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A composite control design for suppressing mutual interference of interconnected systems
Soumayya Chakir,서진호,Sangwon Ji,Young-Bok Kim 대한기계학회 2020 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.34 No.2
This paper presents a new disturbance decoupling and rejection method for a multi-connected system, and introduces the composite controller based on disturbance compensator and the state feedback control. While in action, a developed dynamic model of a 2DOF robot system was studied and analyzed. The movement of one joint affects the motion of the other, which brings the control performance down. In order to compensate and keep the desired control performances, we designed a double active control system which can effectively reject the direct mutual disturbances. These disturbances are considered the known uncertainties and can be experimentally determined. The designed control system consists of two controllers, the first one is an inner loop controller and works as a disturbance compensator that attenuates the known disturbances. And the second one, on the other hand, is an outer loop controller, which was designed based on ¥ H control theory to maintain the system stability and a robust control performance under the unpredictable uncertainties. In this paper, simulation and experiments were conducted using a PID controller, and the designed control system, as well as changing the payload attached to the end-effector in order to test the control performance. Finally, the results show that the proposed system suppresses and rejects the mutual disturbances effectively with enhanced tracking performances.
Control system design for vessel towing system by activating rudders of the towed vessel
Lee, Dong-Hun,Chakir, Soumayya,Kim, Young-Bok,Tran, Duc-Quan The Society of Naval Architects of Korea 2020 International Journal of Naval Architecture and Oc Vol.12 No.-
In this study, the motion control problem of the vessel towed by a towing ship (tugboat) is considered. The non-powered towed ship is dragged by the towing ship. Even though the towed ship is equipped with propulsion systems, they cannot be used at low or constant speeds due to safety issues. In narrow canals, rivers, and busy harbor areas especially, where extreme tension is required during towing operation, the course stability of the towed vessel depends on the towing ship. Therefore, the authors propose a new control strategy in which the rudder system of the towed vessel is activated to provide its maneuverability. Based on the leader-follower system configuration, a nonlinear mathematical model is derived and a back-stepping control is designed. By simulation and experiment results with a comparison study, the usefulness and effectiveness of the proposed strategy are validated.
Control system design for vessel towing system by activating rudders of the towed vessel
Lee, Dong-Hun,Chakir, Soumayya,Kim, Young-Bok,Tran, Duc-Quan The Society of Naval Architects of Korea 2020 International Journal of Naval Architecture and Oc Vol.12 No.1
In this study, the motion control problem of the vessel towed by a towing ship (tugboat) is considered. The non-powered towed ship is dragged by the towing ship. Even though the towed ship is equipped with propulsion systems, they cannot be used at low or constant speeds due to safety issues. In narrow canals, rivers, and busy harbor areas especially, where extreme tension is required during towing operation, the course stability of the towed vessel depends on the towing ship. Therefore, the authors propose a new control strategy in which the rudder system of the towed vessel is activated to provide its maneuverability. Based on the leader-follower system configuration, a nonlinear mathematical model is derived and a back-stepping control is designed. By simulation and experiment results with a comparison study, the usefulness and effectiveness of the proposed strategy are validated.
El Ouahdani, S.,Erradi, L.,Boukhal, H.,Chakir, E.,El Bardouni, T.,Boulaich, Y.,Ahmed, A. Korean Nuclear Society 2020 Nuclear Engineering and Technology Vol.52 No.6
The CREOLE experiment performed In the EOLE critical facility located In the Nuclear Center of CADARACHE - CEA have allowed us to get interesting and complete experimental information on the temperature effects in the light water reactor lattices. To analyze these experiments with accuracy an elaborate calculation scheme using the Monte Carlo method implemented in the MCNP6.1 code and the ENDF/B-VII.1 cross section library has been developed. We have used the ENDF/B-VII.1 data provided with the MCNP6.1.1 version in ACE format and the Makxsf utility to handle the data in the specific temperatures not available in the MCNP6.1.1 original library. The main purpose of this analysis is the qualification of the ENDF/B-VII.1 nuclear data for the prediction of the Reactivity Temperature Coefficient while ensuring the ability of the MCNP6.1 system to model such a complex experiment as CREOLE. We have analyzed the case of UO<sub>2</sub> lattice with 1166 ppm of boron in ordinary water moderator in specified temperatures. A detailed comparison of the calculated effective multiplication factors with the reference ones [1] in room temperature presented in this work shows a good agreement demonstrating the validation of our 3D calculation model. The discrepancies between calculations and the differential measurements of the Reactivity Temperature Coefficient for the analyzed configuration are relatively small: the maximum discrepancy doesn't exceed 1,1 pcm/℃. In addition to the analysis of direct differential measurements of the reactivity temperature coefficient performed in the poisoned UO<sub>2</sub> lattice configuration, we have also analyzed integral measurements in UO<sub>2</sub> clean lattice configuration using equivalency of the integral temperature reactivity worth with the driver core fuel reactivity worth and soluble boron reactivity worth. In this case both of the ENDF/B-VII.1 and JENDL.4 libraries were used in our analysis and the obtained results are very similar.
