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배터리로 구동되는 이동 로봇의 에너지 소모 최소화를 위한 3-구간 속도 제어
김병국,김종희,Kim Byung-Kook,Kim Chong-Hui 제어로봇시스템학회 2006 제어·로봇·시스템학회 논문지 Vol.12 No.3
Energy of wheeled mobile robot is usually supplied by batteries. In order to extend operation time of mobile robots, it is necessary to minimize the energy consumption. The energy is dissipated mostly in the motors, which strongly depends on the velocity profile. This paper investigates various 3-step (acceleration - cruise - deceleration) speed control methods to minimize a new energy object function which considers the practical energy consumption dissipated in motors related to motor control input, velocity profile, and motor dynamics. We performed an analysis on the energy consumption various velocity profile patterns generated by standard control input such as step input, ramp input, parabolic input, and exponential input. Based on these standard control inputs, we analyzed the six 3-step velocity profile patterns: E-C-E, P-C-P, R-C-R, S-C-S, R-C-S, and S-C-R (S means a step control input, R means a ramp control input, P means a parabolic control input, and E means an exponential control input, C means a constant cruise velocity), and suggested an efficient iterative search algorithm with binary search which can find the numerical solution quickly. We performed various computer simulations to show the performance of the energy-optimal 3-step speed control in comparison with a conventional 3-step speed control with a reasonable constant acceleration as a benchmark. Simulation results show that the E-C-E is the most energy efficient 3-step velocity profile pattern, which enables wheeled mobile robot to extend working time up to 50%.
김병국,나기상,신시옥,Kim, Byung-Kook,Rha, Ki-Sang,Shin, See-Ok 대한기관식도과학회 2000 大韓氣管食道科學會誌 Vol.6 No.1
Objectives : This study was designed to compare the morphological changes in the nasal, tracheal and main bronchial mucosa in rats exposed to 0, 0.3, 0.6, 0.9 and 1.2 ppm ozone for 7 days, 6 hours per day. Materials and Methods : We observed the nasal, tracheal and main bronchial mucosa in rats exposed to 0, 0.3, 0.6, 0.9 and 1.2 ppm ozone for 7days, 6hours per day with LM, SEM and TEM. Results : In light microscopy, influx of inflammatory cells, epithelial hyperplasia, loss of cilia and increased goblet cells were observed in all rats except those exposed to 0.3 ppm. these findings increased with the increase of ozone concentration, but there were no significant differences among the nasal, tracheal and main bronchial mucosa in rats exposed to the same ozone concentration. In scanning electron microscopy, a loss of cilia was observed in rats exposed to 0.3 ppm in some sections and 0.6 ppm and 1.2 ppm in all sections. In transmission electron microscopy, vacuolization of epithelial cells was observed in rats exposed to 0.3 ppm in some sections and 0.6 ppm in all sections. These results suggest that electron microscopic observation is necessary to study morphology of airway mucosa in rats exposed to ozone below 0.3 ppm. And also the morphological changes in nasal septal epithelium may reflect those of tracheal and bronchial epithelium after high concentration ozone-exposure.
김병국(Byung-Kook Kim),김영호(Young-Ho Kim),송우석(Woo-Seog Song),이승배(Seungbae Lee),남상규(Sang-Kyu Nam),김사만(Sa-Man Kim) 한국유체기계학회 2006 유체기계 연구개발 발표회 논문집 Vol.- No.-
This paper presents the design procedure of a drag-type, vertical wind turbine named jet-wheel turbine, and the numerical and the experimental verification procedures. The design parameters such as the chord length, the exit angle of inlet guide and side guide vanes, and the rotor blade inlet angle were optimized to minimize the energy loss and increase the effective torque together with the efficiency by considering the effect of the angle of attack. The maximum power coefficient of 0.42 was experimentally confirmed while the maximum power coefficient of 0.5 was predicted based on the numerical simulation. This vertical-axis model can be applied to the large-scale power generation system by the modular design and the control algorithm for the wide range of operation.