• 한국정밀공학회:학술대회논문집
• /
• 한국정밀공학회 1996년도 춘계학술대회 논문집
• /
• pp.437-442
• /
• 1996

The paper presents a design method of dynamic positioning control system for floating platform with rotatable and retractable thruster using $H_{\infty}$control technique. The norm band of uncertaintyis captured by multiplicative perturbation between nominalmodel and reduced order model. A controller robust to theuncertainty is designed applying $H_{\infty}$synthesis. The control law satisfying robust stability and nominal performance condition is determined through the mixed sensitivity approach. The evaluation for the resultant controller obtained by $H_{\infty}$synthesis is done through simulations of the closed loop system. The results of $H_{\infty}$synthesis are compared to those of the traditional LQ synthesis method. method.

• 한국자동차공학회논문집
• /
• 제5권5호
• /
• pp.20-26
• /
• 1997

A System for reducing vehicle body roll by active control is developed. The stabilizer bar with hydraulic rotary actuator produces anti-roll moment which suppresses roll tendency. This reduction of roll improves the driving safety as well as the ride comfort. Vehicle test data shows considerable reduction of roll angle during steady-state turning. Also improvement of ride comfort is achieved by making the actuator freely rotatable, i.e. by connecting all chambers of actuator in normal driving conditions. A control algorithm using steering wheel angle and vehicle speed signal as input valve is applied. It is compared with signal of the G-sensor.

• 대한임베디드공학회논문지
• /
• 제9권3호
• /
• pp.165-171
• /
• 2014

In this paper, we propose the hardware and software of a test-bed of a hovering AUV (autonomous underwater vehicle). Test-bed to develop as the underwater robot for the hovering -type is planning to apply for marine resource development and exploration for deep sea. The RTU that controls a azimuth thruster and a vertical thruster of test-bed is a intergrated-type thruster. The main control unit that collects sensor's data and performs high-speed processing and controls a movement of test-bed is a underwater hybrid navigation system. Also it transfers position, posture, state information of test-bed to the host PC of user using a wireless communication. The host PC checks a test-bed in real time by using a realtime monitoring system that is implemented by LabVIEW.

• 한국지능시스템학회논문지
• /
• 제25권3호
• /
• pp.260-265
• /
• 2015

본 논문은 에지 특징을 이용한 얼라인 시스템을 제안한다. 얼라인 시스템은 PCB나 LCD 패널 등에 새겨진 기준 마크(fiducial mark)를 통하여 위치 정보를 획득한다. 그러므로 획득한 영상에서 정확하게 기준 마크를 찾는 것이 얼라인 시스템 성능의 지표가 된다. 에지 특성은 위치, 길이, 형태 등의 기하학적 특징을 지니며 이런 특징은 기준 마크를 찾기 위해 적절하고, 밝기의 변화, 크기 및 각도의 변화에 강한 특성을 지닌다. X, Y 축 이동 및 회전 할 수 있는 장비와 소프트웨어을 이용한 얼라인먼트 실험을 통하여 제안한 시스템의 성능을 검증하였다.

• Coupled systems mechanics
• /
• 제7권6호
• /
• pp.707-729
• /
• 2018

The semi-active optimal vibration control of nonlinear torsion-bar suspension vehicle systems under random road excitations is an important research subject, and the boundedness of MR dampers and the uncertainty of vehicle systems are necessary to consider. In this paper, the differential equations of motion of the coupling torsion-bar suspension vehicle system with MR damper under random road excitation are derived and then transformed into strongly nonlinear stochastic coupling vibration equations. The dynamical programming equation is derived based on the stochastic dynamical programming principle firstly for the nonlinear stochastic system. The semi-active bounded parametric optimal control law is determined by the programming equation and MR damper dynamics. Then for the uncertain nonlinear stochastic system, the minimax dynamical programming equation is derived based on the minimax stochastic dynamical programming principle. The worst-case disturbances and corresponding semi-active bounded parametric optimal control are obtained from the programming equation under the bounded disturbance constraints and MR damper dynamics. The control strategy for the nonlinear stochastic vibration of the uncertain torsion-bar suspension vehicle system is developed. The good effectiveness of the proposed control is illustrated with numerical results. The control performances for the vehicle system with different bounds of MR damper under different vehicle speeds and random road excitations are discussed.

