• 제어로봇시스템학회논문지
• /
• 제21권8호
• /
• pp.758-765
• /
• 2015

This paper proposes an attitude control system to keep the balance for a two-wheeled mobile manipulator which consists of a mobile platform and a three D.O.F. manipulator. In the conventional control scheme, complicated dynamics of the manipulator need to be derived for balancing control of a mobile manipulator. The method proposed in this paper, however, three links are considered as one body of mass and the dynamics are derived easily by using an inverted pendulum model. One of the best advantage of a sliding mode controller is low sensitivity to plant parameter variations and disturbances, which eliminates the necessity of exact modeling to control the system. Therefore the sliding mode control algorithm has been adopted in this research for the attitude control of mobile platform along the pitch axis. The center of gravity for the whole mobile manipulator is changing depending on the motion of the manipulator. And the orientation variation of center of gravity is used as reference input for the sliding mode controller of the pitch axis to maintain the center of gravity in the middle of robot to keep the balance for the robot. To confirm the performance of controller, MATLAB Simulink has been used and the resulting algorithms are applied to a real robot to demonstrate the superiority of the proposed attitude control.

• International Journal of Computer Science & Network Security
• /
• 제23권1호
• /
• pp.169-186
• /
• 2023

The research aimed to identify the effectiveness of an educational program using 3D glasses as a technological innovation on academic achievement and attitude towards elearning in science in the preparatory stage. The research relied on the analytical descriptive approach and the semi-experimental approach. The research tools were the achievement test and the scale of attitude towards e-learning. An educational program was designed and produced using 3D glasses. The study sample consisted of 60 students from the second grade in the preparatory stage at the Rural Jeddah School. The research concluded to the following results: There was a satistically sigificant difference at the level of sig. (0.05) among the -mean scores of the experiemtal and control group students in the post assessment atthe level of achievement in favor of the experiemental group and therewas a satistically sigificant difference at the level of sig. (0.05) among mean scores of the experiemtal and control group students in the post assessment at the level of attitude towards e-learning in favor of the experiemental group. And it was found that the positive effect of the 3D educational program for improving the level of achievement and the attitude towards e-learning for the students. The program allowed the experimental group students to practice self-learning, interaction, and achievement according to the individual differences among them.

• 한국정보시스템학회지:정보시스템연구
• /
• 제5권
• /
• pp.345-371
• /
• 1996

Previous studies on user training have largely focused on assessing models which describe the determinants of information technology usage or examined the effects of training on user satisfaction, productivity, performance, and so on. Scant research efforts have been made, however, to examine those effects of training by using theoretical models. This study presented a conceptual models to predict intention to use information technology and conducted an experiment to understand how training for computer skill acquisition affects primary variables of the model. The data were obtained from 32 student subjects of an experimental group and 31 students of a control group, and the information technology employed for this study was a university electronic mail system. The study results revealed that attitude toward usage and perceived behavioral control helped to predict user intentions ;; outcome expectations were positively related to attitude toward usage ; and self-efficacy was positively related to perceived behavioral control. The hands-on training for the experimental group led to increases in perceived ease of use, self-efficacy and perceived behavioral control. The changes in those variables suggest more causal effects of user training than other survey studies.

• 한국산업정보학회:학술대회논문집
• /
• 한국산업정보학회 1996년도 추계 학술 발표회 발표논문집
• /
• pp.29-48
• /
• 1996

Previous studies on user training have largely focused on assessing models which describe the determinants of information technology usage or examined theeffects of training, on user satisfaction, productivity, performance and so on. Scant research efforts have been made, however, to examine those effects of training by using theoretical models. This study presented a conceptural model to predict intention to use information technology and conducted an experimentto understand how training for computer skill acquisition affects primary variables of the model. The data were obtained from 32 student subjects of an experimental group and 31 students of a control group, and the information technology employed for this study was a university's electronic mail system. The study results revealed that attitude toward usage and perceived behavioral control helped to predict user intentions ; outcome expectations were positively related to attitude toward usage ; and self-efficacy was positively related to perceived behavioral control. Thd hands-on training for the experimental group led to increases in perceived ease of use, self-efficacy and perceived behaviroal control. The changes in those variables suggest more causal effects of user training than other survey studies.

• Journal of Mechanical Science and Technology
• /
• 제19권8호
• /
• pp.1529-1543
• /
• 2005

Recently an unmanned aerial vehicle (UAV) has been widely used for military and civil applications. The role of a navigation system in the UAV is to provide navigation data to the flight control computer (FCC) for guidance and control. Since performance of the FCC is highly reliant on the navigation data, a fault in the navigation system may lead to a disastrous failure of the whole UAV. Therefore, the navigation system should possess a fault detection and isolation (FDI) algorithm. This paper proposes an attitude determination GPS/INS integrated navigation system with an FDI algorithm for a UAV. Hardware for the proposed navigation system has been developed. The developed hardware comprises a commercial inertial measurement unit (IMU) and the integrated navigation package (INP) which includes an attitude determination GPS (ADGPS) receiver and a navigation computer unit (NCU). The navigation algorithm was implemented in a real-time operating system with a multi-tasking structure. To evaluate performance of the proposed navigation system, a flight test has been performed using a small aircraft. The test results show that the proposed navigation system can give accurate navigation results even in a high dynamic environment.