Dose metrology: TLD/OSL dose accuracy and energy response performance
Belhaj Omaima Essaad,Boukhal Hamid,Chakir El Mahjoub,Bellahsaouia Meryeme,Belhaj Siham,Sadeq Younes,Tazi Mohammed,El Khoukhi Tahar,Hadouachi Maryam,Laazouzi Khaoula 한국원자력학회 2023 Nuclear Engineering and Technology Vol.55 No.2
An essential step in evaluating and comparing the performance of two passive radiation dosimeter types, thermosluminescent (TLD) and optically stimulated luminescence (OSL), used by workers in environments with ionizing radiation for individual radiological monitoring and control of external exposure at various times (cumulative dose for 1 month), is to compare the measured dose accuracy, energy response, and coefficient of variation. In fact this performance study consists in determining the accuracy of both R(10) and R(0.07) which are considered as the ratios of the measured dose (Hp(10) or Hp(0.07)) to the delivered dose (Hp(10) or Hp(0.07)) for each photon energy. The validity of the results of this test is based on the acceptance limits of the ICRP and the international standard IEC-62387. The relative energy response used is normalized to the 137Cs 662 keV energy to find which energy response is closest to the ideal case, and the coefficient of variation that allows to determine the statistical fluctuation of the Hp(10) and Hp(0.07) doses. The results of the accuracy test for the OSL and TLD dosimeters are acceptable because they fall within the ICRP limits. For the energy response, the OSL performs better than the TLD for Hp(10) and Hp(0.07), and for the coefficient of variation, the OSL satisfies the requirements of ISO 62387 for both Hp(10) and Hp(0.07), while the TLD satisfies these requirements only for the measurement of Hp (0.07).
M. Makhloul,H. Boukhal,E. Chakir,T. El Bardouni,M. Lahdour,M. Kaddour,Abdulaziz Ahmed,A. Arectout,H. El Yaakoubi 한국원자력학회 2022 Nuclear Engineering and Technology Vol.54 No.2
In order to study the sensitivity and the uncertainty of the Moroccan research reactor TRIGA Mark II, amodel of this reactor has been developed in our ERSN laboratory for use with the N-Particle MCNP MonteCarlo transport codes (version 6). In this article, the sensitivities of the effective multiplication factor ofthis reactor are evaluated using the ENDF/B-VII.0, ENDF/B-VII.1 and JENDL-4.0 libraries and in 44 energygroups, for the cross sections of the fuel (U-235 and U-238) and the moderator (H-1 and O-16). However,the quantification of the uncertainty of the nuclear data is performed using the nuclear code NJOY99 forthe generation and processing of covariance matrices. On the one hand, the highest uncertainty deviations, calculated using the ENDFB-VII.1 and JENDL4.0 evaluations, are 2275, 386 and 330 pcmrespectively for the reactions U235(n, f), U235(nn) and H1(n, g). On the other hand, these differences arevery small for the neutron reactions of O-16 and U-238. Regarding the neutron spectra, in CT-mid plane,they are very close for the three evaluations (ENDF/B-VII.0, ENDF/B-VII.1 and JENDL-4.0). These spectrapresent two peaks (thermal and fission) around the energies 0.05 eV and 1 MeV
Minh Thien Tran,틴휭,Soumayya Chakir,Dong-Hun Lee,Young-Bok Kim 대한기계학회 2022 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.36 No.4
In this paper, a robust adaptive pole-placement control (RAPPC) scheme is proposed for application to a single ducted-fan unmanned aerial vehicle (DUAV). By using the proposed control system, the yaw angle of the single DUAV system is required to track the desired trajectory with the tracking error staying within a compact set despite the presence of bounded disturbances and uncertainties. The pole-placement control (PPC) is designed based on a simple linear model of the system, and the adaptation law is incorporated to compensate for the perturbations in the real DUAV system. Moreover, the sigma-modification law guarantees the boundedness of the states in the presence of disturbances, and the stability of the whole system is proven in the sense of Lyapunov. Comparative simulations of the proposed RAPPC controller, RAPPC without the sigma-modification law, and a PID controller are conducted to investigate performance characteristics. Experimental studies with the proposed controller and a PID controller are carried out to enhance the practical feasibility of the RAPPC control system.
A. Arectout,I. Zidouh,Y. Sadeq,M. Azougagh,B. Maroufi,E. Chakir,H. Boukhal 한국원자력학회 2022 Nuclear Engineering and Technology Vol.54 No.1
This work aims to establish some X-ray qualities recommended by the International Standard Organization(ISO) using the half-value layer (HVL) and Hp(10) dosimetry approaches. The HVL values of thefollowing qualities N-60, N-80, N-100, N-150 and N-250 were determined using various attenuationlayers. The obtained results were compared to those of reference X-ray beam qualities and a goodagreement was found (difference less than 5% for all qualities). The GAMOS (Geant4-based Architecturefor Medicine-Oriented Simulations) radiation transport Monte Carlo toolkit was employed to simulatethe production of X-ray spectra. The characteristics HVLs, mean energy and the spectral resolution ofsimulated spectra have been calculated and turned out to be conform to the ISO reference ones (differenceless than the limit allowed by ISO). Furthermore, the conversion coefficients from air kerma topersonal dose equivalent for simulated and measured spectra were fairly similar (the maximum differenceless than 4.2%)
NTP-ERSN verification with C5G7 1D extension benchmark and GUI development
Lahdour, M.,El Bardouni, T.,El Hajjaji, O.,Chakir, E.,Mohammed, M.,Al Zain, Jamal,Ziani, H. Korean Nuclear Society 2021 Nuclear Engineering and Technology Vol.53 No.4
NTP-ERSN is a package developed for solving the multigroup form of the discrete ordinates, characteristics and collision probability of the Boltzmann transport equation in one-dimensional cartesian geometry, by combining pin cells. In this work, C5G7 MOX benchmark is used to verify the accuracy and efficiency of NTP-ERSN package, by treating reactor core problems without spatial homogenization. This benchmark requires solutions in the form of normalized pin powers as well as the vectors and the eigenvalue. All NTP-ERSN simulations are carried out with appropriate spatial and angular approximations. A good agreement between NTP-ERSN results with those obtained with OpenMC calculation code for seven energy groups. In addition, our studies about angular and mesh refinements are carried out to produce better quality solution. Moreover, NTP-ERSN GUI has also been updated and adapted to python 3 programming language.