• 한국안전학회지
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• 제29권2호
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• pp.31-37
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• 2014

For the vibration control of residential buildings, a multiple type slim damper system is developed and dynamic performance test is performed in this study. In conventional damping systems, larger installation space is required in order to achieve acceptable seismic performance, and as a result, it is difficult to determine efficient damping capacity of the device. The proposed damping device is composed of several small slim type dampers and linkage units. It can control damping capacity easily by changing the number of the small damper. To evaluate the proposed damping device, three slim type dampers (single-type, triple-type and penta-type) are designed and manufactured in real scale. Dynamic loading tests are performed by using the three manufactured dampers. From the tests, it is shown that damping coefficient is proportional to the number of the damper combined. Thus, test results validates the practicality of the proposed slim type dampers. applying nonlinear curve fitting technique, numerical model of the dampers are developed and presented.

• 대한기계학회논문집A
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• 제25권10호
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• pp.1678-1683
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• 2001

The mobility of tracked vehicles is mainly influenced by the interaction between tracks and soil, so that the characteristics of their interactions are quite important fur the tracked vehicle study. In particular, the track tension is closely related to the maneuverability of tracked vehicles and the durability of tracks and suspension systems. In order to minimize the excessive load on the tracks and to prevent the peal-off of tracks from the road-wheels, the Dynamic Track Tensioning System (DTTS) which maintains the optimum track tension throughout the maneuver is required. It consists of track tension monitoring system, track tension controller and hydraulic system. In this paper, a dynamic track tensioning system is developed for tracked vehicles which are subject to various maneuvering tasks. The track tension is estimated based on the idler assembly model. Using the monitored track tension and con sidering the highly nonlinear hydraulic units, fuzzy logic controllers are designed in order to control the track tension. The track tensioning performance of the proposed DTTS is verified through the simulation of the Multi -body Dynamics tool.

• 한국전산구조공학회논문집
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• 제21권2호
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• pp.127-133
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• 2008

본 연구는 일반 철골구조물에서 사용되는 구조용 프리캐스트 콘크리트 외부벽판과 연결부재로 인하여 건물 전체의 내진성능을 조사하였고, 벽판의 높이 변화에 따른 건물 전체의 횡방향 강성 변화량을 파악하였다. 외부벽판과 연결부재를 구조 부재로 간주할 경우 수동형 제진장치와 같이 지진에너지를 소산할 뿐 아니라 추가로 전체 건물의 횡방향 강성을 제공하는 것을 확인하였다. 이력거동 성능을 가진 연결부재를 비선형 유한요소해석 프로그램인 ABAQUS를 이용하여 조사한 결과, 건물의 내진성능 향상에 연결부재가 가장 중요한 역할을 하는 것으로 확인되었다.

• Journal of Electrical Engineering and Technology
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• 제5권1호
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• pp.70-78
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• 2010

Elitist nondominated sorting genetic algorithm (NSGA-II) is adopted and improved for multiobjective optimal reactive power flow (ORPF) problem. Multiobjective ORPF, formulated as a multiobjective mixed integer nonlinear optimization problem, minimizes real power loss and improves voltage profile of power grid by determining reactive power control variables. NSGA-II-based ORPF is tested on standard IEEE 30-bus test system and compared with four other state-of-the-art multiobjective evolutionary algorithms (MOEAs). Pareto front and outer solutions achieved by the five MOEAs are analyzed and compared. NSGA-II obtains the best control strategy for ORPF, but it suffers from the lower convergence speed at the early stage of the optimization. Several problem-specific local search strategies (LSSs) are incorporated into NSGA-II to promote algorithm's exploiting capability and then to speed up its convergence. This enhanced version of NSGA-II (ENSGA) is examined on IEEE 30 system. Experimental results show that the use of LSSs clearly improved the performance of NSGA-II. ENSGA shows the best search efficiency and is proved to be one of the efficient potential candidates in solving reactive power optimization in the real-time operation systems.

