• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.189-189
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• 2000

A controller test on a sounding rocket using a testbed is discussed in the paper. Because of the high cost and the risk for the flight test the hardware simulation on the ground is performed. In this paper the conventional On/Off Controller is applied to the attitude control of a sounding rocket. The hardware simulation results are compared with those of the software simulation.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.43 no.12
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• pp.1124-1131
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• 2015

This paper describes a 5-dof ground testbed which emulates micro-gravity environment for developing Rendezvous/docking algorithm of a nano-satellite. The testbed consists of two parts, the low part which eliminates friction force with ground and the upper part which has 3-dof rotational motion with respect to the low part. For Vison-based autonomous navigation algorithm, we use camera, LIDAR and AHRS as sensors and eight cold gas thrusters and three axis directional reaction wheels as actuators. All system software are implemented with C++ based on on-board computer and Linux OS.

• The Transactions of the Korean Institute of Power Electronics
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• v.26 no.2
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• pp.150-157
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• 2021

Nowadays, a DC microgrid that can link various distributed power sources is gaining much attention. Accordingly, research on fault situations, such as line-to-line and line-to-ground faults of the DC microgrid, has been conducted to improve grid reliability. However, the blackout of an AC system and the oscillation of a DC bus voltage have not been reported or have not been sufficiently verified by previous research. In this study, a 20 kW DC microgrid testbed using a power HIL simulation technique is proposed. This testbed can simulate various fault conditions without any additional grid facilities and dangerous experiments. It includes the blackout of the DC microgrid caused by the AC utility grid's blackout, a drastic load increment, and the DC bus voltage oscillation caused by the LCL filter of the voltage source converter. The effectiveness of the proposed testbed is verified by using Opal-RT's OP5707 real-time simulator with a 3 kW prototype three-port dual-active-bridge converter.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.1
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• pp.58-69
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• 2014

This paper proposes a method for predicting maximum friction coefficients and optimal slip ratios as optimal control parameters for traction control or slip control of autonomous mobile robots on rough terrain. This paper focuses on strength of ground surface which indicates different characteristics depending on material types on surface. Strength of various material types can be estimated by Willoughby sinkage model and by a developed testbed which can measure forces, velocities, and displacements generated by wheel-terrain interaction. Estimated strength is collaborated on building improved Brixius model with friction-slip data from experiments with the testbed over sand and grass material. Improved Brixius model covers widespread material types in outdoor environments on predicting friction-slip characteristics depending on strength of ground surface. Thus, a prediction model for obtaining optimal control parameters is derived by partial differentiation of the improved Brixius model with respect to slip. This prediction model can be applied to autonomous mobile robots and finally gives secure maneuverability on rough terrain. Proposed method is verified by various experiments under similar conditions with the ones for real outdoor robots.

• International Journal of Highway Engineering
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• v.19 no.5
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• pp.69-75
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• 2017

PURPOSES : The purpose of this study is to evaluate different types of Ground Penetrating Radar (GPR) testing for characterizing the road cavity detection. The impulse and step-frequency-type GPR tests were conducted on a full-scale testbed with an artificial void installation. After analyzing the response signals of GPR tests for detecting the road cavity, the characteristics of each GPR response was evaluated for a suitable selection of GPR tests. METHODS : Two different types of GPR tests were performed to estimate the limitation and accuracy for detecting the cavities underneath the asphalt pavement. The GPR signal responses were obtained from the testbed with different cavity sizes and depths. The detection limitation was identified by a signal penetration depth at a given cavity for impulse and step-frequency-type GPR testing. The unique signal characteristics was also observed at cavity sections. RESULTS : The impulse-type GPR detected the 500-mm length of cavity at a depth of 1.0 m, and the step-frequency-type GPR detected the cavity up to 1.5 m. This indicates that the detection capacity of the step-frequency type is better than the impulse type. The step-frequency GPR testing also can reflect the howling phenomena that can more accurately determine the cavity. CONCLUSIONS :It is found from this study that the step-frequency GPR testing is more suitable for the road cavity detection of asphalt pavement. The use of step-frequency GPR testing shows a distinct image at the cavity occurrences.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.1334-1337
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• 1997

A spacecraft attitude control ground hardware simulator development is discussed in the paper. The simulator is called KT/KARI HILSSAT(Hardware-In-the Loop Simulator Single Axis Testbed), and the main structure consists of a single axis bearing and a satellite main body model on the bearing. The single axis tabel as ans experimental hardware simulator that evaluates performance and applicability of a satellite before evolving and/or confirming a mew or and old control logic used in the KOREASAT is developed. Attitude control of spaceraft by using reaction wheel is performed.

