• Journal of Institute of Control, Robotics and Systems
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• v.18 no.5
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• pp.413-418
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• 2012

This paper presents a multi-robot path planner for environment exploration and monitoring. Robotics systems are being widely used as data measurement tools, especially in dangerous environment. For large scale environment monitoring, multiple robots are required in order to save time. The path planner should not only consider the collision avoidance but efficient coordination of robots for optimal measurements. Nonlinear spring force based planning algorithm is integrated with the spatial gradient following path planner. Perturbation/Correlation based estimation of spatial gradient is applied. An algorithm of tuning the stiffness for robot coordination is presented. The performance of the proposed algorithm is discussed with simulation results.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.12
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• pp.1113-1119
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• 2000

To operate a process plant safely and economically, process monitoring is very important. Process monitoring is the task to identify the state of the system from sensor data. Process monitoring includes data acquisition, regulatory control, data reconciliation, fault detection, etc. This research focuses on the data recon-ciliation using scale-space filtering and fault detection using functional-link associative neural networks. Scale-space filtering is a multi-resolution signal analysis method. Scale-space filtering can extract highest frequency factors(noise) effectively. But scale-space filtering has too large calculation costs and end effect problems. This research reduces the calculation cost of scale-space filtering by applying the minimum limit to the gaussian kernel. And the end-effect that occurs at the end of the signal of the scale-space filtering is overcome by using extrapolation related with the clustering change detection method. Nonlinear principal component analysis methods using neural network have been reviewed and the separately expanded functional-link associative neural network is proposed for chemical process monitoring. The separately expanded functional-link associative neural network has better learning capabilities, generalization abilities and short learning time than the exiting-neural networks. Separately expanded functional-link associative neural network can express a statistical model similar to real process by expanding the input data separately. Combining the proposed methods-modified scale-space filtering and fault detection method using the separately expanded functional-link associative neural network-a process monitoring system is proposed in this research. the usefulness of the proposed method is proven by its application a boiler water supply unit.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2011.10a
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• pp.52-56
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• 2011

Recently, KARI(Korea Aerospace Research Institute) has been developing a modern 11.5m diameter four bladed bearingless main rotor system, and this rotor system can be used for 7,000lb class helicopter. Flexbeam and torque tube can be considered as the key structural components, and large elastic twist of flexbeam induced by pitch control motion of torque tube can influence the nonlinear aeroelastic behavior. In this paper, the dynamic characteristic analysis results of bearingless rotor system were presented. In order to construct a input model and validate the analysis procedures, calculated results using the comprehensive helicopter analysis program CAMRAD II were compared with the measured natural frequencies and lag damping data from small-scale wind tunnel test. Next, the analysis model was extended to a full-scale model, and the dynamic analysis results were presented.

• Smart Structures and Systems
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• v.17 no.1
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• pp.45-58
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• 2016

Freezing and thawing cycles induce deterioration and strength degradation of concrete structures. This study presumes that a large quantity of contact-type defects develop due to the freezing and thawing cycles of concrete and evaluates the degree of defects based on a nonlinearity parameter. The nonlinearity parameter was obtained by an impact-modulation technique, one of the nonlinear ultrasonic methods. It is then used as an indicator of the degree of contact-type defects. Five types of damaged samples were fabricated according to different freezing and thawing cycles, and the occurrence of opening or cracks on a micro-scale was visually verified via scanning electron microscopy. Dynamic modulus and wave velocity were also measured for a sensitivity comparison with the obtained nonlinearity parameter. The possibility of evaluating strength degradation was also investigated based on a simple correlation of the experimental results.

• Proceedings of the Korea Society for Industrial Systems Conference
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• 1998.10a
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• pp.827-834
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• 1998

This paper describes a multi-level simulation technique and its implementation, which accurately solve voltages and currents of circuits descreibed at mixed levels of abstractions. A metho to form a tightly coupled simulation environment is proposed and, starting from a description of a circuit, simulation set-up and analysis procedure of the multi-level simulator for a transient response are presented. Circuit and behavioral simulation techniques and their implementations composing the multi-level simulation are explained in detail. Most of the algorithms implemented in the simulation are based upon the standard simulation techniques in order to obtain the reliability and accuracy of conventinoal simulators. Simulation examples show that the multi-level simulator can analyze circuits containing highly nonlinear behavioral models without loss of accuracy provided the behavioral models are accurate enough.

