• Title/Summary/Keyword: Control module

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SMA-driven Biomimetic Finger Module for Lightweight Hand Prosthesis (경량 의수용 SMA 구동식 생체모방 손가락 모듈)

  • Jung, Sung-Yoon;Moon, In-Hyuk
    • Journal of Institute of Control, Robotics and Systems
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    • v.18 no.2
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    • pp.69-75
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    • 2012
  • This paper proposes a biomimetic finger module to be used in a lightweight hand prosthesis. The finger module consists of finger skeleton and an actuator module driven by SMA (Shape Memory Alloy). The prototype finger module can perform flexion and extension motions; finger flexion is driven by a contraction force of SMA, but it is extended by an elastic force of an extension spring inserted into the finger skeleton. The finger motions are controlled by feedback of electric resistance of SMA because the finger module has no sensors to measure length and angle. Total weight of a prototype finger module is 30g. In experiments the finger motions and finger grip force are tested and compared with simulation results when a constant contraction force of SMA is given. The experimental results show that the proposed SMA-driven finger module is feasible to the lightweight hand prosthesis.

Development of Integrated Design System for Space Frame Structures (스페이스프레임 구조물의 통합설계시스템 개발)

  • Lee, Ju-Young;Lee, Jae-Hong
    • Journal of Korean Association for Spatial Structures
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    • v.1 no.2 s.2
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    • pp.59-66
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    • 2001
  • This paper describes three modules for development of the Space Frame Integrated Design System(SFIDS). The Control Module is implemented to control the developed system. The Model Generation Module based on PATRAN user interface enables users to generate a complicated finite element model for space frame structures. The Optimum Design Module base on a branch of combinatorial optimization techniques which can realize the optimization of a structure having a large number of members designs optimum members of a space frame after evaluating analysis results. The Control Module and the Model Generation Module Is implemented by PATRAN Command Language(PCL) while C++ language is used in the Optimum Design Module. The core of the system is PATRAN database, in which the Model Generation Module creates information of a finite element model. Then, PATRAN creates Input files needed for the analysis program from the information of the finite element model in the database, and in turn, imports output results of analysis program to the database. Finally, the Optimum Design Module processes member grouping of a space frame based on the output results, and performs optimal member selection of a space frame. This process is repeated until the desired optimum structural members are obtained.

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Improving the power of PV module by a surface cooling system (표면냉각을 통한 PV 모듈의 출력 향상에 관한 연구)

  • Kim, Dae-Hyun;Kim, Dong-Jun
    • Journal of the Korean Solar Energy Society
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    • v.29 no.6
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    • pp.88-93
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    • 2009
  • This study was conducted to improve the power of PV module using a surface cooling system One of the unique characteristics of PV module is power drop as a module surface temperature increases due to the characteristics of crystalline silicon used in a solar cell. To overcome the output power reduction by temperature effect, module surface cooling using water circulation was performed. By cooling effect, module surface temperature drops maximally $20.3^{\circ}C$ predicting more than 10% power enhancement. Maximum deviation of voltage and current between a control and cooled module differed by 5.1 V and O.9A respectively. The maximum power enhancement by cooling system was 12.4% compared with a control module. In addition, cooling system can wash the module surface by water circulation so that extra power up of PV module can be achieved by removing particles on the surface which interfere solar radiation on the cells. Cooling system, besides, can reduce the maintenance cost and prevent accidents as a safety precaution while cleaning works. This system can be applied to the existing photovoltaic power generation facilities without any difficulties as well.

