• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.203-206
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• 1996

The purpose of this paper is to find how to determine the parameters of the basic control system design such as hinge moment coefficients and to display the controllability of the ChangCong-91. Since the estimation from the flight test of real aircraft is the most reliable, we performed the flight test of ChangGong-91 to get the various parameters such as velocity, height, control force, control surface deflection, 3 axis acceleration, 3 axis angular rate, pitch angle, angle of attack temperature and so on. We recorded the flight test data in VHS tapes and stored them to personal computer using A/D(analog to digital) converter. Flight test was done in various conditions, and the acquired data was processed with parameter identification method such as least square method. These data will be utilized for the development of Autopilot System design and Control Loading System design.

• Journal of Biosystems Engineering
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• 제37권3호
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• pp.192-200
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• 2012

Purpose: Aerial application of chemicals with an agricultural helicopter allows for precise and timely spraying and reduces working labor and pollution. An attitude controller for an agricultural helicopter would be helpful to aerial application operator. The objectives of this paper are to determine the transfer function models and to estimate the handling qualities of a bare-airframe model helicopter. Methods: Transfer functions of a model unmanned helicopter were estimated by using NAVFIT and DERIVID modules of the $CIFER^{(R)}$ program to the time history data of frequency sweep flight tests. Control inputs of the transfer functions were elevator, aileron, rudder and collective pitch stick positions and the outputs were resulting on-axis movements of the fuselage. Results: Minimum realization of the transfer functions for pitch rate output to elevator control input and roll rate output to aileron control input produced second order transfer functions with undamped natural frequencies around 3.0 Hz and damping ratios of 0.139 and 0.530, respectively. The equivalent time delays of the transfer functions ranged from 0.16 to 0.44 second. Sensitivity analysis of the proposed parameters allowed derivation of minimal realization of the transfer functions. Conclusions: Handling quality of the model helicopter was addressed based on the eigenvalues of the transfer functions, corresponding undamped natural frequencies with damping ratios. The equivalent time delays of the lateral-directional motion ranged from 0.16 to 0.44 second, longer than the 0.1 to 0.15 second requirement for well-controlled typical manned aerial vehicles.

• 말소리와 음성과학
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• 제4권1호
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• pp.91-98
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• 2012

The purposes of this paper is to study the characteristics of compared to the speakers voice without depression and speakers with depression, and to propose a objective method for the measurement of the therapeutic effects as well as for diagnostics of depression based on the characteristics. The voice samples obtained from 11 female speakers with depression, aged from 20 to 40, diagnosed as having major depressive disorder by an psychiatrist were compared with those from 12 normal controls with matched sex, age, height, weight, education, smoking, and drinking. The voice samples are taken by a portable digital recorder(TASCAM DR-07, Japan) and analysed using the MDVP(Multi-Dimentional Voice Program) software module from CSL(Computerized Speech Lab, kay elemetrics, co, model 4100). The result of the investigation are as following. First, the average speaking fundamental frequency and loudness range of the speakers with depression group was statistically significantly lower than that of the control group. The pitch range of the control group was rather higher than that of the speakers with depression group, but without statistical significance. Overall speech rates have no statistical difference between two groups. Second, the average speaking fundamental frequency and loudness range have statistically significant negative correlation with Beck Depression Inventory, i. e. more severe depression exhibits lower average speaking fundamental frequency and loudness range. Other vocal parameters such as pitch range and overall speech rate have no statistically meaningful correlations with Beck Depression Inventory.

