• Title/Summary/Keyword: Safe position

Search Result 317, Processing Time 0.041 seconds

Position and Attitude Control System Design of Magnetic Suspension and Balance System for Wind Tunnel Test using Iterative Feedback Tuning and L1 Adaptive Control Scheme (IFT와 L1 적응제어기법을 이용한 풍동실험용 자기부상 비접촉식 밸런스의 제어시스템 설계)

  • Lee, Dong-Kyu
    • Journal of Aerospace System Engineering
    • /
    • v.11 no.5
    • /
    • pp.28-35
    • /
    • 2017
  • Magnetic Suspension and Balance System (MSBS) demonstrates the capacity to levitate an experimental model absent any mechanical contact using magnetic forces and moments. It allows precise control of position and attitude of the model, and measures external forces and moments acting on the model. For the purpose of acquisition of reliable experimental results under stable and safe conditions, the performance and robustness of the position and attitude control system of MSBS needs to be improved. To this end, Iterative Feedback Tuning (IFT) and L1 adaptive output feedback algorithm were employed to automatically increase command following performance and to ensure robust operation of MSBS with failure of electric power supply. The applicability was validated using computational simulation.

Vision-based Obstacle State Estimation and Collision Prediction using LSM and CPA for UAV Autonomous Landing (무인항공기의 자동 착륙을 위한 LSM 및 CPA를 활용한 영상 기반 장애물 상태 추정 및 충돌 예측)

  • Seongbong Lee;Cheonman Park;Hyeji Kim;Dongjin Lee
    • Journal of Advanced Navigation Technology
    • /
    • v.25 no.6
    • /
    • pp.485-492
    • /
    • 2021
  • Vision-based autonomous precision landing technology for UAVs requires precise position estimation and landing guidance technology. Also, for safe landing, it must be designed to determine the safety of the landing point against ground obstacles and to guide the landing only when the safety is ensured. In this paper, we proposes vision-based navigation, and algorithms for determining the safety of landing point to perform autonomous precision landings. To perform vision-based navigation, CNN technology is used to detect landing pad and the detection information is used to derive an integrated navigation solution. In addition, design and apply Kalman filters to improve position estimation performance. In order to determine the safety of the landing point, we perform the obstacle detection and position estimation in the same manner, and estimate the speed of the obstacle using LSM. The collision or not with the obstacle is determined based on the CPA calculated by using the estimated state of the obstacle. Finally, we perform flight test to verify the proposed algorithm.

Electronic Roll Book using Electronic Bracelet.Child Safe-Guarding Device System (전자 팔찌를 이용한 전자 출석부.어린이 보호 장치 시스템)