Studies on the Performance Evaluation of Downsized High-efficiency Cooling Module (높이 축소형 고효율 냉각모듈의 성능 평가에 관한 연구)

  • Jung, Jung-Hun;Shin, Yoon-Hyuk;Park, Sung-Wook;Jeong, Sun-An;Kim, Sung-Chul
    • Transactions of the Korean Society of Automotive Engineers
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    • v.19 no.6
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    • pp.61-67
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    • 2011
  • The cooling module needs enough space (or distance) from hood to absorb the energy from any pedestrian collision. Downsized cooling module for pedestrian protection is important to reduce the severity of pedestrian injury. When a vehicle collision happens, the downsized cooling module is required to reduce the risk of injury to the upper legs of adults and the heads of children. In this study, the performance of cooling module to cool the engine was investigated under 25% height reduction. The heat dissipation and pressure drop characteristics have been experimentally studied with the variation of coolant flow rate, air inlet velocity and A/C operation ON/OFF for the downsized cooling module. The results indicated that the cooling performance was about 94% level compared to that of the conventional cooling module. Therefore, we checked that the cooling module had good performance, and expected that the cooling module could meet the same cooling performance as conventional cooling module through optimization of components efficiency.

Improving the power of PV module by a surface cooling system (표면냉각시스템을 이용한 PV 모듈의 출력 향상)

  • Lee, Jong-Hwan;Lee, Jae-Ung;Kim, Dong-Jun;Kim, Dae-Hyun
    • 한국태양에너지학회:학술대회논문집
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    • 2009.11a
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    • pp.309-313
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    • 2009
  • This study was conducted to improve the power of PV module using a surface cooling system. One of the unique characteristics of PV module is power drop as a module surface temperature increases due to the characteristics of crystalline silicon used in a solar cell. To overcome the output power reduction by temperature effect, module surface cooling using water circulation was performed. By cooling effect, module surface temperature drops maximally $20.3^{\circ}C$ predicting more than 10% power enhancement. Maximum deviation of voltage and current between a control and cooled module differed by 5.1V and 0.9A respectively. The maximum power enhancement by cooling system was 12.4% compared with a control module. In addition, cooling system can wash the module surface by water circulation so that extra power up of PV module can be achieved by removing particles on the surface which interfere solar radiation on the cells. Cooling system, besides, can reduce the maintenance cost and prevent accidents as a safety precaution while cleaning works. This system can be applied to the existing photovoltaic power generation facilities without any difficulties as well.

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Real-time line control system for automated robotic assembly line for multi-PCB models

  • Park, Jong-Oh;Hyun, Kwang-Ik;Um, Doo-Gan;Kim, Byoung-Doo;Cho, Sung-Jong;Park, In-Gyu;Kim, Young-Sik
    • 제어로봇시스템학회:학술대회논문집
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    • 1991.10b
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    • pp.1915-1919
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    • 1991
  • The efficiency of automated assembly line is increased by realizing the automation of each assembly cell, monitoring the line information and developing the real-time line control system it. which production flow is controllable. In this paper, the several modules which are important factors when constructing automated real-time control system, such as, line control S/W module, real-time model change module, error handling module and line production management S/W module, are developed. For developing these important programming modules, real-time control and multi-tasking techniques are integrated. In this paper, operating method of real-time line control in PCB automated assembly line is proposed and for effective control of production line by using multi-tasking technique, proper operating method for relating real-time line control with multi-tasking is proposed by defining the levels of signals and tasks. CIM-Oriented modular programming method considering expandability and flexibility will be added for further research in the future.

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A Study on the Design and Performance Evaluation Technology of Fieldbus Pneumatic Solenoid Valve/Sensor System (필드버스 공압 솔레노이드 밸브/센서시스템 설계 및 성능평가 특성해석)

  • Kim, D.S.;Hong, C.P.
    • Proceedings of the KSME Conference
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    • 2001.11a
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    • pp.865-870
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    • 2001
  • For pneumatic system control, we need a data transmission system with high speed and high reliability or information interchange between main computer and solenoid valves and I/O devices. This paper presents a set of design techniques for a data communication system that is mainly used for pneumatic system control. For this purpose, we first designed hardware modules for an interface between central control module and local node that handles the operation of solenoid valves. In addition we developed a communication protocol for construction of RS-485 based multidrop network, and this protocol is basically designed with a kind of polling technique. Finally we evaluated performance of the developed system. The field test results show that, even under high noise environment, the data transmission of 375Kbps rate is possible up to 1,000m without using repeater. In addition, the system developed in this research is proved to be used easily for extension of a communication network because of its module structure.