• 한국지능시스템학회논문지
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• 제16권2호
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• pp.215-221
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• 2006

본 논문은 휴머노이드 로봇에 내재되어 있는 다양한 비선형성을 제어하기 위한 비선형 제어기를 제안에 관한 것이다. 기본적으로 휴머노이드 로봇은 기구적으로 불안정성을 내포하고 있고 기어나 모터 드라이버 등에서 다양한 비선형성을 가지고 있다. 이렇게 로봇 안에 존재하는 백래쉬(Backlash)나 포화(Saturation)와 같은 다양한 종류의 비선형성을 제어하는데 있어서 기존의 퍼지 알고리즘, 외란 관측기, 지능 학습망과 같은 제어 기법으로는 다수의 비선형성을 제어하는 데에는 한계를 지닐 수밖에 없다. 이에 본 논문에서는 스위칭 PE를 이용하여 모터 드라이버에 존재하는 포화에 의한 비선형성을 제거 하였으며 백래쉬에 의해 생기는 비선형성의 영향을 제어하기 위해 듀얼 피드백을 이용하였다. 그리고 시스템의 정확한 데이터를 얻기 위해 제어 알고리즘을 적용하기 이전에 모터 시스템에 대해 유전 알고리즘을 이용하여 시스템 식별을 수행하여 모터 시스템을 정확하게 유도하였으며, 시뮬레이션 과정을 통해 최적의 스위칭 PID 제어 이득값을 얻었다. 이렇게 얻어진 모터 식별값과 스위칭 PE제어 이득값을 시뮬레이션과 제안된 로봇인 ISHURO를 이용한 실험을 통해 이를 검증하였다.

• 대한조선학회논문집
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• 제55권5호
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• pp.401-414
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• 2018

Planing hull type ships are often equipped with interceptor or trim tab to improve the excessive trim angle which leads to poor resistance and sea keeping performances. The purpose of this study is to design a controller to control the attitude of the ship by controllable stern interceptor and validate the effectiveness of the attitude control by the towing tank test. Embedded controller, servo motor and controllable stern interceptor system were equipped with planing hull type model ship. Prior to designing the control algorithm, a model test was performed to identify the system dynamic model of the planing hull type ship including the stern interceptor. The matrix components of model were optimized by Genetic Algorithm. Using the identified model, PID controller which is a classical controller and sliding mode controller which is a nonlinear robust controller were designed. Gain tuning of the controllers and running simulation was conducted before the towing tank test. Inserting the designed control algorithm into the embedded controller of the model ship, the effectiveness of the active control of the stern interceptor was validated by towing tank test. In still water test with small disturbance, the sliding mode controller showed better performance of canceling the disturbance and the steady-state control performance than the PID controller.

• 전자공학회논문지T
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• 제36T권4호
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• pp.38-46
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• 1999

본 논문에서는 조미동 구동기의 반복추종제어에 관하여 논의한다. 제안되는 시스템은 조동구동기로 선형 자기드라이브를, 미동구동기로 선형 압전구동기를 사용하여 구성된다. 특히, 선형 자기드라이브에 내재된 비선형 마찰과 선형 압전구동기의 이력현상이 먼저 모델링되고 되먹임선형화 루프가 이들을 추종제어에 사용한다. 주기적인 입력신호를 추종하는 경우 이를 더욱 확장하려 반복제어 알고리즘을 포함하도록 제어기를 설계한다. 즉, 반복제어기는 되먹임선형화가 적용된 PID 제어기에 설치된다. 실험결과에 의하면 정현파 입력을 추종하는 경우 PID 제어기에 되먹임선형화와 반복제어기를 함께 적용함으로써 추종성능을 크게 향상시킬 수 있는 것으로 나타났다.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2002년도 추계학술대회 논문집
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• pp.142-148
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• 2002

