• Earthquakes and Structures
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• v.15 no.6
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• pp.595-603
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• 2018

Shake table testing has been regarded as one of the most effective experimental approaches to evaluate seismic response of structural systems subjected to earthquakes. However, reproducing a prescribed acceleration time history precisely over the frequency of interest is challenging because shake table test systems are eventually nonlinear by nature. In addition, interaction between the table and specimen could affect the control accuracy of shake table testing significantly. Various novel control algorithms have been proposed to improve the control accuracy of shake table testing; however, reference values for control performance assessment remain rare. In this study, reference values for control performance assessment of shake table testing are specified based on the statistical analyses of 1,209 experimental data provided by the Seismic Simulator Laboratory of National Center for Research on Earthquake Engineering in Taiwan. Three individual reference values are considered for the assessment including the root-mean-square error of the achieved acceleration time history; the percentage of the spectral acceleration that exceeds the determined tolerance range over the frequency of interest; and the error-ratio of the achieved peak ground acceleration. Quartiles of the real experimental data in terms of the three objective variables are obtained, providing users with solid and simple references to evaluate the control performance of shake table testing. Finally, a set of experimental data of a newly developed control framework implementation for uni-axial shake tables are used as an application example to demonstrate the significant improvement of control accuracy according to the reference values provided in this study.

• Smart Structures and Systems
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• v.31 no.3
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• pp.259-273
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• 2023

Real-time hybrid simulation (RTHS) is an effective experimental technique for structural dynamic assessment. However, time delay causes displacement de-synchronization at the interface between the numerical and physical substructures, negatively affecting the accuracy and stability of RTHS. To this end, the authors have proposed a model-based adaptive control strategy with a Kalman filter (MAC-KF). In the proposed method, the time delay is mainly mitigated by a parameterized feedforward controller, which is designed using the discrete inverse model of the control plant and adjusted using the KF based on the displacement command and measurement. A feedback controller is employed to improve the robustness of the controller. The objective of this study is to further validate the power of dealing with a nonlinear control plant and to investigate the potential challenges of the proposed method through actual experiments. In particular, the effect of the order of the feedforward controller on tracking performance was numerically investigated using a nonlinear control plant; a series of actual RTHS of a frame structure equipped with a magnetorheological damper was performed using the proposed method. The findings reveal significant improvement in tracking accuracy, demonstrating that the proposed method effectively suppresses the time delay in RTHS. In addition, the parameters of the control plant are timely updated, indicating that it is feasible to estimate the control plant parameter by KF. The order of the feedforward controller has a limited effect on the control performance of the MAC-KF method, and the feedback controller is beneficial to promote the accuracy of RTHS.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.6 no.2
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• pp.34-41
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• 1988

Nowadays the considerable improvements, not only in photogrammetric equipment but also in adjustment methods have led to a high accuracy of Aerial Triangulation and reach the step to obtain A.T. technique that uses Global Position System without ground control survery. The enterance of analytical plotter have made considerable development both in accuracy and in efficiency and improved working environment of A.T. by the combination of On-Line Analytical Plotting System. In this paper, in A.T., with using of analytical polotter, aims to improve the acccuracy in coordinates determination of low level control point. The result shows that in case of A.T. with analytical plotter AVIOLYT BC2, the accuracy of control points improves to 7% in planimetry and to 40% in height compared to A.T. with precision plotter Autograph A-8.

• Journal of the Korean Society of Industry Convergence
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• v.17 no.2
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• pp.61-68
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• 2014

Constructing structures is the basic process requiring establishment of grounds. However, cracks due to sinking and distorting ground influence directly on the safety of structural health. Vibrating wire sensor measures the crack of structure by detecting the differences of wire tensions in analogue manner. In the previous production process, the tension is adjusted manually measuring the frequency of vibrating wire. Therefore, the accuracy of a sensor was depends on the skill level of labor. In this study, the automatic tension control and fixing devise is developed to enhance both accuracy and productivity. To evaluate the performance of the vibrating wire sensor, the nonlinearity of sensor is measured. The automatic tension control and fixing devise enhances the nonlinearity of the sensor from 0.398 to 0.056%. Therefore, the accuracy of the newly proposed method is successful.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.1
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• pp.1-7
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• 2016

ADAS (Advanced Driver Assistance Systems) requires not only real-time robust lane detection, both straight and curved, but also predicting upcoming steering direction by detecting the curvature of lanes. In this paper, a curvature lane detection algorithm is proposed to enhance the accuracy and detection rate based on using inverse perspective images and Gaussian Mixture Model (GMM) to segment the lanes from the background under various illumination condition. To increase the speed and accuracy of the lane detection, this paper used template matching, RANSAC and proposed post processing method. Through experiments, it is validated that the proposed algorithm can detect both straight and curved lanes as well as predicting the upcoming direction with 92.95% of detection accuracy and 50fps speed.

