• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.10
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• pp.1962-1967
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• 2009

This paper deals with a design of a platform to simulate PRT vehicle operational control algorithms using on-board embedded process board. The configuration of the platform is composed of the central control module, the station control module, man-machine interface and monitoring module. Since PRT system needs inherently very reliable vehicle operational control algorithm in order to avoid the impact between vehicles, it is very important to construct a simulation platform to test a designed vehicle operational control algorithm during the development process For the test of the proposed platform a path of the each moving vehicle is predefined in the central control system before the dispatch order is given to the vehicle. The simulation results show the effectiveness of the proposed simulation platform for test and evaluation of the PRT operational control algorithms.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2001.11a
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• pp.235-240
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• 2001

A four degrees of freedom (dof) motion platform for bicycle simulator is developed. The motion platform, capable of the vertical linear and three angular motions, is designed based on analysis of the typical motion characteristics revealed by the existing six dof bicycle simulator. The platform essentially consists of two parts： the three dof parallel manipulator, consisting of a moving platform, a fixed base and three actuators, and the turntable to generate the yaw motion. The nonlinear kinematics and dynamics of the three dof parallel manipulator with multiple closed loop chains are analyzed for tracking control of the motion platform. The tracking performances of the three control schemes are experimentally compared： the computed torque method (CTM), the sliding mode control (SMC) and the PD control. The CTM and SMC, incorporated with the system dynamics model, are found to be equally better in performance than the PD controller, irrespective of the presence of external disturbance.

• Journal of Korean Association for Spatial Structures
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• v.14 no.2
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• pp.87-94
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• 2014

In this study, a smart isolation platform has been developed for control of microvibration of high-technology facilities, such as semi-conductor plants and TFT-LCD plants. Previously, microvibration control performance of a smart base isolation system has been investigated. This study compared microvibration control performance of a smart isolation platform with that of conventional base isolation and fixed base. For this purpose, train-induced ground acceleration is used for time history analysis. An MR damper was used to compose a smart isolation platform. A fuzzy logic controller was used as a control algorithm and it was optimized by a multi-objective genetic algorithm. Numerical analysis shows that a smart isolation platform can effectively control microvibration of a high-technology facility subjected to train-induced excitation compared with other models.

• The Journal of Korea Robotics Society
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• v.15 no.3
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• pp.221-232
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• 2020

In a four-wheel independent drive platform, four wheels and motors are connected directly, and the rotation of the motors generates the power of the platform. It uses a skid steering system that steers based on the difference in rotational power between wheel motors. The platform can control the speed of each wheel individually and has excellent mobility on dirt roads. However, the difficulty of the straight-running is caused due to torque distribution variation in each wheel's motor, and the direction of rotation of the wheel, and moving direction of the platform, and the difference of the platform's target direction. This paper describes an algorithm to detect the slip generated on each wheel when a four-wheel independent drive platform is traveling in a harsh environment. When the slip is detected, a compensation control algorithm is activated to compensate the torque of the motor mounted on the platform to improve the trajectory tracking performance of the platform. The four-wheel independent drive platform developed for this study verified the algorithm. The wheel slip detection and the compensation control algorithm of the platform are expected to improve the stability of trajectory tracking.

• Journal of Korea Multimedia Society
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• v.13 no.6
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• pp.884-889
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• 2010

In this paper, we design a mobile phone based remote control system for PC using SKT WPAN platform and compare the presented platform with that of Windows Mobile. The usability of WPAN is one of the main issues which should be considered for the ubiquitous services. For easy development and easy use of the WPAN applications, SKT WPAN platform provides abstract WPAN APIs and WPAN Application Manager for ubiquitous services. In this paper, we implement a remote control application using the WPAN platform and show the validity of the platform comparing with other platforms. In the implemented application, we use WPAN abstract APIs on the mobile phone side and a general Bluetooth APIs on the PC for a connection between phone and PC. Through the implementation and comparison, we show that the WPAN application can be easily developed with WPAN platform.

