• Journal of Drive and Control
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• v.17 no.4
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• pp.125-132
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• 2020

The objective of this study was to analyze the axle load of a rice transplanter when planting rice seedlings at different working load conditions to select a suitable gear stage and a constant planting depth for rice seedlings. In this study, there are four levels of planting distances (26, 35, 43, and 80 cm) and three planting depths (low, medium, and high) with two gear stages (1.3 and 1.7 m/s). Axle loads and required planting pressures were analyzed statistically. It was observed that axle torques were increased with increasing planting depths for both gear stages, meaning that axle torques were directly proportional to planting depths for both gear stages. It was also observed that required planting pressures had a significant difference between planting distances. Planting pressures also showed significant difference according to gear stage and planting depth. These results indicate that planting pressures were directly proportional to both gear stage and planting depth. Results revealed that the automatic depth control system of a rice transplanter could not guarantee a constant planting depth as supplied pressures were variable. This indicates that a control algorithm is needed to ensure a constant planting depth. In the future, a control algorithm will be developed for an automatic depth control system of a rice transplanter to improve its comprehensive performance and efficiency.

• Journal of the Society of Naval Architects of Korea
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• v.51 no.1
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• pp.88-98
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• 2014

A supercavitation is modern technology that can be used to reduce the frictional resistance of the underwater vehicle. In the process of reaching the supercavity condition which cavity envelops whole vehicle body, a vehicle passes through transition phase from fully-wetted to supercaviting operation. During this phase of flight, unsteady hydrodynamic forces and moments are created by partial cavity. In this paper, analytical and numerical investigations into the dynamics of supercavitating vehicle in transition phase are presented. The ventilated cavity model is used to lead rapid supercavity condition, when the cavitation number is relatively high. Immersion depth of fins and body, which is decided by the cavity profile, is calculated to determine hydrodynamical effects on the body. Additionally, the frictional drag reduction associated by the downstream flow is considered. Numerical simulation for depth tracking control is performed to verify modeling quality using PID controller. Depth command is transformed to attitude control using double loop control structure.

• Journal of Periodontal and Implant Science
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• v.32 no.1
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• pp.213-224
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• 2002

The ultimate goal of periodontal disease therapy is to promote the regeneration of lost periodontal tissue, there have been many attempts to develop a method to achieve this goal, but none of them was completely successful. The purpose of this study was to compare the effects of treatment using BBP(R) with control treated by only modified Widman flap. 22 intrabony defects from 12 patients with chronic periodontitis were used for this study, 10 sites of them were treated with BBP(R) as experimental group and 12 site were treated by only modified Widman flap as control group. Clinical parameters including probing depth, gingival recession, bone probing depth and loss of attachment were recorded at 6 months later, and the significance of the changes was statistically analyzed. The results are as follows : 1. Probing depth of control(${\triangle}2.7{\pm}1.3mm$) and experimental group(${\triangle}3.6{\pm}1.8mm$) weres reduced with statistically significance(P<0.05), but this changes were not different between the two experiment, control group with statistically significance. 2. Gingival recession showed statistically significant increase in control group(${\triangle}2.1{\pm}1.2mm$)(P<0.05), but not in experimental group(${\triangle}0.5{\pm}0.7mm$), and this changes were different between the two experiment, control group with statistically significance(P<0.05). 3. Bone probing depth showed statistically significant decrease in experimental group(${\triangle}2.9{\pm}1.0mm$)(P<0.05), but not in control group(${\triangle}1.1{\pm}1.4mm$), and this changes were different between the two experiment, control group with statistically significance(P<0.05). 4. Loss of attachment showed statistically significant decrease in experimental group(${\triangle}3.1{\pm}1.7mm$), but not in control group(${\triangle}0.6{\pm}1.2mm$), and this changes were different between the two experiment, control group with statistically significance(P<0.05) On the basis of these results, treatment using BBP(R) improves the probing depth, bone probing depth and loss of attachment in intrabony defects.

