• Water for future
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• v.17 no.1
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• pp.37-43
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• 1984

Linear tracking problem I analytically solved with the buadratic performance measure. This theory has the inherent drawbacks in application, because the tracking assumes no boundness of the control and state vectors. The tracking was performed to the discrete system and interrupted subject to the violation. Multi-level tracking was intended based on the concept of the Bellman's Principle of Optimality in this paper. The tracking is iterated to get the desired trajectory which is not known in advance. An application was made to real operation of 6 rervoirs over 36 monthly periods for the Han river.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.1143-1148
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• 2007

LRE(Liquid propellant Rocket Engine) is one of the important parts to control the motion of rocket. For operation of rocket in error boundary of the set-up trajectory, it is necessarily to control the thrust of LRE according to the required thrust profile and control the mixture ratio of propellants fed into combustor for the constant mixture ratio. It is not easy to control thrust and mixture ratio of propellants since there are co-interferences among the components of LRE. In this study, the dynamic model of LRE was constructed and the dynamic characteristics were analyzed with control system as PID control and PID+Q-ILC(Iterative Learning Control with Quadratic Criterion) control. From the analysis, it could be observed that PID+Q-ILC control logic is more useful than standard PID control system for control of LRE.

• International Journal of Precision Engineering and Manufacturing
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• v.3 no.4
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• pp.43-53
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• 2002

Polishing a die that has free-form surfaces is a time-consuming and tedious job, and requires a considerable amount of high-precision skill. In order to reduce the polishing time and cope with the shortage of skilled workers, a user-friendly automatic polishing system was developed. The polishing system is composed of two subsystems, a three-axis machining center and a two-axis polishing robot. The system has five degrees of freedom and is able to keep the polishing tool in a position normal to the die surface during operation. A sliding mode control algorithm with velocity compensation was proposed to reduce tracking errors. Trajectory tracking experiments showed that the tracking error can be reduced prominently by the proposed sliding mode control compared to a PD (proportional derivative) control. To evaluate the polishing performance of the polishing system and to and the optimal polishing conditions, the polishing experiments were conducted.

• International Journal of Aeronautical and Space Sciences
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• v.18 no.4
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• pp.767-779
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• 2017

Automated mission planning for unmanned aerial vehicles (UAVs) is difficult because of the propagation of several sources of error into the solution, as for any large scale autonomous system. To ensure reliable system performance, we quantify all sources of error and their propagation through a mission planner for operation of UAVs in an obstacle rich environment we developed in prior work. In this sequel to that work, we show that the mission planner developed before can be made robust to errors arising from the mapping, sensing, actuation, and environmental disturbances through creating systematic buffers around obstacles using the calculations of uncertainty propagation. This robustness makes the mission planner truly autonomous and scalable to many UAVs without human intervention. We illustrate with simulation results for trajectory generation of multiple UAVs in a surveillance problem in an urban environment while optimizing for either maximal flight time or minimal fuel consumption. Our solution methods are suitable for any well-mapped region, and the final collision free paths are obtained through offline sub-optimal solution of an mTSP (multiple traveling salesman problem).

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.8
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• pp.665-672
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• 2002

This paper deals with the human-interactive actions of a quadruped robot by using Genetic Algorithm. In case we have to work out the designed plan under the special environments, our robot will be required to have walking capability, and patterns with legs, which are designed like gaits of insect, dog and human. Our quadruped robot (called SERO) is capable of not only the basic actions operated with sensors and actuators but also the various advanced actions including walking trajectories, which are generated by Genetic Algorithm. In this paper, the body and the controller structures are proposed and kinematics analysis are performed. All of the suggested motions of SERO are generated by PC simulation and implemented in real environment successfully.

• Nuclear Engineering and Technology
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• v.46 no.3
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• pp.407-412
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• 2014

In this research, we investigated the burnup characteristics and the conversion of fertile $^{232}Th$ into fissile $^{233}U$ in the core of a Sodium-Cooled Fast Reactor (SFR). The SFR fuel assemblies were designed for burning $^{232}Th$ fuel (fuel pin 1) and $^{233}U$ fuel (fuel pin 2) and include mixed minor actinide compositions. Monte Carlo simulations were performed using Serpent Code1.1.19 to compare with CRAM (Chebyshev Rational Approximation Method) and TTA (Transmutation Trajectory Analysis) method in the burnup calculation mode. The total heating power generated in the system was assumed to be 2000 MWth. During the reactor operation period of 600 days, the effective multiplication factor (keff) was between 0.964 and 0.954 and peaking factor is 1.88867.

• Proceedings of the KIEE Conference
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• 2000.11a
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• pp.104-106
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• 2000

Transient Stability of a power systems is its ability to maintain synchronous operation of machine when subjected to a large disturbance. This paper presents a new methodology for speed-up transient stability evaluation in SIME. SIME is a hybrid direct method including time simulation to enhance flexibility. The First features of the proposed method are that generator grouping can be performed even in very stable cases and that the stability of a contingency can be evaluated from a short period of time simulation results. The second features of the proposed method are that using power-angle trajectory and subdividing contingency classification have improved the screening capability.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.53.2-53
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• 2002

NARO Space Center is being developed as a national project for the Korea Space Development Program. Among the major missions of the Space Center, the Range Control System is the focal point for all command and control operation of the Space Center. The acquired data from the Tracking Stations and the on-site facilities is processed and distributed in the Control Center. Data processing or data fusion is needed for the exact tracking of the Launch Vehicle from several tracking systems. The first phase, which is the best telemetry source is selected among data streams that are received from each telemetry stations using some pre-defined criterion. Trajectory data and major telemetry parameters...

• 한국전산유체공학회:학술대회논문집
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• 2004.10a
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• pp.37-41
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• 2004

Liquid injection in a Venturi Scrubber creates great effect on the dust-collection efficiency and operation cost of venturi scrubbers. We have developed a model that can numerically simulate atomization of the liquid jet in the Venturi Scrubber. This simulation consists of models on liquid column, jet surface breakup, column fracture and secondary droplet breakup. These models have been embedded in the KIVA3-V code. We have calculated such parameters as the jet penetration, jet trajectory, droplet size, velocity field and the volume flux distribution. The results are compared with the experimental data in this paper.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.632-637
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• 1992

Recently many dynamics control algorithms using robot dynamic equation have been proposed. One of them, Kawato's feedback error learning scheme requires neither an accurate model nor parameter estimation and makes the robot motion closer to the desired trajectory by repeating operation. In this paper, the feedback error learning algorithm is implemented to control a robot system, 5 DOF revolute type movemaster. For this purpose, an actuator dynamic model is constructed considering equivalent robot dynamics model with respect to actuator as well as friction model. The command input acquired from the actuator dynamic model is the sum of products of unknown parameters and known functions. To compute the control algorithm, a parallel processing computer, transputer, is used and real-time computing is achieved. The experiment is done for the three major link of movemaster and its result is presented.