Conceptual design and implementation of Pulse Automation and Scheduling System for KSTAR

Lee, Woongryol,Lee, Taegu,Park, Jinseop,Hong, Jaesic,Hahn, Sanghee,Han, Hyunsun,Woo, Minho,Park, Kaprai Elsevier 2015 Fusion engineering and design Vol.96 No.-

<P><B>Abstract</B></P> <P>The world clock based automatic sequential operation manipulator has been developed and begin to work on the 7th campaign in KSTAR Tokamak. The Pulse Automation and Scheduling System (PASS) divided into Pulse Automation System (PAS) and Pulse Scheduling System (PSS). The PAS is on the online control system and it has communicated with many other local control systems. Before PASS, the plasma experiment was performed manually by using Central Control System (CCS). However the PASS currently manipulates the sequential operation of KSTAR with the programmed shot interval time. It provides readiness check routine, shot time handler, and local system monitoring functions. The PASS has no hardware dependency and it was configured with EPICS extensions. The Real Time Monitoring System, PCS_GATE, Automatic Reporting System, Central Control System, and Timing Synchronization System are well organized and they communicate to each other. The PASS provides perceptual operation status, easy time manipulator, and intuitive man machine interface. The plasma disruption information which is used in the KSTAR standard software framework also comes from the PASS. We describe the functions and system architecture of the Pulse Automation System in this paper. The PSS will be specified inside PASS for the purpose of intelligent system parameterization.</P> <P><B>Highlights</B></P> <P> <UL> <LI> The world clock based automatic sequential operation manipulator. </LI> <LI> Configuration of the Pulse Automation System (PAS) and the Pulse Scheduling System (PSS) </LI> <LI> Providing of operational information in voice through an Ethernet interface. </LI> <LI> A perceptional operation status, easy time manipulator, and intuitive man machine interface for the purpose of the Tokamak operation. </LI> <LI> Generation of the plasma disruption information. </LI> </UL> </P>

Automated yield-line analysis of beam-slab systems

Johnson, David Techno-Press 1995 Structural Engineering and Mechanics, An Int'l Jou Vol.3 No.6

The rigid-plastic yield-line analysis of isotropically reinforced concrete slabs acting in conjunction with torsionally weak supporting beams is developed as the lower-bound form of a linear programming formulation. The analysis is extended to consider geometric variation of chosen yield-line patterns by the technique of sequential linear programming. A strategy is followed of using a fine potential yield-line mesh to identify possible collapse modes, followed by analysis using a coarser, simplified mesh to refine the investigation and for use in conjunction with geometric optimization of the yield-line system. The method is shown to be effective for the analysis of three slabs of varying complexity. The modes detected by the fine and simplified analyses are not always similar but close agreement in load factors has been consistently obtained.

Rotate vector reducer design using resnet-based model and integration of discretized optimization

Jiacheng Miao,Chaoyang Li,Xing Du,Bingkui Chen 대한기계학회 2022 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.36 No.4

The author present an artificial intelligent (AI)-based deep generative model that demonstrate how to generate design options of mechanical systems, which are not only suitable for specific working conditions but also optimized for engineering performance. In current study, (1) a structural generative residual netowork (SG-Resnet) model is developed to establish the non-linear mapping between the working conditions and the external dimensions of the reducer, the main hyperparameters influencing the prediction ability and learning rate of the SG-Resnet are analyzed. (2) The mixed population non dominated sorting genetic algorithm-II (MP-NSGA-II) is proposed, and used to obtain pareto optimal solutions of the internal dimensions of the reducer. Experiments are performed to validate the positive effect of the structural generative model on the stiffness of the reducer. This research provides a novel method for reducer design and lays a solid foundation for the development of sequential engineering software for integrated rotate vector (RV) reducer.

Design and Development of Light-weight Needle Control Device for Automated Tissue Sampling

Young-Jin Moon,박상훈,원종석,Jun Beom Seo,Jaesoon Choi 제어·로봇·시스템학회 2020 International Journal of Control, Automation, and Vol.18 No.1

In this paper we present a new robotic device for performing a percutaneous needle biopsy. The deviceis designed to perform introducer insertion and tissue sampling in organs of interest, such as the lung and liver. It is designed to have smaller parts and better performance than the previous models, and includes light-weight,sensor-based initialization, needle insertion force monitoring, and high performance tissue sampling. With somedesign improvements, such as a small pillar gear, for needle cartridge rotation, thin side frames, and a kinematic,linkage-based, spring block trigger, the device is over 40% lighter than previous models. Hall sensors mounted oneach moving part, and a load cell between a needle insertion part and the frame, provide information for the stableand safe operation of the device. A prototype was fabricated, based on the design model, and the performance wasevaluated for the positioning of the part holding the needle and for the tissue sampling. The results show that thedevice has an average error of less than 0.1 mm and a tissue sampling success rate of 100%, in both ex-vivo andin-vivo experiments.

Improvement of Robotic Mechanism for Automated Biopsy

Youngjin Moon,Jongseok Won,Sanghoon Park,Jaesoon Choi 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10

This paper presents improved robotic mechanism for automated biopsy procedure. Needle insertion type intervention has the advantages of minimal invasiveness and fast recovery of the patient, but radiation exposure of the clinician and patient and dependency of insertion accuracy on the clinician’s skill are drawbacks. The robotic intervention system is a solution of the problems. As one component of the system, the robotic mechanism for biopsy has been developed. The previous robot mechanism sequentially performs all the processes of the biopsy except the anesthesia, but more practical problems such as robust operation, necessity of down-scaling, and safety issue should be considered. The biopsy robot model II-B is the revised version of the previous models. The modifications include adding a cartridge rotation checker and needle stoppers, renovating cartridge connection method, the spring loader, and spring block mover, and etc. Effectiveness of the improved functions is verified by experiment.

바늘중재시술의 순차적 자동화를 위한 엔드이펙터의 기능성 시험

문영진(Youngjin Moon),최재순(Jaesoon Choi) (사)한국CDE학회 2014 한국 CAD/CAM 학회 학술발표회 논문집 Vol.2014 No.2

This paper presents design and implementation of a robot end-effector to perform sequentially automatic needle intervention and functional test for the robot prototype. In order to combine robot technology with needle interventions represented by biopsy and high radiofrequency ablation, design requirements required to automate all the procedure in intervention are proposed and each component that satisfies the requirements is designed. Therefore, the end-effector consists of three components: needle cartridge, needle driving unit, and pivot mechanism. The needle cartridge loads an introducer and several biopsy needles for multiple sampling and can rotate needles. The needle driving unit is connected to the cartridge and controls insertion and retreat of the needles. The pivot mechanism rotates two other components and controls the pose of the needle for insertion. Using this concept, the components were modeled and a prototype was made. To verify the functionality of the end-effector prototype, a test bed which consists of a master device and motor controller was implemented and each function of the end-effector was tested.

바늘 생검 자동화를 위한 로봇 엔드이펙터의 성능 평가

문영진,최혁재,서준범,최재순 제어로봇시스템학회 2014 제어로봇시스템학회 국내학술대회 논문집 Vol.2014 No.5