• Journal of IKEEE
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• v.18 no.3
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• pp.376-382
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• 2014

In this paper, we propose a advanced attitude PID controller and sensor fusion method robust to the vibration of the quadcopter unmanned air vehicle using four BLDC motors. When the gyro sensor and acceleration sensor are fused, a complementary filter is designed to ignore the vibrations generated by the motors and to complement the drawbacks. As a result, we obtain accurate results than using each sensor. Also, it is possible to obtain a low delay results in robust to vibration than the low-pass filter or moving average filter, which is generally used for quadcopter. And we improved D controller, which have being used for attitude control of quadcopter, to quadcopter using gyro sensor. it was confirmed that the attitude is stabilized and error is reduced By using gyro sensor output instead of variation of estimated angle in D control.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.4
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• pp.343-352
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• 2016

A multi-rotor vehicle is an unmanned vehicle consisting of multiple rotors. A multi-rotor vehicle can be categorized as tri-, quad-, hexa-, and octo-rotor depending on the number of the rotors. Multi-rotor vehicles have many advantages due to their agile flight capabilities such as the ability for vertical take-off, landing and hovering. Thus, they can be widely used for various applications including surveillance and monitoring in urban areas. Since multi-rotors are subject to uncertain environments and disturbances, it is required to implement robust attitude stabilization and flight control techniques to compensate for this uncertainty. In this research, an advanced nonlinear control algorithm, i.e. sliding mode control, was implemented. Flight experiments were carried out using an onboard flight control computer and various real-time autonomous attitude adjustments. The feasibility and robustness for flying in uncertain environments were also verified through real-time tests based on disturbances to the multi-rotor vehicle.

• The Transactions of the Korean Institute of Power Electronics
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• v.19 no.5
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• pp.399-406
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• 2014

This study investigates the structure and operation of the ITER VS converter and proposes a sequence control method for six series-connected VS converters to reduce reactive power. The operation and the proposed sequence control method are verified through RTDS simulation. The ITER VS converter must supply voltage/current to the superconducting magnets for plasma current vertical stabilization, and the four-quadrant operation must proceed without a zero-current discontinuous section. The operation mode of the VS converter is separated into a 12- and 6-pulse circulating current and transition modes according to the size of the load current. The output voltage of the unit VS converter is limited because of the rated voltage; however, the superconducting coil must increase the operating output voltage. Thus, the VS converter must be connected in a 6-series to provide the required operating output voltage. The output voltage of the VS converters is controlled continuously; however, reactive power is limited within a minimized value of the grid. In this study, the unit converter is compared with converters connected in a 6-series to determine a suitable sequence control method. The output voltage is the same in all cases, but the maximum reactive power is reduced from 100% to 73%. This sequence control method is verified through RTDS simulation.

• Physical Therapy Rehabilitation Science
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• v.5 no.3
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• pp.113-119
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• 2016

Objective: The effect of abdominal expansion maneuver (AEM) and abdominal draw-in maneuver (ADIM) on postural control in an unsupported position in stroke patients. Design: Randomized controlled trial. Methods: A total of 36 persons with hemiplegic stroke participated in this study. The subjects were randomly divided into an AEM experimental group (n=12), an experimental ADIM group (n=12), and a control group (n=12). We collected the general characteristics of all subjects and the pre-test results before the intervention and after 4 weeks of the intervention. The trunk stabilization training of the ADIM and AEM group were performed 15 minutes a day, 3 times a week for 4 weeks, and general physical therapy was performed 2 times a day, 30 minutes per session, 5 times a week for all three groups. The control group received joint mobilizations, muscle strengthening, endurance strengthening, and gait exercises along with treatment of the central nervous system, such as neuro-developmental treatment, mat, and gait training. The AEM is an inspiratory phase of tidal breathing expanding the lateral lower ribcage in a lateral direction with minimal superior movements of the chest. Then the lower abdomen expands and the navel moves in an anterior-caudal direction. The ADIM is a repeated contraction and relaxation of the anal sphincter during inspiration. The navel pulls the lower abdomen to the direction of the spine without the movement of the trunk and pelvis. Results: Before and after the interventions, medial-lateral axis movement distance, anterior-posterior axis movement distance, sway mean velocity, and sway area 95% was a statistically significant change in all three groups (p<0.05). The post-hoc test showed a significant improvement in medial-lateral axis movement distance, anterior-posterior axis movement distance, sway mean velocity, and sway area in the AEM group compared with the control group, and in the ADIM group compared with the control group (p<0.05). Conclusions: In conclusion, both AEM training and ADIM training are necessary interventions to maintain the independent sitting position according to the characteristics of the patient.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.11 no.3
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• pp.207-214
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• 2017