  • Moon, Seung-Jin;Kim, Tae-Nam;Kim, Pan-Su
    • Journal of Intelligence and Information Systems
    • /
    • v.17 no.4
    • /
    • pp.143-155
    • /
    • 2011
  • Lately electronic tagging policy for the sexual offenders was introduced in order to reduce and prevent sexual offences. However, most sexual offences against children happening these days are committed by the tagged offenders whose identities have been released. So, for the crime prevention, we need measures with which we could minimize the suffers more promptly and actively. This paper suggests a new system to relieve the sexual abuse related anxiety of the children and solve the problems that electronic bracelet has. Existing bracelets are only worn by serious criminals, and it's only for risk management and positioning, there is no way to protect the children who are the potential victims of sexual abuse and there actually happened some cases. So we suggest also letting the students(children) wear the LBS(Location Based Service) and USN(Ubiquitous Sensor Network) technology based electronic bracelets to monitor and figure out dangerous situations intelligently, so that we could prevent sexual offences against children beforehand, and while a crime is happening, we could judge the situation of the crime intelligently and take swift action to minimize the suffer. And by checking students' attendance and position, guardians could know where their children are in real time and could protect the children from not only sexual offences but also violent crimes against children like kidnapping. The overall system is like follows : RFID Tag for children monitors the approach of offenders. While an offender's RFID tag is approaching, it will transmit the situation and position as the first warning message to the control center and the guardians. When the offender is going far away, it turns to monitoring mode, and if the tag of the child or the offender is taken off or the child and offender stay at one position for 3~5 minutes or longer, then it will consider this as a dangerous situation, then transmit the emergency situations and position as the second warning message to the control center and the guardians, and ask for the dispatch of police to prevent the crime at the initial stage. The RFID module of criminals' electronic bracelets is RFID TAG, and the RFID module for the children is RFID receiver(reader), so wherever the offenders are, if an offender is at a place within 20m from a child, RFID module for children will transmit the situation every certain periods to the control center by the automatic response of the receiver. As for the positioning module, outdoors GPS or mobile communications module(CELL module)is used and UWB, WI-FI based module is used indoors. The sensor is set under the purpose of making it possible to measure the position coordinates even indoors, so that one could send his real time situation and position to the server of central control center. By using the RFID electronic roll book system of educational institutions and safety system installed at home, children's position and situation can be checked. When the child leaves for school, attendance can be checked through the electronic roll book, and when school is over the information is sent to the guardians. And using RFID access control turnstiles installed at the apartment or entrance of the house, the arrival of the children could be checked and the information is transmitted to the guardians. If the student is absent or didn't arrive at home, the information of the child is sent to the central control center from the electronic roll book or access control turnstiles, and look for the position of the child's electronic bracelet using GPS or mobile communications module, then send the information to the guardians and teacher so that they could report to the police immediately if necessary. Central management and control system is built under the purpose of monitoring dangerous situations and guardians' checking. It saves the warning and pattern data to figure out the areas with dangerous situation, and could help introduce crime prevention systems like CCTV with the highest priority. And by DB establishment personal data could be saved, the frequency of first and second warnings made, the terminal ID of the specific child and offender, warning made position, situation (like approaching, taken off of the electronic bracelet, same position for a certain time) and so on could be recorded, and the data is going to be used for preventing crimes. Even though we've already introduced electronic tagging to prevent recurrence of child sexual offences, but the crimes continuously occur. So I suggest this system to prevent crimes beforehand concerning the children's safety. If we make electronic bracelets easy to use and carry, and set the price reasonably so that many children can use, then lots of criminals could be prevented and we can protect the children easily. By preventing criminals before happening, it is going to be a helpful system for our safe life.

Design of a new 4-DOF soft finger mechanism (4자유도 새로운 소프트 핑거 설계)

  • Cha, Hyo-Jung;Yi, Byung-Ju
    • The Journal of Korea Robotics Society
    • /
    • v.3 no.4
    • /
    • pp.315-322
    • /
    • 2008
  • A new soft finger mechanism using a spring as a backbone is proposed in this work. It is a 4 DOF mechanism that consists of a spring and 3 cylinders, which behave like joints with 3 up-and-down rotations and 1 left-and-right rotation. To control each joint, cylinders have small holes in their cross-sectional areas, and wires of different length are penetrated into these holes. We can control each joint by pulling the corresponding wire. The forward kinematics is solved by using the geometry of mechanism. And the relationship (Jacobian) between the linear velocity of the wires and the joint angular rate is obtained. A virtual simulator is developed to test the validity of the kinematic model. In the experiment, first, the position control is conducted by tracking a given trajectory. Second, to verify the flexibility and safety, we show that the soft finger deflects in a safe manner, in spite of the collision with environment.

  • PDF

Development of Wireless Communication based Train Separation Control Simulator (무선통신기반 열차간격제어 시뮬레이터 개발)

  • Oh, Seh-Chan;Yoon, Yong-Ki;Baek, Jong-Hyen
    • Proceedings of the KSR Conference
    • /
    • 2011.05a
    • /
    • pp.117-124
    • /
    • 2011
  • The train control is a facility to ensure safe train operation, and its safety is the most important factor to determine whether introduced in railway authorities. Therefore, in order to improve practical usability in the business, safety analysis and evaluation of train control system and train control related core technologies are needed. In this paper, we develop wireless communication based train separation control simulator, the simulator traces trains in real-time, and produces train movement authorities with their position and speed information, and then calculates static and dynamic speed profiles. Trains in the simulator are controlled in real-time by these profiles. In the paper, simulator configuration, train control algorithm and simulation results under simulated environment are presented.

  • PDF

Evaluation of the medical staff effective dose during boron neutron capture therapy using two high resolution voxel-based whole body phantoms

  • Golshanian, Mohadeseh;Rajabi, Ali Akbar;Kasesaz, Yaser
    • Nuclear Engineering and Technology
    • /
    • v.49 no.7
    • /
    • pp.1505-1512
    • /
    • 2017
  • Because accelerator-based boron neutron capture therapy (BNCT) systems are planned for use in hospitals, entry into the medical room should be controlled as hospitals are generally assumed to be public and safe places. In this paper, computational investigation of the medical staff effective dose during BNCT has been performed in different situations using Monte Carlo N-Particle (MCNP4C) code and two voxel based male phantoms. The results show that the medical staff effective dose is highly dependent on the position of the medical staff. The results also show that the maximum medical staff effective dose in an emergency situation in the presence of a patient is ${\sim}25.5{\mu}Sv/s$.

