• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.265-270
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• 2005

This paper presents a new attitude stabilization and control of an unmanned helicopter based on neural network compensation. A systematic derivation on the dynamics of an unmanned small-scale helicopter is performed. Combined rotor-fuselage-tail dynamics is derived in body-fixed reference frame with its origin at the C.G. of the helicopter. And the resulting nonlinear equation of motion consists of 6-DOF air vehicle dynamics as well as the rotor flapping and engine torque equations. A simulation model was modified using the existing simulator for an unmanned helicopter dynamic model, which reflects the unmanned test helicopter(CNUHELI). The dynamic response of the refined model was compared with the flight test data. It can be shown that a good coincidence was accomplished between the real unmanned helicopter system and the mathematical model. This dynamic model was linearized for classical controller design using small perturbation method. A Neuro-PD control system was designed for both longitudinal and lateral flight modes, and the results were compared with the PD-only control response. Simulation results show that the proposed Neuro-PD control system demonstrates better performance.

• Journal of ILASS-Korea
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• v.6 no.1
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• pp.25-34
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• 2001

Several efforts to meet the exhaust gas regulation have been undertaken by many researchers in recent years. Main researches are on development of design techniques of intake port and combustion chamber, atomisation of fuel and precise control of air-fuel ratio, post-treatment of exhaust gas and so on. Engine technology is changed from PFI to GDI to correspond with exhaust gas regulation. GDI technique makes it possible to preserve lean air-fuel ratio and control accurate air-fuel ratio. Nevertheless, It is not cleared that information of spray characteristics and atomization process are very dependent on fluctuation of pressure and change of temperature in intake stroke. In this study, a constant volume combustion chamber is manufactured to investigate various fluctuations of in-cylinder pressure for injection duration. It is taken photographs of injection process of conventional GDI injector using PMAS. Then, it was verified experimently that ambient conditions as temperature and pressure of combustion chamber have effects on process of spray growth and atomization of fuel.

• Wind and Structures
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• v.22 no.1
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• pp.17-41
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• 2016

To address the uncertainty of the flight trajectories caused by the turbulence and gustiness of the wind field over the roof and in the wake of a building, a 3-D probabilistic trajectory model of flat-type wind-borne debris is developed in this study. The core of this methodology is a 6 degree-of-freedom deterministic model, derived from the governing equations of motion of the debris, and a Monte Carlo simulation engine used to account for the uncertainty resulting from vertical and lateral gust wind velocity components. The influence of several parameters, including initial wind speed, time step, gust sampling frequency, number of Monte Carlo simulations, and the extreme gust factor, on the accuracy of the proposed model is examined. For the purpose of validation and calibration, the simulated results from the 3-D probabilistic trajectory model are compared against the available wind tunnel test data. Results show that the maximum relative error between the simulated and wind tunnel test results of the average longitudinal position is about 20%, implying that the probabilistic model provides a reliable and effective means to predict the 3-D flight of the plate-type wind-borne debris.

• Journal of Drive and Control
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• v.16 no.4
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• pp.48-55
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• 2019

The Electronic Stability Program (ESP), a system that improves vehicle safety, also known as YMC (Yaw Motion Controller) or VDC (Vehicle Dynamics Control), is a system that operates in unstable or sudden driving and braking situations. Developing conditions such as unstable or sudden driving and braking situations in a vehicle are very dangerous unless you are an experienced professional driver. Additionally, many repetitive tests are required to collect reliable data, and there are many variables to consider such as changes in the weather, road surface, and tire condition. To overcome this problem, in this paper, hardware and control software such as the ESP controller, vehicle engine, ABS, and TCS module, composed of three control zones, are modeled using MATLAB/SIMULINK, and the vehicle, climate, and road surface. Various environmental variables such as the driving course were modeled and studied for the real-time ESP real-time simulator that can be repeatedly tested under the same conditions.

• Journal of the Korean Institute of Intelligent Systems
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• v.13 no.1
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• pp.91-96
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• 2003

The forces and moments at the aircraft c.g. have components due to aerodynamic effects and to engine thrust. For the flight stability and autopilot systems we present a attitude control method using an intelligent control algorithm Which is based on the control rules from experts knowledge concerning the motion equations and other experiences. Then a robust fuzzy controller is developed to control the flight attitude. The controller can deal with multiple inputs and outputs. We have made an aircraft model and the orientation sensor for experimental flights. The control rules based on the flight expert s experience and knowledge can be programmed by fuzzy rules, and determined control rules by experimental flight. We can be stable attitude control by fuzzy controller.