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Biologically inspired modular neural control for a leg-wheel hybrid robot

  • Manoonpong, Poramate;Worgotter, Florentin;Laksanacharoen, Pudit
    • Advances in robotics research
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    • v.1 no.1
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    • pp.101-126
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    • 2014
  • In this article we present modular neural control for a leg-wheel hybrid robot consisting of three legs with omnidirectional wheels. This neural control has four main modules having their functional origin in biological neural systems. A minimal recurrent control (MRC) module is for sensory signal processing and state memorization. Its outputs drive two front wheels while the rear wheel is controlled through a velocity regulating network (VRN) module. In parallel, a neural oscillator network module serves as a central pattern generator (CPG) controls leg movements for sidestepping. Stepping directions are achieved by a phase switching network (PSN) module. The combination of these modules generates various locomotion patterns and a reactive obstacle avoidance behavior. The behavior is driven by sensor inputs, to which additional neural preprocessing networks are applied. The complete neural circuitry is developed and tested using a physics simulation environment. This study verifies that the neural modules can serve a general purpose regardless of the robot's specific embodiment. We also believe that our neural modules can be important components for locomotion generation in other complex robotic systems or they can serve as useful modules for other module-based neural control applications.

Vision-Based Trajectory Tracking Control System for a Quadrotor-Type UAV in Indoor Environment (실내 환경에서의 쿼드로터형 무인 비행체를 위한 비전 기반의 궤적 추종 제어 시스템)

  • Shi, Hyoseok;Park, Hyun;Kim, Heon-Hui;Park, Kwang-Hyun
    • The Journal of Korean Institute of Communications and Information Sciences
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    • v.39C no.1
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    • pp.47-59
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    • 2014
  • This paper deals with a vision-based trajectory tracking control system for a quadrotor-type UAV for entertainment purpose in indoor environment. In contrast to outdoor flights that emphasize the autonomy to complete special missions such as aerial photographs and reconnaissance, indoor flights for entertainment require trajectory following and hovering skills especially in precision and stability of performance. This paper proposes a trajectory tracking control system consisting of a motion generation module, a pose estimation module, and a trajectory tracking module. The motion generation module generates a sequence of motions that are specified by 3-D locations at each sampling time. In the pose estimation module, 3-D position and orientation information of a quadrotor is estimated by recognizing a circular ring pattern installed on the vehicle. The trajectory tracking module controls the 3-D position of a quadrotor in real time using the information from the motion generation module and pose estimation module. The proposed system is tested through several experiments in view of one-point, multi-points, and trajectory tracking control.

Development of an operation and control software for electro-hydraulic (전자유압식 CVT의 운용 및 제어 소프트웨어 개발과 실시간 제어)

  • Kwan, H. B.;Kim, K. W.;Kim, H. S.;Eun, T.;Park, C. I
    • Journal of the korean Society of Automotive Engineers
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    • v.15 no.3
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    • pp.36-46
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    • 1993
  • In CVT vehicle, the engine speed is completely decoupled from the vehicle speed within the range from maximum transmission ratio to minimum transmission ratio. This allows the engine to operate in optimal state(e.g. best fuel economy or maximum power mode.) In this study, the CVT control algorithm for optimal operation of engine is suggested. In order to implement the real time digital control of electro-hydraulic CVT system, a software called CVTCON has been developed. CVTCON also includes the CVT operation module, (2) system test module, (3) system control module and (4) data management module. By using the CVTCON and the electro-hydraulic CVT system, two modes of experiments were carried out: constant throttle opening mode and acceleration mode. From the experimental result, it was found that the algorithm suggested in this study showed optimal operation of the CVT system.

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