• Journal of Institute of Control, Robotics and Systems
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• v.11 no.3
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• pp.214-221
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• 2005

For decades, airships have being developed in Europe (especially German) and America. Airships are planning to be used for advertisements and airliners as well. In Korea, KARI (Korea Aerospace Research Institute) is developing stratospheric communication airship and the similar research is carried out in Japan. Among them, Zeppelin of German has the cutting-edge airship technology with Zeppelin NT. In this paper, the flight performance and stability were evaluated by comparing mathematical theory and the real test. The stability was examined through dynamic modeling and assured by designing controllers at each flight mode. Elevator angle, rudder angle, magnitude of thrust and tilting angle of thrust vector were used as control inputs. Moreover, after measuring the airship velocity, flight direction, magnitude and direction of the wind, attitude angles and trajectories of the airship at each flight mode, the results were compared with the simulation. To get the reasonable data, low-pass filter and band-stop filter were designed to get rid of the sensor noise and engine vibration. The test was accomplished at cruise mode, turning mode, and deceleration. To conclude, with comparing the simulation data and flight test data, it could be known that the dynamic model used in this paper was reasonable.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.13 no.2
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• pp.140-146
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• 2013

In this paper, we describe a vision sensor-based driving algorithm for indoor automatic guided vehicles (AGVs) that facilitates a path tracking task using two mono cameras for navigation. One camera is mounted on vehicle to observe the environment and to detect markers in front of the vehicle. The other camera is attached so the view is perpendicular to the floor, which compensates for the distance between the wheels and markers. The angle and distance from the center of the two wheels to the center of marker are also obtained using these two cameras. We propose five movement patterns for AGVs to guarantee smooth performance during path tracking: starting, moving straight, pre-turning, left/right turning, and stopping. This driving algorithm based on two vision sensors gives greater flexibility to AGVs, including easy layout change, autonomy, and even economy. The algorithm was validated in an experiment using a two-wheeled mobile robot.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2003.05a
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• pp.217-224
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• 2003

ISO 14649 is a new interface (or language) standard for the CAD-CAM -CNC chain, currently under establishment by ISO TC184 SCI and SC4 . Upon completion, it will replace ISO 6983, so called M amp; G codes used for CNC since 1950' s. As the new language is being established, a new CNC controller called STEP-CNC (STEP­compliant CNC), capable of carrying out various intelligent tasks using the new language as an input, receives worldwide attention. In this paper, we present a distributed architecture for STEP-NC system based on the generic paradigm of STEP-NC. The STEP-NC system is consisted of 3 sub-systems: 1) CGS (Code Generation System), 2) CES (Code Edit System), and 3) ACS (Autonomous Control System). Also presented in this paper is algorithm for delta volume decomposition, a crucial algorithm for developing CGS. First method is based on the cutting tool and the second method is based on the turning features commonly used in the shop floor. An illustrative example is given to compare the two methods, and to illustrate usage scenario of the delta volume in the turning STEP- NC system under development.

• Journal of ILASS-Korea
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• v.10 no.2
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• pp.10-17
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• 2005

The proposed research has been performed to know the characteristics of cutting fluid aerosol formation using Dual-PDA system in machining process. The cutting fluid aerosol size and concentration is common attributes that quantify the environmental intrusiveness or air quality contamination. The atomized cutting fluid aerosols can be affected to human health risk such as lung cancer and skin irritations. Even though cutting fluid can be improved the machining quality and productivity in a carefully. its use must be controlled and optimized carefully. This experimental works using Dual-PDA were performed to analyze the cutting fluid aerosol behaviors and characteristics in turning process using precise aerosol particle measuring system. The obtained experimental results profovide basic knowledge to develop the environmentally conscious machining process. This results cail be provided as a basis to estimate and control the hazardous cutting fluid aerosol in machining process.