The problem of trunk stability is a major factor in back pain.. Abdominal draw in maneuver(ADIM), One of the trunk stabilization exercises to relieve lumbar instability, is a method of inducing selective contraction of the transverse abdominis associated with anticipatory posture control among the abdominal stabilization muscles. ADIM is usually performed with a visual feedback by applying a pressure biofeedback unit(PBU) under the lumbar at the supine position, which is not functional compared to the sitting position. This study was conducted to investigate the effect of ADIM applied in supine and sitting position on 31 healthy men and women. In each posture, muscle activity was measured by rectal abdominis (RA), external oblique (EO), transverse abdominis (TrA)/internal obilique (IO) and erector spinae (ES) using wireless EMG. In the result, there was no significant difference between RA and EO between the two postures and there was a significant difference between TrA / IO and ES. In both postures, the activity of TrA/IO was higher than that of RA, and the effect of ADIM was shown to be the same, whereas TrA/IO and ES showed higher activity in sitting position. This means that the activity of the muscles involved in the postural stability and lumbar stability is increased further in the sitting position. Therefore, ADIM in sitting, which can be applied more easily in daily life, is useful for improving lumbar stability.

• Economic and Environmental Geology
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• v.42 no.5
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• pp.435-444
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• 2009

In situ stabilization of heavy metals through adsorption onto indigenous bacterial biofilm developed on soil particles was investigated. Biofilms were developed in soil columns by supply of various carbon sources such as acetate, lactate and glucose. During development of biofilms, acetate, lactate, and glucose solutions were flew out from the soil columns with volume ratios of 98.5%, 97.3%, and 94.7%, respectively, when compared with soil column supplied with deionized water. Decrease in effluent amounts through the soil columns amended with carbon sources over time indicated the formation of biofilms resulting in decrease of soil porosity. Solutions of Cd, Cr(VI), Cu, Pb, and Zn were injected into the biofilms supported on soil particles in the columns, and the dissolved heavy metals in effluents were determined. Concentrations of dissolved Cd, Cr(VI), Cu, and Zn in the effluents through biofilm columns were lower than those of control column supplied with deionized water. The result was likely due to enhanced adsorption of the metals onto biofilms. Efficiency of metal removal by biofilms depended on the type of carbon sources supplied. The enhanced removal of dissolved heavy metals by bacterial biofilms in this study may be effectively applied to technical development of in situ stabilization of heavy metals in natural soil formation contaminated with heavy metals.

• Journal of Korean Society of Environmental Engineers
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• v.32 no.6
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• pp.631-638
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• 2010

The objective of this study was to evaluate the efficiency of zerovalent iron and basic oxygen furnace slag on arsenic stabilization in soils. For this, arsenic (V) contaminated soil and roxarsone contaminated soil were incubated after incorporation with zerovalent iron (ZVI) or basic oxygen furnace slage (BOFS) at four different levels (0%, 1%, 3%, and 5%) for 30 days and then the residual concentrations of arsenic were analysed following extraction with aqua reqia, 1N HCl and 0.01 M $CaCl_2$. The total concentration of arsenic was 2,285 mg/kg in the As(V) contaminated soil and 6.5 mg/kg in the roxarsone contaminated soil. 1 N HCl extractable arsenic concentration in the As(V) contaminated soil was initially 1,351 mg/kg and this was significantly declined by 713~1,034 mg/kg following incubation with ZVI while BOFS treatment showed no effect on the stabilization of inorganic arsenate except 5% treatment which showed around 100 mg/kg reduction in 1N HCl extractable arsenic. Similarly, in the roxarsone contaminated soil 1N HCl extractable concentration of arsenic was reduced from 3.13 mg/kg to 0.69 mg/kg with ZVI treatment increased from 1% to 5% while BOFS treatment did not lead to any statistically significant reduction. Available (0.01M $CaCl_2$ extractable) arsenic was initially 0.85 mg/kg in the As(V) contaminated soil and this declined by 0.79 mg/kg following incorporation with 5% ZVI, which accounted for more than 90% of the available As in the control. When As(V)-contaminated soil was treated with BOFS, the available arsenic was increased due to competing effect of the phosphate originated from BOFS with arsenate for the adsorption sites. For the roxarsone contaminated soil, the greater the treatment of ZVI or BOFS, the lower the available arsenic concentration although it was still higher than that of the control.