Servo Drives State of the Art in Industrial Applications - A Survey

  • Kennel R.;Kobs G.;Weber R.
    • Proceedings of the KIPE Conference
    • /
    • 2001.10a
    • /
    • pp.321-325
    • /
    • 2001
  • Servo drives with microcomputer control provide the possibility of using modem and sophisticated control algorithms. As an additional feature it is possible to implement parallel and/or redundant software and hardware structures to realise safe motion or similar security functions. Unfortunately microcomputer control also has some impact on the behaviour of servo drives. Control algorithm, cycle time, sensors and interface have to be perfectly synchronised. Special control schemes are necessary on the line side (power supply) to meet the actual requirements concerning EMC. This contribution presents experiences and results obtained from a modem digital drive system pointing out the influences of low and high accuracy position sensors and the interdependencies mentioned above.

  • PDF

Technical Note of Arthroscopic Subtalar Arthrodesis Using Posterior Portals - Operative Technique - (후방 삽입구를 이용한 관절경적 거골하 관절 유합술- 수술 방법-)

  • Lee, Keun-Bae;Choi, Jin;Park, Yu-Bok;Seo, Hyeong-Yeon;Suh, Jin-Soo
    • Journal of Korean Foot and Ankle Society
    • /
    • v.9 no.2
    • /
    • pp.193-196
    • /
    • 2005
  • A posterior 3-portal arthroscopic approach with the patient in the prone position provides a novel and optimal approach for isolated subtalar arthrodesis. This approach facilitates access to the posterior talocalcaneal facet and facilitates safe access with regard to the posteromedial neuromuscular bundle. The technique involves prone positioning, establishment of two posterolateral portals and one posteromedial portal, arthroscopic posterior talocalcaneal facet debridement, percutaneous morcellized bone grafting and internal screw fixation. Preliminary results have shown high patient satisfaction, an excellent fusion rate and less postoperative morbidity than open subtalar arthrodesis.

  • PDF

Investigation on the Strength and Vibration Safety of the Oxidizer Turbopump (산화제 터보펌프의 구조 강도 및 진동 안전성에 관한 연구)

  • Jeon, Seong-Min;Kim, Jin-han;Yang, Soo-Seok;Lee, Dae-Sung
    • The KSFM Journal of Fluid Machinery
    • /
    • v.5 no.3 s.16
    • /
    • pp.25-32
    • /
    • 2002
  • Structural and dynamic analyses of inducer and impeller for an oxidizer turbopump are peformed to investigate the safety level of strength and vibration at a design point. Due to high rotational speed of turbopump, effects of centrifugal forces are carefully considered in the structural analysis. Hydrodynamic pressure is also considered as an external force applied to inducer and impeller blades. A three-dimensional Finite Element Method (FEM) is used for linear and nonlinear structural analyses with modified Newton-Raphson iteration method. After the nonlinear trim solution is obtained from the structural analysis, dynamic characteristics are obtained as a function of rotational speed from the linearized eigenvalue analysis at an equilibrium position. According to the results of numerical analysis, the safety margins of strength and vibration resonances are sufficient enough for safe operation within the requited life cycle.

The Study on Analysis of Absolute Train Positioning System for Maglev System (자기부상철도의 절대위치검지시스템 구조 분석 연구)

  • Shin, Kyung-Ho;Shin, Duc-Ko;Lee, Jae-Ho
    • Proceedings of the KIEE Conference
    • /
    • 2009.07a
    • /
    • pp.1179_1180
    • /
    • 2009
  • In the maglev system, accurate train position is essential for safe and efficient train operation. Train positioning systems in the maglev systems are different from conventional railway system because railway train has no wheels. And various train positioning principles and systems have been used in maglev systems. In this paper, we study several positioning principles and systems on adapting existing various maglev systems and analyze functional structure of absolute positioning system in ultra high speed maglev system. Then we propose development scheme on absolute positioning system for developing ultra high speed maglev system.

  • PDF