines or interconnected networks, can be generated with a precise tunability over their shape and size. Applying prepatterned substrates$^{1,2}$ or introducing thickness modulation$^3$ to block copolymer thin films allowed for the control over the orientational and positional orderings of self-assembled structures. The nanofabrication processes for metals, semiconductors$^4$, carbon nanotubes$^{5,6}$, and graphene$^{6,7}$ templating block copolymer self-assembly will be presented.

• Nuclear Engineering and Technology
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• v.56 no.9
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• pp.3812-3825
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• 2024

The axial-flow-induced vibration of fuel rods in the nuclear power plant is closely related to nuclear safety. In this article, a numerical study is performed on vibration of two elastic cylinders arranged side-by-side in axial flow. Large eddy simulation is employed to predict the turbulent flow. The numerical method has been verified using the experimental root-mean-square vibration amplitude of a single cylinder. A wide range of inflow velocities u^*, incident turbulence intensity T_u and space ratio P/D have been examined, where D and P are the diameter and centre-to-centre distance of the cylinders, respectively. The results show that the vibration amplitudes increase with an increasing u^*, comparable to the case of a single cylinder in axial flow. However, the two cylinders could bend outwards during a relatively high u^* and low T_u. Although T_u significantly affects the amplitudes of the cylinders, it does not change the vibration frequency and the critical velocity at which buckling instability occurs. As the gap between the two cylinders is sufficiently small, the vibration amplitude enhances significantly due to the pronounced hydrodynamic interaction between the two elastic cylinders and surrounding fluid. The direction of buckling is no longer random but fixed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.12 s.243
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• pp.1567-1573
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• 2005

This paper introduces a new active magnetic bearing(AMB) that can provide both radial and axial control functions in one bearing unit without axial disk. It has a structure of double four-pole AMB or a four-pole AMB where each core is split into two axially. The cores have two kinds of coil winding; they independently generate fluxes on the planes perpendicular or parallel to the shaft. For the radial control action, it works just like a conventional four-pole AMB. Meanwhile, for the axial control, it uses the Lorentz force generated by the interaction of the bias flux for radial control and the axial control flux. In this paper, the proposed structure, principle, and design process based on magnetic flux analysis are introduced, and its feasibility is experimentally verified by using a simple PD control algorithm with a feedforward loop to compensate the coupled flux effect.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.29 no.12 s.243
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• pp.1561-1566
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• 2005

In this paper, a new compact active magnetic bearing(AMB) is proposed in which radial and axial bearings are integrated in one bearing unit. It consists of four U-shaped cores circumferentially connected by yokes and two-layer coils for radial and axial controls. For the radial control action, it has the same principle as conventional homopolar AMBs, while for the axial control, it uses the Lorentz force generated by the interaction of the bias flux for radial control and the axial control flux. The proposed structure makes it easy to design a compact AMB because it has no disk for axial control. This paper introduces the proposed structure, principle, and design process based on the magnetic flux analysis. By using a control algorithm with feedforward action to compensate the coupled flux effect, the feasibility of the proposed AMB is experimentally verified.

• International Journal of Aeronautical and Space Sciences
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• v.17 no.3
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• pp.296-314
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• 2016

This paper presents experimental and computational investigations of synthetic jets with a circular exit for improving flow control performance. First, the flow feature and vortex structure of a multiple serial circular exit were numerically analyzed from the view point of flow control effect under a cross flow condition. In order to improve separation control performance, experimental and numerical studies were conducted according to several key parameters, such as hole diameter, hole gap, the number of hole, jet array, and phase difference. Experiments were carried out in a quiescent condition and a forced separated flow condition using piezoelectrically driven synthetic jets. Jet characteristics were compared by measuring velocity profiles and pressure distributions. The interaction of synthetic jets with a freestream was examined by analyzing vortical structure characteristics. For separation control performance, separated flow over an airfoil at high angles of attack was employed and the flow control performance of the proposed synthetic jet was verified by measuring aerodynamic coefficient. The circular exit with a suitable hole parameter provides stable and persistent jet vortices that do beneficially affect separation control. This demonstrates the flow control performance of circular exit array could be remarkably improved by applying a set of suitable hole parameters.

• The Journal of the Acoustical Society of Korea
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• v.23 no.5
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• pp.376-382
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• 2004

The interaction between a vibrating structure and a surrounding acoustic medium determines the acoustic power propagating into the far-field. A straightforward method to reduce the radiated power is to reduce the vibration of the structure. However it is more efficient to control the modes of the structure separately since each vibration mode of the structure has different radiation efficiency. An efficient method to reduce the sound radiation in the low frequency region is proposed by reducing the radiation efficiency of the structure. Numerical simulations are carried out for a simply-supported beam in which the feed-forward control is applied to reduce the volume velocity of each structural mode. This method is found to be very efficient in reducing low frequency sound radiation.