• Journal of Institute of Control, Robotics and Systems
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• v.10 no.4
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• pp.341-349
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• 2004

In this paper, the decentralized neural network control of the reference compensation technique is proposed to control a 2-DOF inverted pendulum on an x-y plane. The cart with the 2-DOF inverted pendulum moves on the x-y plane and the 2-DOF inverted pendulum rotates freely on the x-y axis. Since the 2-DOF inverted pendulum is divided into two 1-DOF inverted pendulums, the decentralized neural network control is applied not only to balance the angle of pendulum, but also to control the position tracking of the cart. Especially, a circular trajectory tracking is tested for position tracking control of the cart while maintaining the angle of the pendulum. Experimental results show that position control of the inverted pendulum system is successful.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.292-298
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• 1991

A new 6-axis robot controller with a high-speed 32-bit floating-point DSP TMS32OC30 has been developed in Samsung Electronics. The controller composed of Intel 80386 microprocessor for the main controller, and TKS32OC30 DSP chip for joint position controller. The characteristics of the controller are high sampling rate of 200us and fast reponsibility. The main controller supports MS-DOS, kinematics, trajectory planning, and sensor fusion functions which are vision, PLC, and MAP. The one high speed DSP chip is used for controlling 6 axes of a robot in 200us simultaneously. The control law applied is PID controller including a velocity feedforvard in joint position controller. The performance tests, such as command following, CP, were conducted for the controller integrated with a 6 axes robot developed in Samsung Electronics. The results showed a good performance. This controller can also perform the system control with other controllers, the communication with high priority controllers, and visual information processing.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10b
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• pp.1028-1032
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• 1988

The purpose of this paper is the development of a fully integrated simulation package for industrial robot. The simulation package consists of kinematics, dynamics, and control. The kinematics contains trajectory plans and inverse kinematics. The dynamics combines manipulator dynamics and actuator dynamics including the effect of payloads and viscous frictions. The control is a hardware oriented scheme which contains position controller, velocity controller, current controller, and PWM generator. Thus, the simulation package can be used not only for theoretical purposes but also for development purposes in industry. Using this package, the characteristics and performances of the SCARA robot, which has been developed in GSIS, are investigated.

• 제어로봇시스템학회:학술대회논문집
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• 1989.10a
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• pp.1069-1074
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• 1989

A discrete-time learning control for robotic manipulators is studied using its pulse transfer function. Firstly, discrete-time learning stability condition which is applicable to single-input two-outputs systems is derived. Secondly, stability of learning algorithm with position signal is studied. In this case, when sampling period is small, the algorithm is not stable because of an unstable zero of the system. Thirdly, stability of algorithm with position and velocity signals is studied. In this case, we can stabilize the learning control system which is unstable in learning with only position signal. Finally, simulation results on the trajectory control of robotic manipulators using the discrete-time learning control are shown. This simulation results agree well with the analytical ones.

• Journal of computational fluids engineering
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• v.2 no.2
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• pp.80-88
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• 1997

A new wall impaction model for diesel spray is described in this paper. The gas phase is modelled in terms of the Eulerian continuum conservation equations of mass, momentum, energy and fuel vapour fraction. The liquid phase is modelled following the discrete droplet model approach. The droplet parcel contains many thousands of drops assumed to have the same size, temperature and velocity components. The droplet parcel equations of trajectory, momentum, mass and energy are written in Lagrangian form. The new drop-wall interaction model is proposed, which is based on experimental investigations on individual drops, and it is applied for the general non-orthogonal grid. The model is then assessed through comparison with experiments over a wide range of test conditions of sprays. The results are in good agreement with experimental data.

• 한국전산유체공학회:학술대회논문집
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• 2004.10a
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• pp.37-41
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• 2004

Liquid injection in a Venturi Scrubber creates great effect on the dust-collection efficiency and operation cost of venturi scrubbers. We have developed a model that can numerically simulate atomization of the liquid jet in the Venturi Scrubber. This simulation consists of models on liquid column, jet surface breakup, column fracture and secondary droplet breakup. These models have been embedded in the KIVA3-V code. We have calculated such parameters as the jet penetration, jet trajectory, droplet size, velocity field and the volume flux distribution. The results are compared with the experimental data in this paper.

• Proceedings of the KSME Conference
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• 2002.08a
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• pp.233-236
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• 2002

The high-pressurized spray nozzle is used f3r special washing and cutting with strong impact force. The performance of this nozzle, which focused on spray penetration and radial dispersion, was mainly investigated to maximize the momentum and minimize the flow loss. Hence, our experimental research was conducted by changing the aspect ratio ranging from 0 to 3 with nozzle outlet of 1.1. The spray trajectory far high-pressurized water was experimentally investigated using PDPA diagnostics, which was available at spray downstream region. As the spray at upstream near the nozzle exit did not show the improved disintegration. The results showed empirical correlation with regard to non-dimensional axial velocity distribution, spray penetration, and radial spreading rate with photographic visualization.

• Journal of Mechanical Science and Technology
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• v.15 no.12
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• pp.1691-1698
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• 2001

In recent years, significant progress has been made in modeling turbulence behavior in plasma and its effect on transport. It has also been made in diagnostics for turbulence measurement; however, there is still a large gap between theoretical model and experimental measurements. Visualization of turbulence can improve the connection to theory and validation of the theoretical model. One method to visualize the flow structures in plasma is a laser Schlieren imaging technique. We have recently applied this technique and investigated the characteristics of a highly underexpanded pulsed plasma jet originating from an electrothermal capillary source. Measurements include temporally resolved laser Schlieren imaging of a precursor blast wave. Analysis on the trajectory of the precursor blast wave shows that it does not follow the scaling expected for a strong shock resulting from the instantaneous deposition of energy at a point. However, the shock velocity does scale as the square root of the deposited energy, in accordance with the point deposition approximation.

• Journal of Ocean Engineering and Technology
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• v.11 no.1
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• pp.84-95
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• 1997

This paper presents a new approach to the design speed and azimuth control of a mobile robot with drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy-neural network, and back propagation algorithm to train the fuzzy-neural network controller in the frmework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simple the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.

• 제어로봇시스템학회:학술대회논문집
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• 1990.10a
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• pp.469-474
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• 1990

The implementation of modern guidance law derived from optimal control theory requires accurate current states of target, for example, position, velocity and acceleration etc. But there is no sensors that measure the target states directly. So they are estimated from measurable data. For atmospheric missile engagement, direct application of the modern guidance laws may result In deterioration of Intercept performance because of poor observability associated with angles only-measurements by passive seeker and homing geometry. In this paper, a trajectory modulation method called "adaptive Intermittent maneuvers" is added to the modern guidance law, so the observability is enhanced and, consequently, improved the intercept performance. The estimation algorithm called "modified gain pseudo-measurement filter" is used for tracking filter. It is assumed that the passive seeker measure the angles between line of sight and Inertial frame. The Monte-Carlo simulation for realistic air-to-air Intercept scenario are conducted to demonstrate the effectiveness of intermittent maneuvers.ermittent maneuvers.