• 제어로봇시스템학회논문지
• /
• 제13권7호
• /
• pp.703-710
• /
• 2007

This paper presents an attitude determination scheme for the Science and Technology Satellite-2(STSAT-2) using Fine Digital Sun Sensor(FDSS). The FDSS has been developed for STSAT-2, and exhibits the accuracy of 0.032degree in $1{\sigma}$. To be specific, the attitude information from the sensor is exploited to compensate for Fiber Optic Gyro(FOG) mounted on STSAT-2, and Kalman filter model is derived and implemented. To show the effectiveness of the present compensation scheme, computer simulations have been carried out resulting in the attitude errors within a bound.

• 한국과학교육학회지
• /
• 제18권3호
• /
• pp.303-312
• /
• 1998

본 연구는 화학 평형 단원에 대한 멀티미디어 CAl를 제작하고, 고등학교 화학수업에 적용하여 성취도와 태도 면에서 전통적 수업과의 효과를 비교하였다. 이를 위하여 수업처치 전에 화학수업과 컴퓨터에 대한 태도 검사를 하였고, 중간고사 성적을 공변인으로, 중간고사의 과학성적을 구획변인으로 사용하였다. 화학 평형 단원을 대상으로 각각 전통적인 수업과 CAl를 수행한 후에 성취도 검사와 태도 검사를 실시하였다. 컴퓨터를 이용하여 화학수업을 받은 학생은 전통적인 수업을 받은 학생에 비하여 성취도는 유의미하게 향상 되었으나, 태도의 향상은 유의미하지 않았다. 또한 학습자의 사전 성취수준과 수업처치와의 상호작용은 관찰되지 않았다. 성별로 분석해 보니 여학생은 CAl에 의해 성취도가 향상되었으나, 남학생은 차이를 보이지 않았다. 이해와 적용의 하위범주 중 적용문제 영역에서 CAl에 의한 성취도의 향상이 있었으며, 화학 평형의 법칙, 화학 평형의 개념, 평형 이동의 적용 세 부분으로 나누었을 때 화학 평형의 개념에서 성취도의 향상이 가장 컸다. CAl가 컴퓨터에 대한 태도와 화학수업에 대한 태도에 긍정적인 변화를 주지 않았으며, 남학생은 CAl에 의해 화학수업에 대한 태도와 컴퓨터에 대한 태도 모두 긍정적으로 변했으나 여학생은 그렇지 못하였다. 이상의 결과에 대한 교육적 의미를 논의하였다.

• 한국정보시스템학회:학술대회논문집
• /
• 한국정보시스템학회 1996년도 추계학술발표회 발표논문집
• /
• pp.29-48
• /
• 1996

Previous studies on user training have largely focused on assessing models which describe the determinants of information technology usage or examined the effects of training on user satisfaction, productivity, performance, and so on. Scant research efforts have been made, however, to examine those effects of training by using theoretical models. This study presented a conceptual model to predict intention to use information technology and conducted an experiment to understand how training for computer skill acquisition affects primary variables of the model. The data were obtained from 32 student subjects of an experimental group and 31 students of a control group, and the information technology employed for this study was a university's electronic mail system. The study results revealed that attitude toward usage and perceived behavioral control helped to predict user intentions; outcome expectations were positively related to attitude toward usage; and self - efficacy and perceived behavioral control. The changes in those variables suggest more causal effects of user training than other survey studies.

• 항공우주시스템공학회지
• /
• 제2권1호
• /
• pp.17-21
• /
• 2008

A compact, light-weight, integrated flight control computer(IFCC) for small unmanned autonomous vehicles is developed. Its design objective is to produce an all in one avionics system which includes the navigation sensor, data link, attitude sensors and air data sensors. The initial phase of ground and flight tests are performed to verify the prototype IFCC, showing promising results. The high potential of its application is expected.

• 전기전자학회논문지
• /
• 제18권3호
• /
• pp.376-382
• /
• 2014

본 논문은 4개의 BLDC 모터를 이용한 쿼드콥터 무인비행체의 센서 신호 성능 개선을 위해 진동에 강인한 센서융합 방식을 제안하고 이를 기반으로 하여 자세제어를 위한 개선된 PID 제어 기법을 제안한다. 쿼드콥터의 자세추정을 위해 사용하는 가속도 센서와 자이로 센서 각각의 특성에서 나타나는 단점을 상호 보완하고 모터에서 발생하는 진동의 영향을 최소화하도록 상보필터를 적용하여 두 센서를 융합하는 방법을 제안하였다. 본 논문에서 제안하는 센서 융합 방식은 쿼드콥터의 방진을 위해 일반적으로 사용되는 이동평균 필터나 저역통과 필터에 비해 진동에 더욱 강인하고 지연이 적은 결과를 얻을 수 있었다. 또한 쿼드콥터의 자세 제어를 위해 일반적으로 사용되는 PID 제어 중 D 제어 성분을 추정된 각도의 변화량을 이용하는 대신 자이로 센서를 사용하는 쿼드콥터의 특성에 맞게 자이로 센서 출력을 사용하는 방식을 제안하여 사용함으로써 자세 제어 오차를 줄일 수 있고 자세 제어의 안정화가 보다 용이하게 이루어질 수 있음을 확인하였다.