• 한국항공우주학회지
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• 제39권6호
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• pp.505-516
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• 2011

통합유도조종(IGC, Integrated Guidance and Control)은 기존의 분리형 유도조종루프의 성능한계를 극복하기 위해 제안된 개념이다. 본 논문에서는 입사각제어가 가능한 새로운 형태의 IGC 기법을 제안하였다. 제안된 IGC는 자동조종성능과 유도성능을 동시에 얻기 위해 받음각, 피치각속도, 피치각, 시선각을 상태변수로 고려한다. 제안된 IGC의 제어특성을 고찰하기 위하여 비선형 상태방정식에 대한 가제어성 해석 및 평형점 해석을 수행 하였다. IGC 모델에 대한 제어기법으로는 LQR(Linear Quadratic Regulator)을 사용하였으며 LQR을 IGC에 적용하기 위한 방법을 상세하게 설명하였다. 수치 시뮬레이션을 통해 분리형 유도조종루프와 IGC의 성능을 비교하였다. 성능 비교 결과 IGC는 급격한 기동이 필요한 유도기하에 대하여 분리형 유도조종루프에 비해 우수한 유도성능을 보임을 확인하였다.

• 음성과학
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• 제3권
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• pp.38-49
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• 1998

Dysarthrias are a sort of neuromotor disorders because of the weakness of neuromotor controls. They are classified in six types on the basis of Mayo clinic research: flaccid, spastic, ataxic, hypokinetic, hypekinetic and mixed types. Five dysarthria types are investigated in this study. MRI, EMG, neuropathological tests are essential diagnostic processing. Visi-Pitch and Spectrgraphy, CSL are used for assessing dysarthria speech. Maximum phonation time, diadochokinetic rate, Voice Onset Time and substitution rate are the speech evaluation parameters. Maximum phonation time and diadochokinetic rates are the lowest in case of spastic and ataxic dysarthrias. Spastic dysarthria shows the substituted glottalized consonants. However, flaccid, ataxic and hypokinetic dysarthrias show the substituted aspirated consonants. VOT is the longest for hypokinetic dysarthria and the shortest for ataxic dysarthria. Jitter shows higher percentage in comparison with control group. Speech evaluation using experimental phonetic instruments help create on international standardization of speech evaluation for speech disorders.

• International Journal of Aeronautical and Space Sciences
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• 제8권1호
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• pp.32-45
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• 2007

The T-50 advanced supersonic jet trainer employs the Relaxed Static Stability (RSS) concept to improve the aerodynamic performance while the flight control system stabilizes the unstable aircraft and provides adequate handling qualities. The T-50 flight control laws employ a proportional-plus-integral type controller based on a dynamic inversion method in longitudinal axis and a proportional type controller based on a blended roll system with simple roll rate feedback and beta-betadot feedback system. These control laws are verified by flight tests with various maneuver set flight envelopes and the control laws are updated to resolve flight test issues. This paper describes several concepts of flight control laws used in T-50 to resolve those flight test issues. Control laws for solving the roll-off problem during pitch maneuver in asymmetric loading configurations, improving the departure resistance in negative angle of attack conditions and enhancing the fine tracking performance in air-to-air tracking maneuvers are described with flight test data.

• 한국우주과학회:학술대회논문집(한국우주과학회보)
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• 한국우주과학회 2008년도 한국우주과학회보 제17권2호
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• pp.35.3-36
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• 2008

The ground-based spacecraft simulator is a useful tool to realize various space missions and satellite formation flying in the future. Also, the spacecraft simulator can be used to develop and verify new control laws required by modern spacecraft applications. In this research, therefore, Hardware-in-the-loop (HIL) simulator which can be demonstrated the experimental validation of the theoretical results is designed and developed. The main components of the HIL simulator which we focused on are the thruster system to attitude control and automatic mass-balancing for elimination of gravity torques. To control the attitude of the spacecraft simulator, 8 thrusters which using the cold gas (N2) are aligned with roll, pitch and yaw axis. Also Linear actuators are applied to the HIL simulator for automatic mass balancing system to compensate for the center of mass offset from the center of rotation. Addition to the thruster control system and Linear actuators, the HIL simulator for spacecraft attitude control includes an embedded computer (Onboard PC) for simulator system control, Host PC for simulator health monitoring, command and post analysis, wireless adapter for wireless network, rate gyro sensor to measure 3-axis attitude of the simulator, inclinometer to measure horizontality and battery sets to independently supply power only for the simulator. Finally, we present some experimental results from the application of the controller on the spacecraft simulator.

