• Ocean Systems Engineering
• /
• v.3 no.3
• /
• pp.237-255
• /
• 2013

In many applications, Remotely Operated Vehicles (ROVs) are required to be capable of course keeping, depth keeping, and height keeping. The ROV must be able to resist time-variant external forces and moments or frequent manipulate changes in some specified circumstances, which require the control system meets high precision, fast response, and good robustness. This study introduces a Fuzzy-Incomplete Derivative Ahead-PID (FIDA-PID) control system for a 500-meter ROV with four degrees of freedom (DOFs) to achieve course, depth, and height keeping. In the FIDA-PID control system, a Fuzzy Gain Scheduling Controller (FGSC) is designed on the basis of the incomplete derivative ahead PID control system to make the controller suitable for various situations. The parameters in the fuzzy scheme are optimized via many cycles of trial-and-error in a 10-meter-deep water tank. Significant improvements have been observed through simulation and experimental results within 4-DOFs.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.19 no.3
• /
• pp.462-478
• /
• 1994

Conventional hypermedia systems provide a simple data model based on nodes and link, and give us the limited capability in information retrieval such as browsing and navigating following the links. In this paper, we design and implement a hypermedia system (AHEAD) with enhanced data modeling and querying capability, which are strongly supported in object-oriented database technology. The AHEAD makes it possible to model the accurate data semantics and relationships in application domain, to represent useful information related to nodes and links, and to define the structure and manipulation operations of multimedia data. It also support the various querying capabilities by using modeling information.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2000.04a
• /
• pp.252-257
• /
• 2000

This paper describes a look-ahead algorithm of PCNC(personal computer numerical control). The algorithm is based on acceleration/deceleration before interpolation never including a command error and determines a velocity value in end point of each block(or start point of each block). The algorithm is represented as following; 1) calculating two maximum arrival velocity(v1, v2) by a acceleration value, a command velocity and distance in a previous block and a next block, 2) getting a tangent velocity(v3) of the adjacent blocks, 3) choosing a minimum value among these three velocities, and 4) setting the value to a velocity of a start point of the next block(or a end point of the previous block). The proposed look-ahead algorithm was implemented and tested by using a commercial RTOS(real time operation system) on the MS-Windows NT 4.0 in a PC platform. For interfacing to a machine, a counter board, a DAC board and a DIO board were used. The result of the algorithm increased a machining precision and a machining speed in many short blocks.

• Proceedings of the Korean Society for Agricultural Machinery Conference
• /
• 1996.06c
• /
• pp.1055-1062
• /
• 1996

A method for automatically driving paddy vehicles, such as rice transplanters, etc., straight ahead in a paddy field was investigated . The direction of such vehicles must be precisely controlled to do the operations as straight. However, the alignment of the from wheels becomes distorted due to the unevenness of the ground, preventing the vehicle form going straight. If the proper alignment of the front wheels is maintained , the vehicle can be driven straight ahead greater precision. To investigate the influence of the ground uneveness, the behavior of a paddy vehicle running over an obstacle was quantified. The left wheel ran over an obstacle on a flat concrete road surfaced. When the steering wheel was free, the front wheels were forced toward the left when vehicle went up the obstacle and toward the right when the vehicle went down it. The torsion of the wheel when the vehicle went down the obstacle was larger than that when it went up ,so it turned right 5 degrees. Sinc hydraulic control steering decreased the steering angle , it turned right 3 degrees. These results suggest that a vehicle can be driven straight ahead with high precision when the steering angle is changed in response to the direction and inclination of the vehicle . Such results were obtained in a paddy field tests.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2006.05a
• /
• pp.457-458
• /
• 2006

A method for obtaining smooth, jerk bounded feed rate profile in high speed machining has been developed. This study proposes a NURBS interpolator based on adaptive feed rate control with a well developed look ahead algorithm which takes into account the machining dynamics as well. Limitation of jerk and proportional torque rate result in smoothened loads on the machine which effectively reduces excitation of the resonant frequencies of the machine. It is found that the values of the feed rate of the down stream sharp corner have profound effect on the feed rate of the upstream sharp corners. By using a windowing scheme the feed rate profile obtained after look ahead method is re-interpolated to reduce the jerk related problems. This is compared with the adaptive NURBS interpolator to show the effectiveness of the proposed method. Simulation results indicate that the consideration of 'ripple effect' is important in avoiding jerk and thereby increasing the machining accuracy.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.9 no.6
• /
• pp.71-81
• /
• 2000