• 한국산학기술학회논문지
• /
• 제22권6호
• /
• pp.460-468
• /
• 2021

본 연구는 multi fan 방식의 "공랭식 연소설비"의 공정관리상의 문제점을 single F.D. fan 으로 대체하여 개선시키기 위해 CFD 진행하였고, 연소로 내 유동조건 변화를 분석하여 문제점을 확인하였다. 이를 개선하기 위해 연소공기 주입구조를 변경하였고, 구조 변화에 따른 연소효율 개선을 수치해석으로 평가하였다. 또한 실제 연소설비에 수치해석결과를 반영하여 구조개선을 한 후 개선 전·후의 연소효율을 실험적으로 측정하였다. 먼저 기존 Single F.D fan 이 적용된 연소설비에 대한 수치해석을 통해, 2개의 유로로 공급되는 연소공기가 각 유로의 마찰력 차이와 압력의 변화로 인해 연소로 내에서 공급비율이 불규칙하게 되어 선회방식의 연소조건을 위한 축 형태의 난류형성이 어려움을 확인하였다. 이를 개선하기 위해서 연소로에 주입하는 공기 공급 방식을 두 가지로 나누어 수치해석을 하였다. 첫 번째 방식은 연소공기를 외벽에서 180 ~ 360° 회전 후 예열된 연소공기가 주입되는 구조에 대하여 검토하였고, 두 번째는 연소로 내에는 선회할 수 있는 베인(vane) 구조를 적용하여 연소로 밖에서 1차 열교환 후 연소로 내부에 접선방향으로 연소공기가 주입되는 구조에 대하여 검토하였다. 그 결과, single F.D. fan을 가진 공랭식 연소로에 선회방식으로 공기를 주입할 경우, 연소로 외벽의 냉각과 연소로 내부의 완전혼합 유지를 위해 이중 냉각벽을 가지는 덕트 구조를 적용하는 것이 연소조건을 최적화하는데 바람직한 것으로 나타났으며, 실제 운영중인 설비에 적용하여 개선 전·후의 연소효율을 비교한 결과 연소효율이 개선되는 것을 확인할 수 있었다.

• Wind and Structures
• /
• 제24권4호
• /
• pp.333-350
• /
• 2017

Differing from the fixed-type, the dynamic motion of floating-type offshore wind turbines is very sensitive to wind and wave excitations. Thus, the sensing and monitoring of its motion is important to evaluate the dynamic responses to the external excitation. In this context, a monitoring system for sensing and processing the wind-induced dynamic motion of spar-type floating offshore wind turbine is developed in this study. It is developed by integrating a 1/00 scale model of 2.5MW spar-type floating offshore wind turbine, water basin equipped with the wind generator, sensing and data acquisition systems, real-time CompactRIO controller and monitoring program. The scale model with the upper rotatable blades is installed within the basin by means of three mooring lines, and its translational and rotational motions are detected by 3-axis inclinometer and accelerometers and gyroscope. The detected motion signals are processed using a real-time controller CompactRIO to calculate the acceleration and tilting angle of nacelle and the attitude of floating platform. The developed monitoring system is demonstrated and validated by measuring and evaluating the time histories and trajectories of nacelle and platform motions for three different wind velocities and for eight different fairlead positions.

• 센서학회지
• /
• 제14권1호
• /
• pp.1-6
• /
• 2005

This paper describes a novel concept of a chemically sensitive scanning force microscope (CS-SFM). It consists of the conventional SFM and the time-of-flight mass spectrometer (TOF-MS). A switchable cantilever (SC) fabricated by the micromachining technology combines each advantage of two completely different systems, SFM and TOF-MS. The CS-SFM offers to produce both images of topography and chemical information simultaneously. First we employed a rotatable tip holder based on 4 piezotube actuators for demonstration of the possibility of the CS-SFM concept. Second the CS-SFM concept is optimized with the micromachining technology. The micromachined SC with an integrated bimorph actuator and a piezoresistive strain sensor provides a reasonable switching speed of ${\sim}10$ ms which is very attractive for the CS-SFM application. The SC is currently being integrated in an ultra-high-vacuum system to perform various experiments.

• 한국자동차공학회논문집
• /
• 제9권6호
• /
• pp.16-23
• /
• 2001

Spray dispersion in high pressure diesel engines have been simulated experimentally with a special emphasis on the effect of swirl by using a liquid injection technique. A constant volume chamber was designed to be rotatable in order to generate a continuous swirl and to have the flow field closely resembling a solid body rotation. Emulsified fuel was injected into the chamber and the developing process of fuel sprays was visualized. The effect of swirl on the spray dispersion was quantified by calculating non-dimensionalized dispersion area according to the spray tip penetration length. The results show that the effect of swirl on the spray dispersion is different between short and long spray penetrations. For short range of spray tip penetration, the effect of swirl on spray dispersion is quite small. However, as the spray tip is penetrated into longer distance in spray chamber, the effect of swirl on spray dispersion becomes larger. These results can be used as a basic data for designing combustion chamber and injection system of direct injection diesel engine.

• 천문학회보
• /
• 제37권2호
• /
• pp.66-66
• /
• 2012

We describe the space project of Ultra-Fast Flash Observatory (UFFO), which will observe early optical photons from gamma-ray bursts (GRBs) with a sub-second optical response, for the first time. The UFFO will probe the early optical rise of GRBs, opening a completely new frontier in GRB and transient studies, using a fast-response rotatable mirror system which redirects opitical path to telescope instead of slewing of telescopes or spacecraft. In our small UFFO-Pathfinder experiment, scheduled to launch aboard the Lomonosov satellite in June 2012, we use a motorized mirror in our Slewing Mirror Telescope instrument to achieve less than one second optical response after X-ray trigger. We describe the science and the mission of the UFFO project, including a serious version called UFFO-100 which will be launched in 2014. With our program of ultra-fast optical response GRB observatories, we aim to gain a deeper understanding of GRB mechanisms, and potentially open up the z>10 universe to study via GRB as point source emission probes.