• Journal of the Korean Wood Science and Technology
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• 제32권2호
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• pp.90-95
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• 2004

우리나라 전역에 사방 및 연료림으로 대량 식재되어 소기의 목적을 달성함과 동시에 치산녹화 성공을 이루는데 크게 기여한 수종인 리기다소나무 제재목의 구조용집성재 라미나로서의 이용가능성을 고찰하였다. 건전한 임분 내에서 평균 흉고직경 32 cm인 리기다소나무를 벌채하여 말구직경 15 cm 이상으로 조재하였을 경우 80% 이상이 2등급 또는 3등급의 원목형질로 구분되어 리기다소나무의 제재목으로서의 이용가능성이 높다고 판단되었다. 구조용집성재 라미나용 주제품의 제재수율은 39.9%, 벽판재 수율은 7.2%, 부제품 수율은 8.1%로 총 원목의 55.2%가 판재로 제재되었다. 옹이를 제거하여 핑거가공한 후 제조한 구조용집성재의 제조수율은 15.3%로 평가되어 옹이를 제거하지 않은 판재의 라미나로의 이용을 위한 옹이재의 휨강도와 압축강도 등의 강도적 성능 평가와 더불어 최적의 라미나 배열을 통한 구조용집성재의 강도 감소 최소화를 위한 연구가 앞으로 필요하다고 판단된다. 본 연구에서 조사된 제재수율과 기타 가공수율 평가는 현재까지 목재산업현장에서 제재목으로의 이용이 거의 이루어지지 않고 있는 리기다소나무의 효율적인 생산계획을 수립하는데 사용되어질 수 있으리라 기대된다.

• Journal of Astronomy and Space Sciences
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• 제26권1호
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• pp.47-58
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• 2009

In this study, a Hardware-In-the-Loop (HIL) simulator using thrusters is developed to validate the spacecraft attitude system. To control the attitude of the simulator, eight cold gas thrusters are aligned with roll, pitch and yaw axis. Also linear actuators are applied to the HIL simulator for automatic mass balancing to compensate the center of mass offset from the center of rotation. The HIL simulator consists of an embedded computer (Onboard PC) for simulator system control, a wireless adapter for wireless network, a rate gyro sensor to measure 3-axis attitude of the simulator, an inclinometer to measure horizontal attitude, and a battery set to supply power for the simulator independently. For the performance test of the HIL simulator, a bang-bang controller and Pulse-Width Pulse-Frequency (PWPF) modulator are evaluated successfully. The maneuver of 68 deg. in yaw axis is tested for the comparison of the both controllers. The settling time of the bang -bang controller is faster than that of the PWPF modulator by six seconds in the experiment. The required fuel of the PWPF modulator is used as much as 51% of bang-bang controller in the experiment. Overall, the HIL simulator is appropriately developed to validate the control algorithms using thrusters.

• 제어로봇시스템학회논문지
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• 제17권6호
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• pp.546-551
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• 2011

Tilt sensor is required to control the attitude of the biped robot when it walks on an uneven terrain. Vision sensor, which is used for recognizing human or detecting obstacles, can be used as a tilt angle sensor by comparing current image and reference image. However, vision sensor alone has a lot of technological limitations to control biped robot such as low sampling frequency and estimation time delay. In order to verify limitations of vision sensor, experimental setup of an inverted pendulum, which represents pitch motion of the walking or running robot, is used and it is proved that only vision sensor cannot control an inverted pendulum mainly because of the time delay. In this paper, to overcome limitations of vision sensor, Kalman filter for the multi-rate sensor fusion algorithm is applied with low-quality gyro sensor. It solves limitations of the vision sensor as well as eliminates drift of gyro sensor. Through the experiment of an inverted pendulum control, it is found that the tilt estimation performance of fusion sensor is greatly improved enough to control the attitude of an inverted pendulum.