• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.33 no.4
• /
• pp.290-297
• /
• 1997

Underwater robotic vehicles(URVs) are used for various work assignments such as pipe-lining, inspection, data collection, drill support, hydrography mapping, construction, maintenance and repairing of undersea equipment, etc. As the use of such vehicles increases the development of vehicles having greater autonomy becomes highly desirable. The vehicle control system is one of the most critic vehicle subsystems to increase autonomy of the vehicle. The vehicle dynamics is nonlinear and time-varying. Hydrodynamic coefficients are often difficult to accurately estimate. It was also observed by experiments that the effect of electrically powered thruster dynamics on the vehicle become significant at low speed or stationkeeping. The conventional linear controller with fixed gains based on the simplified vehicle dynamics, such as PID, may not be able to handle these properties and result in poor performance. Therefore, it is desirable to have a control system with the capability of learning and adapting to the changes in the vehicle dynamics and operating parameters and providing desired performance. This paper presents an adaptive and learning control system which estimates a new set of parameters defined as combinations of unknown bounded constants of system parameter matrices, rather than system parameters. The control system is described with the proof of stability and the effect of unmodeled thruster dynamics on a single thruster vehicle system is also investigated.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.17 no.11
• /
• pp.363-367
• /
• 2016

A test section of a supersonic wind tunnel was designed for the analysis of flow characteristics over a backward-facing step with Mach 1.0 slot injection in a supersonic flow of Mach 2.5. The cavity flow of a high-speed vehicle is very complex at supersonic speed, so it is necessary to do experiments using supersonic wind tunnels to verify numerical analysis methods. The previous 2D symmetrical nozzle was replaced with an asymmetrical nozzle. The inviscid nozzle contour was designed using Method of Characteristics (MOC), and the boundary layer thickness correction was reflected by experimental data from the wind tunnel. The results were compared with a CFD analysis. The PID control system was changed to be based on the change of tank pressure. This improved the control efficiency, and the run times of supersonic flow increased by about 1 second. The flow characteristics over a backward facing step with slot injection were visualized by a Schlieren device. This equipment will be used for an experimental study of the film cooling effectiveness over a cavity with various velocities, mass flows, and temperatures.

• Journal of the Korean Society of Manufacturing Technology Engineers
• /
• v.23 no.3
• /
• pp.318-324
• /
• 2014

Recent years have witnessed a growing demand for a wide variety of high-performance industrial robots. In this paper, for accurate gain tuning of a 6-axis articulated industrial robot with reduced noise, a program routine for a dynamic signal analyzer (DSA) using the frequency response method will be programmed using $LabVIEW^{(R)}$. Then, robot transfer functions can be obtained experimentally using the frequency response method with the DSA program. Data from the robot transfer functions are transformed into Bode plots, based on which an optimal gain tuning will be executed. Gain tuning can enhance the response quality of the output signal for a given input signal during real-time control of the robot. The effectiveness of our proposed technique will be verified by implementation with a (lab-manufactured) 6-axis articulated industrial robot (hereinafter called "RS2") and comparison with the zero position gain tuning, as well as other positions.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
• /
• 2008.10a
• /
• pp.229-234
• /
• 2008

The new millennium has started with several innovations driven by fast evolution of the technologies in energy sector. A strong impulse towards the diffusion of new economical efficient technologies regulatory incentives related to energy production from renewable source and a small scale building trigeneration and to promotion of more sustainable environmental-friendly generation solutions, the evolution of electricity markets, more and more binding local emission constraints, and the need for improving the security of supply to reduce the energy system vulnerability. The 24 percentage energy quantify of total energy consumption consumes in commercial buildings and residential houses and the 30% portion of total $CO_2$ emissions covers also in the commercial buildings and residential houses sector. To cope with efficiently this energy sinuation in building sector, Building microgrid or building tooling, heating & power(BCHP) system has been interested in recent day due to meeting thermal and electric energy requirements efficiently and with appropriate energy quality. A multi agent system is a collective of intelligent agents that communicate with each other and work cooperatively to achieve common goals. Also, it is to medicate and coordinate communication between Control Areas and Security Coordinators for teal-time control of the BCHP system and the power pid. In this new circumstance, it is very important to integrate the power and energy delivery system and the information system(communication, networks, and intelligent equipment) that controls it. Therefore, development of smart control modules with open communication protocol and seamlessly interchange the data and information between control network and data network including extranet and intranet give a great meanings. We designed and developed the TCP/IP-CAN IED agent modules and ModBus./LonTalk/(TCP/IP) IED agent ones to configure the multi-agent system based smart energy network of commercial buildings and also intelligent algorithms for inverter fault diagnostics which ran be operated in control level or agent level network.