• Journal of Applied Biological Chemistry
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• v.58 no.1
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• pp.39-50
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• 2015

Stabilization of heavy metals such as Pb, Cd, Zn, and Cu was evaluated in contaminated soil treated with poultry manure (PM) as well as its biochars pyrolyzed at $300^{\circ}C$ (PBC300) and $700^{\circ}C$ (PBC700) at the application rates of 2.5, 5.0, and 10.0 wt% along with the control, prior to 21-days incubation. After incubation, soil pH was increased from 6.94 (control) to 7.51, 7.24, and 7.88 in soils treated with PM 10 wt%, PBC300 10 wt%, and PBC700 10 wt% treatments, respectively, mainly due to alkalinity of treatments. In the soil treated with PM, the concentrations of the toxicity characteristic leaching procedure (TCLP)-extractable Pb, Cd, Zn, and Cu were increased by up to 408, 77, 24, and 955%, respectively, compared to the control. These increases may possibly be associated with an increased dissolved organic carbon concentration by the PM addition. However, in the soil treated with PBC700, TCLP-extractable Pb, Cd, Zn, and Cu concentrations were reduced by up to 23, 38, 52, and 36%, respectively, compared to the control. Thermodynamic modelling using the visual MINTEQ was done to predict the precipitations of $Pb(OH)_2$, $Cu(OH)_2$ and P-containing minerals, such as chloropyromorphite [$Pb_5(PO_4)_3Cl$] and hydroxypyromorphite [$Pb_5(PO_4)_3OH$], in the PBC700 10 wt% treated soil. The SEM-elemental dot mapping analysis further confirmed the presence of Pb-phosphate species via dot mapping of PBC700 treated soil. These results indicate that the reduction of Pb concentration in the PBC700 treated soil is related to the formations of chloropyromorphite and hydroxypyromorphite which have very low solubility.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.33 no.6
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• pp.2211-2221
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• 2013

During the four river restoration project, several weirs were constructed in the four rivers to prevent drought and flood, to improve water quality, and to manage water resources. However, due to the weir construction, bed changes are produced in the upstream channel of installed weirs because the incoming flow velocity is reduced and sediment transport capacity is also lowered. Especially, since the Haman Weir is located in the lowest downstream section among newly installed weirs in Nakdong River, bed change and sedimentation problems are expected due to the mild slope and reduced velocity. Therefore, numerical simulation was performed to analyze flow and bed changes in the upstream channel of Haman Weir and to evaluate quantitatively sediment control methods for bed stabilization using CCHE2D model. As a result of flow and bed change simulation after installation of Haman Weir, the flow velocity at the initial condition was faster than the final bed condition with the specific simulation time and it was represented that the locations where bed changes were great were identical for all modeling conditions of flow discharge. In case of 4.5 m of water level lowered from 5.0 m of the management water level at Haman Weir for bed stabilization, the flow velocity was generally faster than the case of the management water level and the continuous erosion was developed at the most narrow channel section as the applied discharge and simulation period were increased. The channel width extension at the most narrow channel section was proposed in this study to prevent and stabilize continuos bed erosion. As a result of numerical analysis, there was no bed erosion after channel width extension and it was presented that the channel geometry extension was effective for bed stabilization at Haman Weir.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.34 no.5
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• pp.65-73
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• 2006

When a satellite separates from the launch vehicle, an initial high angular rate or a tip-off rate is generated. B-dot logic is generally used for controlling the initial tip-off rate. However, it has the disadvantage of taking a relatively long time to control the initial tip-off rate. To solve this problem, this paper suggests a new detumbling control method to be able to adapt to micro/nanosatellite with the pitch bias momentum system. Proposed detumbling method was able to control the angular rate within 20 minutes which is significantly reduced compared to conventional methods. Since the previous wheel start-up method cannot be used if the detumbling controller proposed by this paper is used, a method is also proposed for bringing up the momentum wheel speed to nominal rpm while maintaining stability in this paper. The performance of the method is compared and verified through simulation. The overall result shows much faster control time compared to the conventional methods, and achievement of the nominal wheel speed and 3-axes stabilization while maintaining stability.