• International Journal of Fluid Machinery and Systems
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• v.4 no.1
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• pp.97-103
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• 2011

With the aim to increase blade loadings and stable operating range in highly loaded compressors, this article has been conducted to explore, through a numerical parametric study, the potential of passive control using slotted bladings in cascade configurations. The objective of this numerical investigation is to analyze the influence of location, width and slope of the slots and therefore identify the optimal configuration. The approach is based on two dimensional cascade geometry, low speed regime, steady state and turbulent RANS model. The results show the efficiency of this passive technique to delay separation and enhance aerodynamic performances of the compressor cascade. A maximum of 28.3% reduction in loss coefficient have been reached, the flow turning is increased with approximately $5^0$ and high loading over a wide range of angle of attack have been obtained for the optimized control parameter.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.2
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• pp.158-166
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• 2002

A mathematical model and dynamic characteristics ova continuously variable damper for semi-active suspen- sion systems are investigated. After analyzing the geometry of a typical continuously variable damper, mathematical models fur individual components including piston, orifices, spring, and valves are first derived and then the flow equations for extension and compression strokes are investigated. To verify the developed mathematical model, the dynamic response of the model are simulated using MATLAB/SIMULINK and are compared with experimental results. The proposed model can be used not only for mechanical components design but also for control system design.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.12
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• pp.1222-1229
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• 2007

In this paper, we propose a new obstacle negotiation method for the rescue robot. The rescue robot has a variable geometry single-tracked mechanism, so it can maximize a contact length with ground for the adaptability to off-road and pursue a stable system due to the lower center of gravity. In this research, we add the basis of autonomous navigation, driving mode control based on obstacle detection, to the robot to realize automation of mode transformation. Obstacle detection using PSD(Position Sensitive Device) infrared sensors gives active transformation of the track shape. Finally, experimental results about mentioned are presented.

• International Journal of Automotive Technology
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• v.8 no.5
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• pp.563-573
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• 2007

Optimal design of an automotive catalytic converter for minimization of cold-start emissions is numerically performed using a micro genetic algorithm for two optimization problems: optimal geometry design of the monolith for various operating conditions and optimal axial catalyst distribution. The optimal design process considered in this study consists of three modules: analysis, optimization, and control. The analysis module is used to evaluate the objective functions with a one-dimensional single channel model and the Romberg integration method. It obtains new design variables from the control module, produces the CO cumulative emissions and the integral value of a catalyst distribution function over the monolith volume, and provides objective function values to the control module. The optimal design variables for minimizing the objective functions are determined by the optimization module using a micro genetic algorithm. The control module manages the optimal design process that mainly takes place in both the analysis and optimization modules.

• Journal of Institute of Control, Robotics and Systems
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• v.9 no.2
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• pp.117-123
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• 2003

Rotational machines such as optical disk drives, hard disk drives, and so on are subject to periodic disturbances caused by their mechanical characteristics. In the meanwhile, it is well known that repetitive control rejects periodic disturbance effectively. This paper presents a practical application of repetitive control to the track-following servo of an optical disk drive. The repetitive control system is composed of two repetitive controllers which compensate for periodic disturbances generated by track geometry and eccentric rotation of disk and a feedback controller stabilizing the feedback loop. A robust stability for all plant uncertainties is proved using linear matrix inequalities (LMIs). In the controller design, a weighting function is introduced for the feedback controller to ensure a minimum loop gain and a sufficient phase margin. The repetitive controllers and the feedback controller are designed by solving an optimization problem which can consider the robust stability condition and the system performance. The developed repetitive control system is implemented in the digital control system with a 16-bit fixed-point digital signal processor (DSP). Through simulation and experiment. The feasibility of the proposed repetitive control system is verified.

• International Journal of Control, Automation, and Systems
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• v.2 no.1
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• pp.107-117
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• 2004

A new algorithm for planning a collision-free path based on an algebraic curve as well as the concept of path space is developed. Robot path planning has so far been concerned with generating a single collision-free path connecting two specified points in a given robot workspace with appropriate constraints. In this paper, a novel concept of path space (PS) is introduced. A PS is a set of points that represent a connection between two points in Euclidean metric space. A geometry mapping (GM) for the systematic construction of path space is also developed. A GM based on the 2$^{nd}$ order base curve, specifically Bezier curve of order two is investigated for the construction of PS and for collision-free path planning. The Bezier curve of order two consists of three vertices that are the start, S, the goal, G, and the middle vertex. The middle vertex is used to control the shape of the curve, and the origin of the local coordinate (p, $\theta$) is set at the centre of S and G. The extreme locus of the base curve should cover the entire area of actual workspace (AWS). The area defined by the extreme locus of the path is defined as quadratic workspace (QWS). The interference of the path with obstacles creates images in the PS. The clear areas of the PS that are not mapped by obstacle images identify collision-free paths. Hence, the PS approach converts path planning in Euclidean space into a point selection problem in path space. This also makes it possible to impose additional constraints such as determining the shortest path or the safest path in the search of the collision-free path. The QWS GM algorithm is implemented on various computer systems. Simulations are carried out to measure performance of the algorithm and show the execution time in the range of 0.0008 ~ 0.0014 sec.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.37 no.4
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• pp.211-218
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• 2019

