• Journal of the Korean Society for Precision Engineering
• /
• v.17 no.1
• /
• pp.45-51
• /
• 2000

In this Paper a basic technique of gantry robot control system has been developed to weld the curved part of a large structure. A welding robot is designed to rotate torch and make the torch angle normal to the welding surface. The Kalman filter is applied to obtain the smooth welding path signal from the noised Sensing data. A welding path finding algorithm has been developed in Turbo-C language.

• Journal of the Korean Society for Marine Environment & Energy
• /
• v.14 no.4
• /
• pp.257-263
• /
• 2011

The budgets of fresh water, salt and nutrients were estimated in order to clarify the characteristics of material cycle in the Gamak Bay in 2006 with Simple Box budget Model. Outflow volume of freshwater into system was approximately $-174.2{\sim}72.5{\times}10^3m^3/day$. Inflow masses of DIP and DIN were approximately 397.0~1158 mole/day and 1750~8328 mole/day, respectively. The Source or sink of DIP was under the control of the variation of fresh water budget in the system. the mass balance and NEM was largely determined by flushing time of material.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 1993.06a
• /
• pp.1350-1353
• /
• 1993

A fuzzy control system typically requires“tuning,”or adjuctment of the parameters defining its linguistic variables. Automating this process amounts to applying a second“metacontrol”layer to drive the controller and plant to desired performance levels. Current methods of automated tuning rely on a single crisp numeric functional to evaluate control system performance. A generalization of Box's complex algorithm allows more realistic tuning based on lexicographic aggregation of multiple ordinal scales of performance, such as effectiveness and efficiency. The method is presented and illustrated using a simple inverted pendulum control system.

• International Journal of Aeronautical and Space Sciences
• /
• v.5 no.1
• /
• pp.57-63
• /
• 2004

UAV(Unmanned Aerial Vehicle) has become one of the most popularmilitary/commercial aerial robots in the new millennium. In spite of all theadvantages that UAVs inherently have, it is not an easv job to develop a UAVbecause it requires very systematic and complete approaches in full developmentenvelop. The ground test and evaluation phase has the utmost importance in thesense that a well-developed system can be best verified on the ground. In addition,many of the aircraft crashes in the flight tests were resulted from the incompletedevelopment procedure. In this research, a verification procedure of the wholeairbome integrated system was conducted including the flight management system.An airbome flight control computer(FCC) senses the extemal environment from thepehpheral devices and sends the control signal to the actuating system using theassigned control logic and flight test strategy. A ground test station controls themission during the test while the downlink data are transferred from the flightmanagement computer using the serial communication interface. The pilot controlbox also applies additional manual actuating commands. The whole system wastested/verified on the wind-tunnel system, which gave a good pitch controlperformance with a preUspecified flight test procedure. The ground test systemguarantees the performance of fundamental functions of airbome electronic systemfor the future flight tests.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.1568-1572
• /
• 2004

This paper proposes a new online calibration algorithm for the array antenna system. As you know, the several previous calibration methods for the mutual coupling did not estimate but measure mutual coupling effect at the real or test-bed system directly. Therefore we suggest some idea to compensate the calibration errors due to mutual coupling effect and mismatch in cables and electronic modules without the off-line calibration. In this work, we can calibrate the array antenna system under the operation of the system using Independent Component Analysis(ICA). This is what is called an online calibration. As you know, the ICA method has permutation and scaling problems. However, we solve problems of the ICA method and apply it to the calibration of an array antenna. The method simultaneously estimates the DOA(Direction of Arrival) of the signals, and calibrates the array for that specific angle. The proposed algorithm is evaluated by computer simulation and its behavior is illustrated by a numerical example.

• 제어로봇시스템학회:학술대회논문집
• /
• 1989.10a
• /
• pp.541-546
• /
• 1989

In case there are many points to be measured in the field, conventional measuring system requires a lot of manpower and is liable to miss applying the timely countermeasure because processing and analyzing the data obtained also takes much time. Therefore the purpose of this paper is focused on removing the above defects by introducing automatic multi-point measuring system by use of IBM-PC or the compatibles easily at hand nowadays. Principal components of the system is composed of control box, A/D converter. 32 channel 4 wire switch boxes and strain amplifier. An application software was developed for multi point measurement system in order to efficiently evaluate the stability of the structures such as retaining walls.

• Proceedings of the IEEK Conference
• /
• 2008.06a
• /
• pp.1095-1096
• /
• 2008

By adding height compensation to the usual 3 points skew adjustment device, an improved functional skew adjustment device is implemented in this paper. The proposed skew adjustment device is for traverse which will be adapted to BD and HD player system requiring more accuracy. and It can adjust not only R/T skew but also height. The system is composed of personal computer, control box, kinematic mechanism device and bar-code reader device. Application programs are implemented by visual basic.

• Journal of the Korean Society for Aviation and Aeronautics
• /
• v.9 no.1
• /
• pp.59-69
• /
• 2001

The rotor blade is modeled using a composite box beam with arbitrary wall. The active constrained damping layers are bonded to the upper and lower surfaces of the box beam to provide active and passive damping. A finite element model, based on a hybrid displacement theory, is used in the structural analysis. The theory is capable of accurately capturing the transverse shear effects in the composite primary structure, the viscoelastic and the piezoelectric layers within the ACLs. A reduced order model is derived based on the Hankel singular value. A linear quadratic Gaussian (LQG) controller is designed based on the reduced order model and the available measurement output. However, the LQG control system fails to stabilize the perturbed system although it shows good control performance at the nominal operating condition. To improve the robust stability of LQG controller, the loop transfer recovery (LTR) method is applied. Numerical results show that the proposed controller significantly improves rotor aeromechanical stability and suppresses rotor response over large variations in rotating speed by increasing lead-lag modal damping in the coupled rotor-body system.

• Journal of Power System Engineering
• /
• v.2 no.1
• /
• pp.73-79
• /
• 1998

In practical fields, the sway of crane systems leads to extra stress to the crane structure during the transporting operation and it is in close connection with its life. Usually, when we operate the cranes with high speed and manual control, the sway motion is irreducible. In this paper, a new type of crane system is proposed to avoid the irreducible sway of the crane systems. The proposed system is composed of mechanical arm with function of anti-sway based on conventional line system. By the anti-sway arm, we can realize to prevent the sway of the container box but cannot avoid the oscillation for the overall body of the crane. So, a controller design method to solve the above stated problem must be considered. The problem is solved by adopting the velocity pattern control methods of trapezoidal and curve types and its effectiveness is proved through experimental results.

• Nuclear Engineering and Technology
• /
• v.56 no.2
• /
• pp.498-505
• /
• 2024

In this paper, a cable-driven endoscopic manipulator (CEM) is designed for the Chinese latest compact fusion reactor. The whole CEM arm is more than 3000 mm long and includes end vision tools, an endoscopic manipulator/control system, a feeding system, a drag chain system, support systems, a neutron shield door, etc. It can cover a range of ±45° of the vacuum chamber by working in a wrap-around mode, etc., to meet the need for observation at any position and angle. By placing all drive motors in the end drive box via a cable drive, cooling, and radiation protection of the entire robot can be facilitated. To address the CEM motion control problem, a discrete trajectory tracking method is proposed. By restricting each joint of the CEM to the target curve through segmental fitting, the trajectory tracking control is completed. To avoid the joint rotation angle overrun, a joint limit rotation angle optimization method is proposed based on the equivalent rod length principle. Finally, the CEM simulation system is established. The rationality of the structure design and the effectiveness of the motion control algorithm are verified by the simulation.