• Journal of Institute of Control, Robotics and Systems
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• v.14 no.11
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• pp.1117-1123
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• 2008

This paper implements dual-kernel system using standard Linux and real-time embedded Linux for the real-time control of intelligent robot systems. Such system provides more useful services including standard Linux thread that is easy to implement complicated tasks and real-time tasks for the deterministic response to velocity control. Here, an open source real-time embedded Linux, XENOMAI, is ported on embedded target board. And for interfacing with motor controller we adopted a real-time serial device driver. The real-time task was implemented with a priority to keep the cyclic control command for trajectory control. In order to validate deterministic response of the proposed system, the performance measurement of the delay in performing trajectory control with feedback loop is evaluated with non real-time standard Linux. The proposed software architecture is anticipated to take advantage of features in both standard Linux and real-time operating systems for the intelligent robot systems.

• Journal of the Korean Institute of Intelligent Systems
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• v.14 no.3
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• pp.304-309
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• 2004

This work proposes the wearable and intelligent system to control mobile vehicle instead of user. The system having the ability of assistance as well as portable can be applied to various controller. It is possible to observe the state of mobile vehicle and have a good command of robot instead of human. In this paper, the wearable system operating the mobile vehicle by deciding the velocity and rotation angle that are demanded for collision avoidance with the obtained driving information from mobile vehicle is implemented. To make the proposed wearable system have an intelligence, the hierarchical fuzzy logic and neural network are used.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.7
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• pp.711-719
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• 2009

This paper presents a design scheme of torque control for wheeled mobile robot(WMR) to asymptotically track the target reference trajectory. By considering the kinematic model of WMR, trajectory tracking control generates the desired tracking trajectory, which is transformed into the command velocity vector for the real WMR to track the target reference trajectory. The dynamic equation of the state error between the target reference trajectory and the desired tracking trajectory is represented by Takagi-Sugeno fuzzy model, and this model is used as the reference model for the real mobile robot error dynamics to follow. The control parameters are updated by adaptive laws that are designed for the error states of the real WMR to asymptotically follow the states of reference error model for the desired tracking trajectory. The proposed control is applied to a typical wheeled mobile robot and simulation studies are carried out to verify the validity and effectiveness of the control scheme.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.7
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• pp.675-682
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• 2009

Instead of direct driving like BLDC, the induction principle is adopted as a driving one for planar stage. The stage composed of four linear induction motors put in square type is activated by two-axial forces; low-frequency attractive force and thrust force of the linear induction motors. Here, the modified vector control whose new inputs are q-axis current and dc current biased to three phase current instead of d-axis current or flux current is applied extensively to overall motion of the stage. For the developed system, the precision step test and the constant velocity test are tried to guarantee its feasibility for TFT-LCD pattern inspection. However, to exclude a discontinuity due to phase shift and minimize a force ripple synchronized with the command frequency, the initial system is revised to the antagonistic structure over the full degree of freedom. Concretely describing, the porous air bearings guide an air-gapping of the stage up and down and a pair of liner induction motors instead of single motor are activated in the opposite direction each other. The performances of the above systems are compared from trapezoid tracking test and sinusoidal test.

• Proceedings of the KSME Conference
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• 2001.11b
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• pp.934-939
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• 2001

In computational study of the flow in piston engines and the flow through moving valves, the use of moving vertices is essential for modelling flows with moving boundaries. The positions of cell vertices in such cases must be allowed to vary with time. To simulate 3-dimensional port-valve and piston-cylinder of HIMSEN 6H21/32 engine, a commercially available code, STAR-CD, was used. Changes in mesh geometry was specified by PROSTAR commands.(i.e. the Change Grid operation in the EVENTS command module.) Control of the intake flow is expected to play an important role as designers seek to obtain better fuel spray characteristics, fuel mixing and mixture preparation, combustion performance, and emissions reductions to meet national standards. As a result of analysis, velocity fields indicate the presence of a structured flow comprised of one pair of counter-rotating vortices under the intake valve during the early induction process. These flow structures remain visible for most of the intake process. As the piston moves towards BDC, these vortices develops into a larger tumbling motion that dominates the flow structure.

