• International Journal of Precision Engineering and Manufacturing
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• v.8 no.3
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• pp.8-13
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• 2007

A hybrid fuzzy PID controller for a pneumatic chamber is proposed in this paper. First, a mathematical model of a pneumatic pressure servocontrol system was developed where separate implementations of a PID controller and a fuzzy controller were made. The experimental results using a step input signal revealed that the PID controller accurately controlled the steady-state pressure but did not robustly handle parameter variations in the system while the fuzzy controller provided a fast rise time and low overshoot of the pressure in the system. In order to attain the advantages of both the fuzzy and PID controllers, a hybrid control scheme was developed. The experimental results show that the hybrid fuzzy PID controller proposed in this study does indeed possess the advantages of both PID and fuzzy controllers. Hence, it can be concluded that the hybrid fuzzy PID controller is suited for high-precision control of pressure in a pneumatic chamber.

• The Journal of Korea Robotics Society
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• v.16 no.1
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• pp.29-34
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• 2021

Traditional actuation system such as electric and pneumatic actuator has obvious advantages and disadvantages. To combine advantages and compensate disadvantages of the traditional actuation, a pneumatic actuation system with an internal air pressure source is noteworthy approach. In this paper, a soft pneumatic actuation system based on origami pump is described for haptic feedback glove. To improve wearability, an origami pump is introduced because the origami pump is much lighter than air compressor. The miniaturized electric actuation system is also designed with 3D printed planetary gear in order to reduce the volume of the system. To figure out the performance of the system, shrinkage distance of origami pump was measured with vision camera. The pressure in the origami pump was also estimated to understand the performance of the system.

• The Transactions of the Korean Institute of Power Electronics
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• v.8 no.5
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• pp.397-406
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• 2003

Resistance spot welding is widely employed in a manufacturing process. In recent years, the requirement for more sophisticated quality control procedures has been in mass production industries. The requirements for high productivity and better weld qualities have lead to the development of more widely available microcomputer-based control. In this study, the inverter type power source and welding servo gun are developed. As the results, we have some advantages over the previous methods such as pneumatic gun. One of them is that the precise pressure control can be attained during the welding process. In addition, production time and cost can be decreased.

• Journal of Soil and Groundwater Environment
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• v.18 no.6
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• pp.48-55
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• 2013

This study aimed at characterizing unsaturated zone at the source zone area contaminated by DNAPL and investigating feasibility of soil vapor extraction (SVE). Five boreholes with three multi-level screens at the depth of 3.0~4.5 m, 5.5~7.0 m, and 8.0~12.0 m were installed at the source zone. Pneumatic tests were performed to determine the permeability of porous medium. Permeability was estimated to be 81.6 to 203.7 darcy, depending on the applied solutions, which was contradicted by grain size analysis of cored soil samples leading to 3.51 darcy. This is due to air flow through gravel pack during the early stage of pneumatic test. Pressure-drawdown curve in the late stage also well showed the leaky aquifer type, indicating air leakage to the ground. Air flow tests were also carried out to investigate air flow connectivity between multi-level wells, indicating that the horizontal air flow was well developed between the lower screens of the wells, not between the upper and middle screens due to the leakage to the surface. For the SVE test, there was no noticeable variation in TCE vapor concentration between three different test runs: 1. 8 hours daily for 5 days, 2. 24 hours together with air blowing at another well (BH1), 3. five consecutive days. Even for five-day consecutive test, total amount of removed TCE was estimated only to be as low as 46.5 g.

• Journal of Mechanical Science and Technology
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• v.19 no.3
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• pp.778-791
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• 2005

A novel pneumatic artificial muscle actuator (PAM actuator), which has achieved increased popularity to provide the advantages such as high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks, has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. Then it is not easy to realize the performance of transient response of pneumatic artificial muscle manipulator (PAM manipulator) due to the changes in the external inertia load with high speed. In order to realize satisfactory control performance, a variable damper-Magneto­Rheological Brake (MRB), is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control method brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity, uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control method and without regard for the changes of external inertia loads.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1983-1989
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• 2005

Industrial robots are powerful, extremely accurate multi-jointed systems, but they are heavy and highly rigid because of their mechanical structure and motorization. Therefore, sharing the robot working space with its environment is problematic. A novel pneumatic artificial muscle actuator (PAM actuator) has been regarded during the recent decades as an interesting alternative to hydraulic and electric actuators. Its main advantages are high strength and high power/weight ratio, low cost, compactness, ease of maintenance, cleanliness, readily available and cheap power source, inherent safety and mobility assistance to humans performing tasks. The PAM is undoubtedly the most promising artificial muscle for the actuation of new types of industrial robots such as Rubber Actuator and PAM manipulators. However, some limitations still exist, such as the air compressibility and the lack of damping ability of the actuator bring the dynamic delay of the pressure response and cause the oscillatory motion. In addition, the nonlinearities in the PAM manipulator still limit the controllability. Therefore, it is not easy to realize motion with high accuracy and high speed and with respect to various external inertia loads in order to realize a human-friendly therapy robot To overcome these problems a novel controller, which harmonizes a phase plane switching control method with conventional PID controller and the adaptabilities of neural network, is newly proposed. In order to realize satisfactory control performance a variable damper - Magneto-Rheological Brake (MRB) is equipped to the joint of the manipulator. Superb mixture of conventional PID controller and a phase plane switching control using neural network brings us a novel controller. This proposed controller is appropriate for a kind of plants with nonlinearity uncertainties and disturbances. The experiments were carried out in practical PAM manipulator and the effectiveness of the proposed control algorithm was demonstrated through experiments, which had proved that the stability of the manipulator can be improved greatly in a high gain control by using MRB with phase plane switching control using neural network and without regard for the changes of external inertia loads.

• New & Renewable Energy
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• v.3 no.4
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• pp.90-97
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• 2007

Gasification has been regarded as a very important technology to decrease environmental pollution and to obtain higher efficiency. The coal gasification process converts carbon containing coal into a syngas, composed primarily of CO and $H_2$. And the coal syngas can be used as a source for power generation or chemical material production. This paper illustrates the opeartion characteristics and results of pilot-scale coal syngas production facilities. The entrained-bed pilot scale coal gasifier was operated normally in the temperature range of $1,300{\sim}1,400^{\circ}C,\;2{\sim}3kg/cm^2$ pressure. And Indonesian KPC coal produced syngas that has a composition of $46{\sim}54%\;CO,\;20{\sim}26%\;H_2,\;and\;5{\sim}8%\;CO_2$.

• 한국신재생에너지학회:학술대회논문집
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• 2007.11a
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• pp.429-432
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• 2007

Gasification has been regarded as a very important technology to decrease environmental pollution and to obtain higher efficiency, The coal gasification process converts carbon containing coal into a syngas, composed primarily of CO and $H_2$. And the coal syngas can be used as a source for power generation or chemical material production. This paper illustrates the operation characteristics and results of pilot-scale coal syngas production facilities. The entrained-bed pilot scale coal gasifier was operated normally in the temperature range of $1,300{\sim}1,400^{\cdot}C$, $2{\sim}3kg/cm^2$ pressure. And Indonesian KPC coal produced syngas that has a composition of $46{\sim}54$% CO, $20{\sim}26$% $H_2$, and $5{\sim}8$% $CO_2$.