This paper describers a look ahead algorithm of PC-NC(personal computer numerical control). The algorithm is based on acceleration/deceleration before interpolation which doesn\`t include a command error and determines a feedrate value at the end point of each block(or start point of each block). The algorithm is represented as following; 1) calculating two maximum arrival feedrates(F$_1$,F$_2$) by an acceleration value, a command feedrate, and the distance of a NC block, 2) getting a tangent feedrate (F$_3$) of the adjacent blocks, 3) choosing a minimum value among these three feedrates, and 4) setting the value to a feedrate of a start point of the next block(or a end point of the previous block). The proposed look ahead algorithm was implemented and tested by using a commercial TROS(real time operation system) on the MS-Windows NT 4.0 in a PC platform. For interfacing to a machine, a counter board, a DAC board and a DIO board were used. The result of the algorithm increased a machining precision and a machining speed in many short blocks.

• Proceedings of the KSR Conference
• /
• 2005.11a
• /
• pp.412-417
• /
• 2005

To ensure the safety of the tunnelling without the loss of economy, the tunnel seismic profiling(TSP) method for the prediction ahead of tunnel face, begins to be used routinely in these days. TSP method does not interfere the tunnelling works while the horizontal drilling does, and its prediction length is longer than that of the drilling. Yet the most frequently adopted technique of TSP in Korea is the multi-shot and 2 receiver array using in-hole receivers, even though this array requires as many as 26 drill-holes for receiver installation and ballasting, which results in 3-6 hours of suspension in excavation work. In this paper, multi-receiver and lesser shot array using side-wall attached 3 component geophones is to be described to prove the efficiency in terms of the survey time as well as the reliability of the method by comparison of the predicted weak points and the face mapping results. The predictions mostly agreed with the real fractures or joint developed zones which have been confirmed during the excavation. It also has been found that TSP method can be effectively applied to perform draining ground water ahead of tunnel face by imaging the geologic discontinuities.

• Journal of KIISE:Computing Practices and Letters
• /
• v.9 no.4
• /
• pp.410-419
• /
• 2003

The buffer cache of general operating systems such as Linux manages file data by using global block replacement policy and read ahead. As a result, multimedia data with a low locality of reference and various consumption rate have low cache hit ratio and consume additional buffers because of read ahead. In this paper we have designed and implemented a new buffer allocation algorithm for multimedia data on Linux. Our approach keeps one read-ahead cache per every opened multimedia file and dynamically changes the read-ahead group size based on the buffer consumption rate of the file. This distributes resources fairly and optimizes the buffer consumption. This paper compares the system performance with that of Linux 2.4.17 in terms of buffer consumption and buffer hit ratio.

• Geomechanics and Engineering
• /
• v.20 no.6
• /
• pp.475-484
• /
• 2020

The prediction of the ground conditions ahead of a tunnel face is very important, especially for tunnel boring machine (TBM) tunneling, because encountering unexpected anomalies during tunnel excavation can cause a considerable loss of time and money. Several prediction techniques, such as BEAM, TSP, and GPR, have been suggested. However, these methods have various shortcomings, such as low accuracy and low resolution. Most studies on electrical resistivity tomography surveys have been conducted using numerical simulation programs, but laboratory experiments were just a few. Furthermore, most studies of scaled model tests on electrical resistivity tomography were conducted only on the ground surface, which is a different environment as compared to that of mechanized tunneling. This study performed a laboratory experimental test to extend and verify a prediction method proposed by Lee et al., which used electrical resistivity tomography to predict the ground conditions ahead of a tunnel face in TBM tunneling environments. The results showed that the modified dipole-dipole array is better than the other arrays in terms of predicting the location and shape of the anomalies ahead of the tunnel face. Having longer upper and lower borehole lengths led to better accuracy of the survey. However, the number and length of boreholes should be properly controlled according to the field environments in practice. Finally, a modified and verified technique to predict the ground conditions ahead of a tunnel face during TBM tunneling is proposed.

• Journal of KIISE:Computing Practices and Letters
• /
• v.16 no.6
• /
• pp.678-682
• /
• 2010

Compressed filesystem is frequently used in the embedded system to increase cost efficiency. One of the drawbacks of compressed filesystem is low read performance. Moreover, read-ahead mechanism that improves the read throughput of storage device has negative effect on the read performance of compressed filesystem, increasing read latency. Main reason is that compressed filesystem has too big read-ahead miss penalty due to decompression overhead. To solve this problem, this paper proposes new read technique considering kernel read-ahead mechanism for compressed filesystem. Proposed technique improves read throughput of device by bulk read from device and reduces decompression overhead of compressed filesystem by selective decompression. We implement proposed technique by modifying CramFS and evaluate our implementation in the Linux kernel 2.6.21. Performance evaluation results show that proposed technique reduces the average major page fault handling latency by 28%.