• IE interfaces
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• v.22 no.3
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• pp.205-213
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• 2009

Warfare information system is a core factor of future combat operation under NCW(Network centric Warfare) environment. In this paper, we proposed a new MOE(Measure of Effectiveness) that can assess the combat power synergistic effect of warfare information system in the theater-level joint fire operation. This new MOE uses the rule of Newton's second law($F=(m{\Delta}{\upsilon})/{\Delta}t{\Rightarrow}(M{\upsilon}I)/T$). Four factors considered in combat power evaluation are network power(M), movement velocity(v), information superiority(I), command and control time(T). We applied this new MOE to the JFOS-K(Joint Fire Operating System-Korea) to assess its combat power effect and compared with other's effects obtained from different MOE.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.32 no.7
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• pp.69-75
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• 2004

An avoidance/guidance problem of an aircraft against moving obstacle is considered in two dimensional space. The aircraft is modelled as a point mass flying with constant speed. The lateral acceleration is assumed the control input. Artificial potential functions are applied to the terminal point and moving obstacles in order that repulsive forces and an attractive force are produced by the obstacles and the terminal point respectively. A real time guidance/avoidance law is proposed by using the potential forces and relative velocity. The guidance law for a logarithm potential function results the well-known proportional navigation law. The avoidance control command is inverse proportional to the time-to-go to the obstacle and turns the aircraft toward the negative direction of the line-of-sight change. The performance of the proposed guidance/avoidance law is verified with simulations.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.6
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• pp.445-452
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• 2016

This paper discusses the dynamics and control problem of an overhead shuttle system (OSS), which is a critical part of the automated container terminal at a port. The main purpose of the OSS is efficient automated transport function of containers, which also requires high precision and safety. A major difference between the OSS and the conventional container crane is the configuration of the cables for hoisting the spreader. A mathematical model of the OSS is developed here for the first time, which results in an eight-pole system. Also, open loop control methods (trapezoidal and notch-type velocity profiles) are investigated so that the command input to the overhead shuttle produces the minimum possible sway of the payload. Simulation results show that the vibration suppression capability of the OSS is superior to the conventional overhead container crane, which is partially due to the cable configuration.

• The Bulletin of The Korean Astronomical Society
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• v.44 no.1
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• pp.82.2-82.3
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• 2019

Korea Astronomy and Space Science Institute (KASI), in collaboration with the NASA Goddard Sparce Flight Center (GSFC), will develop a next generation coronagraph for the International Space Station (ISS). COronal Diagnostic EXperiment (CODEX) uses multiple filters to obtain simultaneous measurements of electron density, temperature, and velocity within a single instrument. CODEX's regular, systematic, comprehensive dataset will test theories of solar wind acceleration and source, as well as serve to validate and enable improvement of space-weather/operational models in the crucial source region of the solar wind. CODEX subsystems include the coronagraph, pointing system, command and data handling (C&DH) electronics, and power distribution unit. CODEX is integrated onto a standard interface which provides power and communication. All full resolution images are telemeters to the ground, where data from multiple images and sequences are co-added, spatially binned, and ratioed as needed for analysis.

• Journal of Korean Association for Spatial Structures
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• v.21 no.2
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• pp.41-48
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• 2021

A smart tuned mass damper (TMD) is widely studied for seismic response reduction of various structures. Control algorithm is the most important factor for control performance of a smart TMD. This study used a Deep Deterministic Policy Gradient (DDPG) among reinforcement learning techniques to develop a control algorithm for a smart TMD. A magnetorheological (MR) damper was used to make the smart TMD. A single mass model with the smart TMD was employed to make a reinforcement learning environment. Time history analysis simulations of the example structure subject to artificial seismic load were performed in the reinforcement learning process. Critic of policy network and actor of value network for DDPG agent were constructed. The action of DDPG agent was selected as the command voltage sent to the MR damper. Reward for the DDPG action was calculated by using displacement and velocity responses of the main mass. Groundhook control algorithm was used as a comparative control algorithm. After 10,000 episode training of the DDPG agent model with proper hyper-parameters, the semi-active control algorithm for control of seismic responses of the example structure with the smart TMD was developed. The simulation results presented that the developed DDPG model can provide effective control algorithms for smart TMD for reduction of seismic responses.