• Aerospace Engineering and Technology
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• v.13 no.1
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• pp.55-62
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• 2014

FTSR(Flight Termination System Receiver) is a device that receives a ground command signal to abort a flight mission when abnormal conditions occur in the space launch vehicle. The secure tone command message shall consist of a series of 11 character tone pattern. Each character consists of the sum of two tones which taken from a set of 7 tones defined by IRIG(Inter-Range Instrumentation Group) in the audio frequency range. The MHA(Modified High alphabet) command adds a security feature to the secure tone command by using the predefined difference code. In order to check the function and performance of MHA FTSR, which is under development, for KSLV-II, the testbed should have functions of RF signal generation, receiver's output port monitoring, RS-422 communication and test data management. In this paper, we first briefly introduce MHA command and FTSR interface, and then show the LavVIEW based testbed include its H/W configuration, S/W implementation and test results.

• International Journal of Aeronautical and Space Sciences
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• v.4 no.1
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• pp.75-87
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• 2003

The primary objective of this study is to demonstrate ground-based experiment for the attitude control of spacecraft. A two-axis rotational simulator with a flexible ann is constructed with on-off air thrusters as actuators. The simulator is also equipped with payload pointing capability by simultaneous thruster and DC servo motor actuation. The azimuth angle is controlled by on-off thruster command while the payload elevation angle is controlled by a servo-motor. A thruster modulation technique PWM(Pulse Width Modulation) employing a time-optimal switching function plus integral error control is proposed. An optical camera is used for the purpose of pointing as well as on-board rate sensor calibration. Attitude control performance based upon the new closed-loop control law is demonstrated by ground experiment. The modified switching function turns out to be effective with improved pointing performance under external disturbance. The rate sensor calibration technique by Kalman Filter algorithm led to reduction of attitude error caused by the bias in the rate sensor output.

• International Journal of Highway Engineering
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• v.18 no.2
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• pp.37-42
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• 2016

PURPOSES : The objective of this study is to determine the optimal frequency of ground penetrating radar (GPR) testing for detecting the voids under the pavement. METHODS : In order to determine the optimal frequency of GPR testing for void detection, a full-scale test section was constructed to simulate the actual size of voids under the pavement. Voids of various sizes were created by inserting styrofoam at varying depths under the pavement. Subsequently, 250-, 500-, and 800-MHz ground-coupled GPR testing was conducted in the test section and the resulting GPR signals were recorded. The change in the amplitude of these signals was evaluated by varying the GPR frequency, void size, and void depth. The optimum frequency was determined from the amplitude of the signals. RESULTS: The capacity of GPR to detect voids under the pavement was evaluated by using three different ground-coupled GPR frequencies. In the case of the B-scan GPR data, a parabolic shape occurred in the vicinity of the voids. The maximum GPR amplitude in the A-scan data was used to quantitatively determine the void-detection capacity. CONCLUSIONS: The 250-MHz GPR testing enabled the detection of 10 out of 12 simulated voids, whereas the 500-MHz testing allowed the detection of only five. Furthermore, the amplitude of GPR detection associated with 250-MHz testing is significantly higher than that of 500-MHz testing. This indicates that 250-MHz GPR testing is well-suited for the detection of voids located at depths ranging from 0.5~2.0 m. Testing at frequencies lower than 250 MHz is recommended for void detection at depths greater than 2 m.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.5
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• pp.703-712
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• 2014

To improve the efficiency and safety of railway systems, the train control system has been considerably evolved from the ground-equipment-based control system (e.g. track circuit, interlocking system, etc.) into the on-board-equipment-based control system. In addition, this train control system enables the rolling stock to intelligently control the trackside facilities by introducing the information and communication technologies (ICT). Accordingly, since the ICT-based train control system makes the railway system be simplified (i.e. the heavy ground-equipment can be removed), the efficient and cost-effective railway system can be realized. In this paper, we perform the feasibility test of the ICT-based train control system via a simulation. To this end, we have developed the prototypes of the on-board controller and wayside object control units which control the point and crossing gate and performed the integrated operation simulation in a testbed. In this paper, before the field test of the on-board-controller-based train control system, we perform the Consecutive operation test for prototypes of the on-board controller, wayside object control units and local control computer.