• Journal of Internet Computing and Services
• /
• v.17 no.6
• /
• pp.93-101
• /
• 2016

As the Android smart phones become more popular, applications that handle users' personal data such as IDs or passwords and those that handle data directly related to companies' income such as in-game items are also increasing. Despite the need for such information to be protected, it can be modified by malicious users or leaked by attackers on the Android. The reason that this happens is because debugging functions of the Linux, base of the Android, are abused. If an application uses debugging functions, it can access the virtual memory of other applications. To prevent such abuse, access controls should be reinforced. However, these functions have been incorporated into Android O.S from its Linux base in unmodified form. In this paper, based on an analysis of both existing memory access functions and the Android environment, we proposes a function that verifies thread group ID and then protects against illegal use to reinforce access control. We conducted experiments to verify that the proposed method effectively reinforces access control. To do that, we made a simple application and modified data of the experimental application by using well-established memory editing applications. Under the existing Android environment, the memory editor applications could modify our application's data, but, after incorporating our changes on the same Android Operating System, it could not.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.11 no.10
• /
• pp.3873-3879
• /
• 2010

Home service robot are not working in the fixed task such as industrial robot, because they are together with human in the same indoor space, but have to do in much more flexible and various environments. Most of them are developed on the base of the wheel-base mobile robot in the same method as a vehicle robot for factory automation. In these days, for holonomic system characteristics, omni-directional wheels are used in the mobile robot. A holonomicrobot, using omni-directional wheels, is capable of driving in any direction. But trajectory control for omni-directional mobile robot is not easy. Especially, azimuth control which sensor uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A trajectory controller for an omni-directional mobile robot, which each motor is controlled by an individual PID law to follow the speed command from inverse kinematics, needs a precise sensing data of its azimuth and exact estimation of reference azimuth value. It has imprecision and uncertainty inherent to perception sensors for azimuth. In this paper, they are solved by using fuzzy logic inference which can be used straightforward to perform the control of the mobile robot by means of the fuzzy behavior-based scheme already existent in literature. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.

• Journal of Institute of Control, Robotics and Systems
• /
• v.20 no.1
• /
• pp.48-57
• /
• 2014

It is suggested that the curvature trajectory be used to estimate the real-time moving sound sources and efficiently the robot estimating the sound sources. Since the target points of the real-time moving sound sources change, the mobile robot continuously estimates the changed target points. In such a case, the robot experiences a slip phenomenon due to the abnormal velocity and the changes of the navigating state. By selecting an appropriate curvature and navigating the robot gradually by using it, it is possible to enable the robot to reach the target points without having much trouble. In order to recognize the sound sources in real time, three microphones need to be organized in a straight form. Also, by applying the cross-correlation algorithm to the TDOA base, the signals can be analyzed. By using the analyzed data, the locations of the sound sources can be recognized. Based on such findings, the sound sources can be estimated. Even if the mobile robot is navigated by selecting the gradual curvature based on the changed target points, there could be errors caused by the inertia and the centrifugal force related to the velocity. As a result, it is possible to control the velocity of both wheels of the robot through the velocity PID controller in order to compensate for the slip phenomenon and minimize the estimated errors. In order to examine whether the suggested curvature trajectory is appropriate for estimating the sound sources, two mobile robots are arranged to carry out an actual experiment. The first robot is moved by discharging the sound sources, while the second robot recognizes and estimates the locations of the discharged sound sources in real time.

• Journal of Navigation and Port Research
• /
• v.39 no.6
• /
• pp.457-463
• /
• 2015

A gas turbine engine plays an important role as a prime mover that is used in the marine transportation field as well as the space/aviation and power plant fields. However, it has a complicated structure and there is a time delay element in the combustion process. Therefore, an elaborate mathematical model needs to be developed to control a gas turbine engine. In this study, a modeling technique for a gas generator, a PLA actuator, and a metering valve, which are major components of a gas turbine engine, is explained. In addition, sub-models are obtained at several operating points in a steady state based on the trial running data of a gas turbine engine, and a method for controlling the engine speed is proposed by designing an NPID controller for each sub-model. The proposed NPID controller uses three kinds of gains that are implemented with a nonlinear function. The parameters of the NPID controller are tuned using real-coded genetic algorithms in terms of minimizing the objective function. The validity of the proposed method is examined by applying to a gas turbine engine and by conducting a simulation.