Autonomous underwater vehicles (AUVs) are unmanned underwater vessels to investigate sea environments, oceanography and deep-sea resources autonomously. Docking systems are required to increase the capability of the AUVs to recharge the batteries and to transmit data in real time for specific underwater works, such as repeated jobs at sea bed. This paper presents a visual servo control system for an AUV to dock into an underwater station with a camera mounted at the nose center of the AUV. To make the visual servo control system, this paper derives an optical flow model of a camera, where the projected motions of the image plane are described with the rotational and translational velocities of the AUV. This paper combines the optical flow equation of the camera with the AUVs equation of motion, and derives a state equation for the visual servoing AUV. This paper proposes a discrete-time MIMO controller minimizing a cost function. The control inputs of the AUV are automatically generated with the projected target position on the CCD plane of the camera and with the AUVs motion. To demonstrate the effectiveness of the modeling and the control law of the visual servoing AUV, simulations on docking the AUV to a target station are performed with the 6-dof nonlinear equations of REMUS AUV and a CCD camera.

• Nuclear Engineering and Technology
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• 제53권10호
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• pp.3275-3285
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• 2021

A Nuclear Power Plant (NPP) is a complex dynamic system-of-systems with highly nonlinear behaviors. In order to control the plant operation under both normal and abnormal conditions, the different systems in NPPs (e.g., the reactor core components, primary and secondary coolant systems) are usually monitored continuously, resulting in very large amounts of data. This situation makes it possible to integrate relevant qualitative and quantitative knowledge with artificial intelligence techniques to provide faster and more accurate behavior predictions, leading to more rapid decisions, based on actual NPP operation data. Data-driven models (DDM) rely on artificial intelligence to learn autonomously based on patterns in data, and they represent alternatives to physics-based models that typically require significant computational resources and might not fully represent the actual operation conditions of an NPP. In this study, a feed-forward backpropagation artificial neural network (ANN) model was trained to simulate the interaction between the reactor core and the primary and secondary coolant systems in a pressurized water reactor. The transients used for model training included perturbations in reactivity, steam valve coefficient, reactor core inlet temperature, and steam generator inlet temperature. Uncertainties of the plant physical parameters and operating conditions were also incorporated in these transients. Eight training functions were adopted during the training stage to develop the most efficient network. The developed ANN model predictions were subsequently tested successfully considering different new transients. Overall, through prompt prediction of NPP behavior under different transients, the study aims at demonstrating the potential of artificial intelligence to empower rapid emergency response planning and risk mitigation strategies.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.1516-1519
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• 1997

With disseminationof Distributed Control Systems(DCS), the huge amounts of process operation data could have been available and led to figure out process behaviors better on the statistical basis. Until now, the statistical modeling technology has been susally applied to process monitoring and fault diagnosis. however, it has been also thought that these process information, extracted from statistical analysis, might serve a great opportunity for process operation improvements and process improvements. This paper proposed a general methodolgy for process operation improvements including data analysis, backing up the result of analysis based on the methodology, and the mapping physical physical phenomena to the Principal Components(PC) which is the most distinguished feature in the methodology form traditional statistical analyses. The application of the proposed methodology to the Balst Furnace(BF) process has been presented for details. The BF process is one of the complicated processes, due to the highly nonlinear and correlated behaviors, and so the analysis for the process based on the mathematical modeling has been very difficult. So the statisitical analysis has come forward as a alternative way for the useful analysis. Using the proposed methodology, we could interpret the complicated process, the BF, better than any other mathematical methods and find the direction for process operation improvement. The direction of process operationimprovement, in the BF case, is to increase the fludization and the permeability, while decreasing the effect of tapping operation. These guide directions, with those physical meanings, could save fuel cost and process operator's pressure for proper actions, the better set point changes, in addition to the assistance with the better knowledge of the process. Open to set point change, the BF has a variety of steady state modes. In usual almost chemical processes are under the same situation with the BF in the point of multimode steady states. The proposed methodology focused on the application to the multimode steady state process such as the BF, consequently can be applied to any chemical processes set point changing whether operator intervened or not.