• IEMEK Journal of Embedded Systems and Applications
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• v.12 no.5
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• pp.311-318
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• 2017

A reduced order observer is developed for depth control of a hybrid underwater glider which combines the good aspects of a conventional autonomous underwater vehicle and a underwater glider. State variables include the center of gravity of the robot and the weight of the buoyancy bag, which can not be directly measured. By using the mathematical model and available information such as directional velocities, accelerations, and attitudes, we developed a Luenberger's reduced order observer to estimate the center of gravity and the buoyancy weight. By simulations using Matlab/Simulink, the efficiency of the proposed observer is shown, where a LQR controller using full state variables is adopted as a depth controller.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.66 no.3
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• pp.563-567
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• 2017

This paper deals with the depth and speed controls of a class of nonlinear large diameter unmanned underwater vehicles (LDUUVs), while maintaining its attitude. The concerned control problem can be viewed as an asymptotic stabilization of the error model in terms of its desired depth, surge speed and attitude. To tackle its nonlinearities, the linear parameter varying (LPV) model is employed. Sufficient linear matrix inequality (LMI) conditions are provided for its asymptotic stabilization. A numerical simulation is provided to demonstrate the effectiveness of the proposed design methodology.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.4
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• pp.395-399
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• 2006

A method to recognize unpaved road region using a 3D depth measurement system is proposed for mobile robots. For autonomous maneuvering of mobile robots, recognition of obstacles or recognition of road region is the essential task. In this paper, the 3D depth measurement system which is composed of a rotating mirror, a line laser and mono-camera is employed to detect depth, where the laser light is reflected by the mirror and projected to the scene objects whose locations are to be determined. The obtained depth information is converted into an image. Such depth images of the road region represent even and plane while that of off-road region is irregular or textured. Therefore, the problem falls into a texture identification problem. Road region is detected employing a simple spatial differentiation technique to detect the plain textured area. Identification results of the diverse situation of unpaved trail are included in this paper.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.4
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• pp.264-269
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• 2002

In this paper, Η$_{\infty}$ depth and course controller of an AUV(Autonomous Underwater Vehicle) using Η$_{\infty}$ servo control is proposed. The Η$_{\infty}$ servo problem is formulated to design the controllers satisfying a robust tracking property with modeling errors and disturbances. The solution of the Η$_{\infty}$ servo problem is as fellows: first, this problem is modified as an Η$_{\infty}$ control problem for the generalized plant that includes a reference input mode, and then a sub-optimal solution that satisfies a given performance criteria is calculated by LMI(Linear Matrix Inequality) approach. The Η$_{\infty}$ depth and course controller are designed to satisfy with the robust stability about the modeling error generated from the perturbation of the hydrodynamic coefficients and the robust tracking property under disturbances(wave force, wave moment, tide). The performances of the designed controllers are evaluated with computer simulations, and finally these simulation results show the usefulness and application of the proposed Η$_{\infty}$ depth and course control system.

• Journal of the Korea Institute of Military Science and Technology
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• v.4 no.2
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• pp.30-41
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• 2001

In Underwater Flight Vehicle depth control system, the followings must be required. First, It needs a robust performance which can get over the nonlinear characteristics due to hull shape. Second, It needs an accurate performance which has the small overshoot phenomenon and steady state error to avoid colliding with ground surface and obstacles. Third, It needs a continuous control input to reduce the acoustic noise. Finally, It needs an effective interpolation method which can reduce the dependency of control parameters on speed. To solve these problems, we propose a Intelligence depth control method using Fuzzy Sliding Mode Controller and Neural Network Interpolator. Simulation results show the proposed control scheme has robust and accurate performance by continuous control input and has no speed dependency problem.

• International Journal of Control, Automation, and Systems
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• v.5 no.1
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• pp.51-60
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• 2007

This paper describes a visual tracking control law of an Unmanned Aerial Vehicle(UAV) for monitoring of structures and maintenance of bridges. It presents a control law based on computer vision for quasi-stationary flights above a planar target. The first part of the UAV's mission is the navigation from an initial position to a final position to define a desired trajectory in an unknown 3D environment. The proposed method uses the homography matrix computed from the visual information and derives, using backstepping techniques, an adaptive nonlinear tracking control law allowing the effective tracking and depth estimation. The depth represents the desired distance separating the camera from the target.

• Journal of Ocean Engineering and Technology
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• v.20 no.6 s.73
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• pp.7-17
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• 2006

Depth and heading control of an AUV are considered to follow the predetermined depth and heading angle. The proposed control algorithm is designed. based on a sliding mode control using estimated hydrodynamic coefficients. The hydrodynamic coefficients are estimated with conventional nonlinear observer techniques, such as sliding mode observer and extended Kalman filter. By using the estimated coefficients, a sliding mode controller is constructed for the combined diving and steering maneuver. The simulation results of the proposed control system are compared with those of control system with true coefficients. This paper demonstrates the proposed control system, discusses the mechanisms that make the system stable and follows the desired depth and heading angle, accurately, in the presence of parameter uncertainty.