• International Journal of Control, Automation, and Systems
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• v.6 no.2
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• pp.204-213
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• 2008

In this paper, we present the practical application of an Unscented Kalman Filter (UKF) for an Indoor Mobile Localization System using ultrasonic sensors. It is true that many kinds of localization techniques have been researched for several years in order to contribute to the realization of a ubiquitous system; particularly, such a ubiquitous system needs a high degree of accuracy to be practical and efficient. Unfortunately, a number of localization systems for indoor space do not have sufficient accuracy to establish any special task such as precise position control of a moving target even though they require comparatively high developmental cost. Therefore, we developed an Indoor Mobile Localization System having high localization performance; specifically, the Unscented Kalman Filter is applied for improving the localization accuracy. In addition, we also present the additive filter named 'Pre-filtering' to compensate the performance of the estimation algorithm. Pre-filtering has been developed to overcome negative effects from unexpected external noise so that localization through the Unscented Kalman Filter has come to be stable. Moreover, we tried to demonstrate the performance comparison of the Unscented Kalman Filter and another estimation algorithm, such as the Unscented Particle Filter (UPF), through simulation for our system.

• Journal of Astronomy and Space Sciences
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• v.35 no.4
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• pp.243-252
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• 2018

In a satellite gravimetry mission similar to GRACE, the precision of inter-satellite ranging is one of the key factors affecting the quality of gravity field recovery. In this paper, the impact of ranging precision on the accuracy of recovered geopotential coefficients is analyzed. Simulated precise orbit determination (POD) data and inter-satellite range data of formation-flying satellites containing white noise were generated, and geopotential coefficients were recovered from these simulated data sets using the crude acceleration approach. The accuracy of the recovered coefficients was quantitatively compared between data sets encompassing different ranging precisions. From this analysis, a rough prediction of the accuracy of geopotential coefficients could be obtained from the hypothetical mission. For a given POD precision, a ranging measurement precision that matches the POD precision was determined. Since the purpose of adopting inter-satellite ranging in a gravimetry mission is to overcome the imprecision of determining orbits, ranging measurements should be more precise than POD. For that reason, it can be concluded that this critical ranging precision matching the POD precision can serve as the minimum precision requirement for an on-board ranging device. Although the result obtained herein is about a very particular case, this methodology can also be applied in cases where different parameters are used.

• Journal of the Korean Society of Industry Convergence
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• v.17 no.1
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• pp.27-34
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• 2014

This paper proposes a new approach to the designed of visual feedback control system based on visual servoing method. The main focus of this paper is presented how it is effective to use many features for improving the accuracy of the visual feedback control of industrial articulated robot for assembling and inspection of parts. Some rank conditions, which relate the image Jacobian, and the control performance are derived. It is also proven that the accuracy is improved by increasing the number of features. The effectiveness of redundant features is verified by the real time experiments on a SCARA type robot(FARA) made in samsung electronics company.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2004.04a
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• pp.398-403
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• 2004

The demand of high speed machining is increasing because the high speed cutting providers high efficiency of process, short process time, improved metal removal capacity and better surface finish. Active magnetic bearings allow much high surface speed than conventional ball bearings and therefore greatly suitable for high speed cutting. The automatic control concept of magnetic bearing system provides ability of intelligent control of spindle system to increase accuracy and flexibility by means of adaptive vibration control. This paper describes a design and development of a milling spindle system which includes built-in motor with power 5.5㎾ and maximum speed 70,000rpm, HSK-32C tool holer and active magnetic bearing system. Magnetic actuators are designed for satisfying static load condition. The Performances of manufactured spindle system was examined for its static and dynamic stiffness, load capacity, and rotational accuracy. This spindle was run up to 70,000 rpm stably, which is 3.5 million DmN.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2108-2111
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• 2005

The mission life of a satellite determines the amount of fuel required on-board, while the total mass requirement limits the fuel to be loaded. Hence, for the design of thruster control loop, not only the satellite pointing accuracy but the saving of fuel is to be considered. In this paper, a two-step fuzzy controller is proposed for the thruster control loop to save fuel consumption. This approach combines requirements for pointing control accuracy with minimum fuel consumption into a fuzzy controller design. To demonstrate this approach, we have designed a fuzzy controller for the Sun point Mode of KOMPSAT-2. The performance of this fuzzy controller design is compared with that of PD controller used for KOMPSAT-2.