The Ministry of Land, Infrastructure and Transport is planning to launch CAS-500 (Compact Advanced Satellite 500) 1 and 2 in 2019 and 2020. Satellite image information collected through CAS-500 can be used in various fields such as global environmental monitoring, topographic map production, analysis for disaster prevention. In order to utilize in various fields like this, it is important to get the location accuracy of the satellite image. In order to establish the precise geometry of the satellite image, it is necessary to establish a precise sensor model using the GCP (Ground Control Point). In order to utilize various fields, step - by - step automation for orthoimage construction is required. To do this, a database of satellite image GCP chip should be structured systematically. Therefore, in this study, we will analyze various techniques for automatic GCP extraction for precise geometry of satellite images.

• Economic and Environmental Geology
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• v.56 no.5
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• pp.557-564
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• 2023

Nuclear materials such as uranium are used as fuel for nuclear power generation, but there is a high possibility that they will be used for non-peaceful purposes, so international inspections and regulations are being conducted. Isotope analysis data of fine particulate obtained from nuclear facilities can provide important information on the origin and concentration method of nuclear material, so it is widely used in the field of nuclear safety and nuclear forensics. In this study we describe the analytical method that can directly identify nuclear particles and measure their isotopic ratios for fine samples using a large-geometry secondary ion mass spectrometer and introduce its preliminary results. Using the U-200 standard material, the location of fine particles was identified and the results consistent with the standard value were obtained through microbeam analysis.

• Journal of Drive and Control
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• v.17 no.1
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• pp.1-12
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• 2020

This study was to develop a simulation model of a compound planetary gear reducer for the final driving shaft using a gear analysis software (KISSsoft, Version 2017, KISSsoft AG, Switzerland). The aim of this study is to analyze transmission error and the tooth load distribution through micro-geometry using the simulation model. The tip and root relief were modified with Micro-geometry in the profile direction, and crowning was modified with Micro-geometry in the lead direction. The transmission error was analyzed using the PPTE (Peak to Peak Transmission Error) value, and the tooth load distribution was analyzed for the concentrated stress on the tooth surface. As a result of modifying tip and relief in the profile direction, the transmission error was reduced up to 40.7%. In the case of modifying crowning in the lead direction, the tooth load was more evenly distributed than before and decreased the stress on the tooth surface. After modifying the profile direction for the 1st and 2nd planetary gear train, the bending and contact safety factors were increased by 31.7% and 17%, and 18.3% and 12.5% respectively. Moreover, the bending and safety factors after modifying lead direction were increased by 59.5% and 32.7%, respectively for the 1st planetary gear train, and 59.6% and 43.6%, respectively for the 2nd planetary gear train. In future studies, the optimal design of a compound planetary gear reducer for the final driving shaft is needed considering both the transmission error and tooth load distribution.

• Journal of Mechanical Science and Technology
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• v.15 no.8
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• pp.1097-1107
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• 2001

In this paper, the wall following navigation algorithm of the mobile robot using a mono vision system is described. The key points of the mobile robot navigation system are effective acquisition of the environmental information and fast recognition of the robot position. Also, from this information, the mobile robot should be appropriately controlled to follow a desired path. For the recognition of the relative position and orientation of the robot to the wall, the features of the corridor structure are extracted using the mono vision system, then the relative position, the offset distance and steering angle of the robot from the wall, is derived for a simple corridor geometry. For the alleviation of the computation burden of the image processing, the Kalman filter is used to reduce search region in the image space for line detection. Next, the robot is controlled by this information to follow the desired path. The wall following control scheme by the PD control scheme is composed of two control parts, the approaching control and the orientation control, and each control is performed by steering and forward-driving motion of the robot. To verify the effectiveness of the proposed algorithm, the real time navigation experiments are performed. Through the result of the experiments, the effectiveness and flexibility of the suggested algorithm are verified in comparison with a pure encoder-guided mobile robot navigation system.