• Proceedings of the Korean Society of Marine Engineers Conference
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• 2005.11a
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• pp.230-231
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• 2005

As environmental problems are important, automotive industries are developing various techniques to prevent air pollution. One of these is Positive Crankcase Ventilation (PCV) system. It removes blowby gas which includes about 30% hydrocarbon of total generated quantity. In this system, a PCV valve is attached in a manifold suction tube to control the flow rate of blowby gas which generates differently according to various operating conditions of an automotive engine. As this valve is very important, designers are feeling to design it because of both small size and high velocity. For this reason, we numerically investigated to understand both spool dynamic motion and internal fluid flow characteristics. As the results, spool dynamic characteristics, i.e. displacement, velocity, acting force, increase in direct proportion to the magnitude of differential pressure and indicate periodic oscillating motions. And, the velocity at the orifice region decreases according to the increase of differential pressure because of energy loss which is caused by the sudden decrease of flow area at the orifice region and the increase of flow volume in the front of spool head. Finally, the mass flow rate at the outlet decreases with the increase of spool displacement. We expect that PCV valve designers can easily understand fluid flow inside a PCV valve with our visual information for their help.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.8
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• pp.810-816
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• 2007

A security robot system named EGIS-SR is a mobile security robot through one of the new growth engine project in robotic industries. It allows home surveillance through an autonomous mobile platform using onboard cameras and wireless security sensors. EGIS-SR has many sensors to allow autonomous navigation, hierarchical control architecture to handle lots of situations in monitoring home surveillance and mighty networks to achieve unmanned security services. EGIS-SR is tightly coupled with a networked security environment, where the information of the robot is remotely connected with the remote cockpit and patrol man. It achieved an intelligent unmanned security service. The robot is a two-wheeled mobile robot and has casters and suspension to overcome a doorsill. The dynamic motion is verified through $ADAMS^{TM}$ simulation. For the main controller, PXA270 based hardware platform based on linux kernel 2.6 is developed. In the linux platform, data handling for various sensors and the localization algorithm are performed. Also, a local path planning algorithm for object avoidance with ultrasonic sensors and localization using $StarGazer^{TM}$ is developed. Finally, for the automatic charging, a docking algorithm with infrared ray system is implemented.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.9
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• pp.916-924
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• 2008

In this paper dynamic modeling parameters were estimated using a frequency domain estimation method. A systematic flight test method was employed using preprogrammed multistep excitation of the swashplate control input. In addition when one axis is excited, the autopilot is engaged in the other axis, thereby obtaining high-quality flight data. A dynamic model was derived for a small scale unmanned helicopter (CNUHELI-020, developed by Chungnam National University) equipped with a Bell-Hiller stabilizer bar. Six degree of freedom equations of motion were derived using the total forces and moments acting on the small scale helicopter. The dynamics of the main rotor is simplified by the first order tip-path plane, and the aerodynamic effects of fuselage, tail rotor, engine, and horizontal/vertical stabilizer were considered. Trim analysis and linearized model were used as a basic model for the parameter estimation. Doublet and multistep inputs are used to excite dynamic motions of the helicopter. The system and input matrices were estimated in the frequency domain using the equation error method in order to match the data of flight test with those of the dynamic modeling. The dynamic modeling and the flight test show similar time responses, which validates the consequence of analytic modeling and the procedures of parameter estimation.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.36 no.2
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• pp.325-332
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• 2016

Configuring excavator attachments and engine sizes is the prerequisite for appropriate excavator assignment. Existing experience based configuration practice is lack of scientific rational because many variables (e.g., equipment motion data, soil and rock type and condition, equipment's engineering dimension along with bucket properties, job and management conditions etc.) should be considered simultaneously and timely fashion. This paper presents a new excavator configuration searching method that identifies the most favorable excavator configuration (i.e., the optimal set of excavator's maximum digging height and bucket size) to complement these existing practices. The method coded by using MATLAB identifies an optimal excavator configuration by considering those variables causing the variability of productivity. A case study is presented to demonstrate and to verify the system.

• Journal of Advanced Marine Engineering and Technology
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• v.33 no.5
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• pp.696-704
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• 2009

In this paper, the flow characteristics through an industrial safety relief valve used to protect the crankcase room in a large-sized marine engine have been numerically investigated using the moving-mesh strategy. With the room pressure higher than the cracking one, the spring-loaded disc becomes open and then the air in the room blows off into the atmosphere, resulting in the reduction of the room pressure and then the shutoff of the disc. Numerical simulations are performed on the compressible air flow through the relief valve (${\phi}160mm$) with the initial room pressure (0.11 bar or 0.12bar) higher than the cracking one (0.1 bar). The numerical method has been validated by comparing the results with the empirical ones. Results show that the disc motion and flow characteristics can be successfully simulated using the moving-mesh strategy and depend strongly on the spring stiffness and the flow passage shape. With increasing spring stiffness, the maximum disc displacement decreases and thus the total disc-opening time also decreases. In addition, the flow passage shape makes a significant effect on the velocity and direction of the flow.