• PNF and Movement
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• v.17 no.2
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• pp.189-197
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• 2019

Purpose: The aim of our study was to evaluate the therapeutic effects of walking and turning plus treadmill training on the functional balance and walking ability of individuals with Parkinson's disease (PD). Methods: Twenty-four participants with Stage 1 to 3 ($2.13{\pm}0.64$) PD based on the Hoehn and Yahr scale were randomly allocated to the experimental group (EG) and control group (CG), with 12 participants in each group. The measured outcomes included the motor subscale of the unified Parkinson's disease rating scale (UPDRS-M), the Berg balance scale (BBS), the Timed Up and Go (TUG) test, the 10-meter walk test (10MWT), and the 6-minute walk test (6MWT). Results: Pre-to-post intervention improvements were noted for all the outcome measures for both groups (p < 0.05). Post intervention, there was a significant improvement in the EG compared to the CG for the following measured outcomes (p < 0.05): UPDRS-M (p = 0.021; 95% CI, 0.081-6.519), BBS (p = 0.042; 95% CI, 1.375-4.541), TUG (p = 0.034; 95% CI, -3.315--0.143), 10MWT (p = 0.011; 95% CI, -2.032--0.289), and 6MWT (p = 0.002; 95% CI, 24.39-91.273). Conclusion: Our study suggests that walking and turning plus treadmill training improves balance and walking compared to treadmill training only in patients with PD.

• Proceedings of the KIPE Conference
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• 1996.06a
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• pp.80-84
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• 1996

A Switched Reluctance Motor(SRM) has a torque pulsating inherently due to characteristics of pulse driving. A torque pulsating causes noise and sound vibration. To reduce a noise, a torque pulsating shall be controlled. Many efforts to make flat-topped current has been proposed to minimize a torque pulsating up to now. This paper proposed a control scheme to minimize the vibration of SRM by controlling the vibration directly by using of self-turning technique. The experimental results show that the proposed control scheme is effective in reducing the torque ripple and noise.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1930-1933
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• 1991

In this paper, the robustness of self turning controller on the continuous time-delay system is investigated. The polynomial identification method using continuous time exponentially weighted least square algorithm is used for estimating the time.-delay system parameters. The pole-zero and pole placement method are adopted for the control algorithm. On considering the control weighting factor and reliability filter the effect of unmodeled dynamics of the plant are examined by the simulation.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.13 no.1
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• pp.109-126
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• 2014

The level of service (LOS) of the Highway Capacity Manual (KHCM) has been used as a basic criterion at decision making processes for signalized intersections in Korea. The KHCM provides five steps for the signalized intersection analysis. Among them, lane grouping, which is the third step, significantly influence the final LOS. The current method presented in the KHCM, however, classifies a shared lane as a de facto turning lane group, even though the turning traffic of the shared lane is few. Thus, this research was initiated to provide an alternative. To this end, three alternatives were suggested, including the method based on the lane grouping presented in the U.S. Highway Capacity Manual, the method using turning ratio of shared turning lane, and the method using a threshold traffic volume in lane grouping. The feasibilities of the three methods were evaluated using a calibrated CORSIM model. Conclusively, the method using a threshold traffic volume in lane grouping outperformed.

• Journal of Educational Research in Mathematics
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• v.14 no.3
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• pp.327-345
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• 2004

This study attempts to discuss holistic information in order to identify the characteristics of interactions using a graphing calculator. The use of a graphing calculator was divided into three stages: Visual, Analytical, and Self-regulated. The last stage can be called the Self-regulated instrument stage, because this last stage, the use of the calculator, is generally characterized as students actively controlling their ongoing efforts through self-regulating. The accomplishments of the operation can be divided into three levels: Immature, Maturing, and finally, Mature level. First, the characteristics of the Leading Statements were investigated to figure out who has the main role in cooperative learning. This study can support the previous study, which showed that computers could help improve the self-esteem of low-level students. Second, the point of transformation is referred to as the Turning Point. Several functions were observed in the Turning Point: student, instrument, and teacher. Third, when the students convert-sations reach a lull in class and then resume due to certain primary factors without the teachers intervention, this is a case of what is referred to as Structuralization. And last, in this study, the graphing calculator can be used as an auxiliary stimulus to help students control their stress and their attitudes, which in turn can also improve students social interaction.

• Journal of the Korean Society for Railway
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• v.17 no.5
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• pp.336-341
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• 2014

The articulated structures seen in train or tram applications are being applied in road transportation systems, for use in mass passenger transit. When articulated vehicles are driven on public roads, they no longer follow a guided track. Therefore, there are a lot of control elements that need to be considered, such as turning radius, swept path width, off-tracking, and swing-out. Some of the currently available articulated vehicles on roads are equipped with an independent drive system; a system that has one motor at each wheel. Through this drive system, each wheel can be independently controlled, making precise and quick dynamic stability control possible. In this paper, we propose a torque distribution algorithm that can reduce the overall turning radius of the articulated vehicle, which has been verified through dynamic simulation.