• Proceedings of the KSR Conference
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• 2009.05a
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• pp.1441-1444
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• 2009

In this paper a platform that makes it possible the simulations of the vehicle operational control for PRT (Personal Rapid Transit) is introduced. PRT system has very short headway and requires accurate speed control of the vehicles to avoid the impact between the vehicles. The proposed platform is composed of central control system, station control system, communication control system, AP for wireless communication, and monitoring system. Simple operational test scenarios are presented and the effectiveness of the proposed platform is shown using the test scenarios.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1841-1846
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• 2003

The mobile platform-manipulator discussed in this paper is a three link manipulator mounted on a mobile platform. This mobile manipulator is used for welding operation and it is able to operate in a narrow space. The task of the torch, which is mounted at the end effector of the manipulator, is to track along the seam line and the task of the mobile platform is to move the origin point of the manipulator in order to go away from the singularity of the manipulator’s configuration. In this paper, the path planning for the motion of two subsystems (i.e., the manipulator and the mobile platform) was presented by the decentralized control method. Two controllers for the mobile platform and the manipulator were designed, and the relationship between the independent controllers is its state information. The simulation results are also presented to demonstrate the effectiveness of the control method.

• Journal of computational fluids engineering
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• v.13 no.4
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• pp.8-12
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• 2008

Heat/smoke detectors are installed in most subway platforms in Korea to detect fire. Subway platform is divided by smoke-control zones for efficient smoke-control. Once the detectors detect heat or smoke, the smoke-control ventilation system in the platform and concourse is activated according to the smoke-control ventilation mode. Smoke-control mode during fires in Korean subway platforms is that the smoke zones operate by exhausting smoke while other zones in the platform and in the concourse which is the upper floor of the platform operate by supplying air or stopping any ventilation. This study is conducted to evaluate performance of passengers' evacuation for various smoke control modes in the subway station. Distribution of smoke and heat due to fire on the platform is analyzed by using Fire Dynamics Simulator(FDS V 4.06) of NIST. Various smoke-control ventilation modes and locations of fire are considered. Evacuation and movement of passengers within the platform is simulated by building EXODUS V.4.0.

• 한국전산유체공학회:학술대회논문집
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• 2008.03b
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• pp.276-279
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• 2008

Heat/smoke detectors are installed in most subway platforms in Korea to detect fire. Subway platform is divided by smoke-control zones for efficient smoke-control. Once the detectors detect heat or smoke, the smoke-control ventilation system in the platform and concourse is activated according to the smoke-control ventilation mode. Smoke-control mode during fires in Korean subway platforms is that the smoke zones operate by exhausting smoke while other zones in the platform and in the concourse which is the upper floor of the platform operate by supplying air or stopping any ventilation. This study is conducted to evaluate performance of passengers' evacuation for various smoke control modes in the subway station. Distribution of smoke and heat due to fire on the platform is analyzed by using Fire Dynamics Simulator(FDS V 4.06) of NIST. Various smoke-control ventilation modes and locations of fire are considered. Evacuation and movement of passengers within the platform is simulated by buildingEXODUS V 4.0.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.736-741
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• 1992

The Stewart platform is one example of a motion simulator which generates 6 DOF motion in space by 6 actuators connected in parallel. The present SISO controllers are designed to track displacement command of each actuator computed from reference 6 DOF motion of platform by Stewart platform inverse kinematics. But this type of control can't cope with external load variation, geometric configuration of motion simulator, and different dynamic behavior of 6 DOF motion. In this paper, a multivariable controller using H- optimal control theory is designed for linerized simulator model with each actuator driving force as control input and platform 6 DOF motion as measured output. Nonlinear simulation result of the H$_{\infty}$ MIMO controller is not satisfied in steady-state characteristics. But the proposed H$_{\infty}$ + PI control scheme shows acceptable performance.e.e.