• Journal of Korean Association for Spatial Structures
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• v.5 no.2 s.16
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• pp.81-87
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• 2005

The Space structures may have large freedom in scale and form. And especially Hybrid structures are received much attention from the view points of their light weight and aesthetics. Hybrid systems are stable structures which are reticulated spatial structures composed of compressive straight members, struts and cables and Membranes. In this paper, The Hybrid Unit System are suggested using the Membrane and Cable elements based on the Tensegrity Unit system. Also, The Hybrid System of double-layered single curvature is presented. We analyze the force density method allowing form-finding for Tensegrity systems. And We analyze the shape analysis by the LARSH which is the program for nonlinear analysis.

• Proceedings of the KIEE Conference
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• 1995.07b
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• pp.571-573
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• 1995

This paper presents a method for optimal dispatch which minimizes transmission losses and improves voltage profile of power systems using genetic algorithm based on the mechanism of natural genetics and natural selection. The constraints are VAR sources(transformer tap, generator voltage magnitude and shunt capacitor/reactor), load bus voltages and generator reactive power. Real variable-based genetic algorithms which can save coding times and maintain the accuracy are applied for optimal dispatch of reactive power. The genes of genetic algorithm consisted of integers for considering discrete VAR sources. A efficient operator for crossover is proposed to consider the effect of close genes. The algorithm proposed can apply to problems for large scale power systems with multi-variables and complex nonlinear functions efficiently. The proposed method is applied to IEEE 30 buses model system to show its effectiveness.

• Advances in nano research
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• v.16 no.2
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• pp.111-125
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• 2024

Recently, a lot of research has been done on the analysis of axial vibrations of homogeneous and FG nanotubes (nanorods) with various aspects of vibrations that have been fully mentioned in history. However, there is a lack of investigation of the dynamic internal resonances of FG nanotubes (nanorods) between them. This is one of the essential or substantial characteristics of nonlinear vibration systems that have many applications in various fields of engineering (making actuators, sensors, etc.) and medicine (improving the course of diseases such as cancers, etc.). For this reason, in this study, for the first time, the dynamic internal resonances of FG nanorods in the simultaneous presence of large-amplitude size dependent behaviour, inertial and shear effects are investigated for general state in detail. Such theoretical patterns permit as to carry out various numerical experiments, which is the key point in the expansion of advanced nano-devices in different sciences. This research presents an AFG novel nano resonator model based on the axial vibration of the elastic nanorod system in terms of derivation from large-amplitude size dependent internal modals interactions. The Hamilton's Principle is applied to achieve the basic equations in movement and boundary conditions, and a harmonic deferential quadrature method, and a multiple scale solution technique are employed to determine a semi-analytical solution. The interest of the current solution is seen in its specific procedure that useful for deriving general relationships of internal resonances of FG nanorods. The numerical results predicted by the presented formulation are compared with results already published in the literature to indicate the precision and efficiency of the used theory and method. The influences of gradient index, aspect ratio of FG nanorod, mode number, nonlinear effects, and nonlocal effects variations on the mechanical behavior of FG nanorods are examined and discussed in detail. Also, the inertial and shear traces on the formations of internal resonances of FG nanorods are studied, simultaneously. The obtained valid results of this research can be useful and practical as input data of experimental works and construction of devices related to axial vibrations of FG nanorods.

• Journal of the Korean Institute of Intelligent Systems
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• v.12 no.1
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• pp.80-84
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• 2002

This paper proposes a decentralized control technique for 2-dimensional experimental helicopter systems. The decentralized control technique is especially suitable in large-scale control systems. We derive the stabilization condition for the interconnected Takagi-Sugeno (TS) fuzzy system using the rigorous tool-Lyapunov stability criterion and formulate the controller design condition in terms of linear matrix inequality (LMI). To demonstrate the feasibility of the proposed method, we include the experiment result as well as a computer simulation one, which strongly convinces us the applicability to the industry.

• Journal of Electrical Engineering and Technology
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• v.6 no.6
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• pp.750-759
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• 2011

This paper focuses on the control of bidirectional power flow in the electric shipboard power systems, especially in the Medium-Voltage Direct Current (MVDC) shipboard power system. Bidirectional power control between the main MVDC bus and the local zones can improve the energy efficiency and control flexibility of electric ship systems. However, since the MVDC system contains various nonlinear loads such as pulsed power load and radar in various subsystems, the voltage of the MVDC and the local zones varies significantly. This voltage variation affects the control performance of the bidirectional DC-DC converters as exogenous disturbances. To improve the control performance regardless of uncertainties and disturbances, this paper proposes a novel controller design method of the bidirectional DC-DC converters using $L_1$ control theory and intelligent optimization algorithm. The performance of the proposed method is verified via large-scale real-time digital simulation of a notional shipboard MVDC power system.