This paper proposes an integrated control system for multi-disaster response robots based on Robot Operating System (ROS). The contributions of this paper were as follows: 1) A multi-score-based system concept was proposed in consideration of network instability issues which might frequently occur in compound disaster environments; 2) A detailed ROS based software structure was implemented to apply the proposed system to real robots; 3) Hardware cockpit and graphical user interface (GUI) for an operator were implemented; 4) through the experiment, the problem of the system based on common ROS structure, the out-of-control state, was confirmed and we verified the proposed system using the scenario.

Since sCO₂ (Supercritical Carbon Dioxide) turbomachinery are generally small and operate at high rotational speed, the bearings remain a significant challenge to the design of the turbomachinery for the sCO₂ power cycles. However, a fluid induced instability similar to the oil whirl may occur even with the magnetic bearing under high pressure and high speed conditions of the sCO₂ turbomachinery. This paper presents experimental investigation on the instability of a sCO₂ compressor supported by the magnetic bearing. First, we introduce the sCO₂ compressor supported by the magnetic bearing. The procedure to guarantee the rotordynamic performance of the sCO₂ compressor supported by the magnetic bearing is provided. Then, the effects of the working condition such as the pressure and rotating speed on the fluid induced instability are investigated experimentally. Finally, a strategy to resolve the fluid-induced instability with conventional PID control is proposed and experimentally verified.