• Journal of Power System Engineering
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• v.7 no.3
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• pp.54-60
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• 2003

In general, the swing motion of the crane is controlled and suppressed by activating the trolley motion. In this paper, we suggest a new type of anti-sway control system of the crane. In the proposed control system, a small auxiliary mass(moving-mass) is installed on the spreader and the swing motion is controlled by moving the auxiliary mass. The actuator reaction against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we apply the $H_{\infty}$ based control technique to the anti-sway control system design problem. And the experimental result shows that the proposed control system is shown to be useful and robust to disturbances like winds and initial sway motion.

• Journal of Power System Engineering
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• v.8 no.1
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• pp.55-61
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• 2004

In general, the swing motion of the crane is controlled and suppressed by activating the trolley motion. In this paper, we suggest a new type of anti-sway control system of the crane. In the proposed control system, a small auxiliary mass(moving-mass) is installed on the spreader and the swing motion is controlled by moving the auxiliary mass. The actuator reaction against the auxiliary mass applies inertial control forces to the container in order to reduce the swing motion in the desired manner. In this paper, we apply the $H_{\infty}$ based control technique to the anti-sway control system design problem. And the experimental result shows that the proposed control system is useful and robust to disturbances like winds and initial sway motion.

• Advances in aircraft and spacecraft science
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• v.1 no.4
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• pp.455-469
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• 2014

High-precision autonomous localization technique is essential for future Mars rovers. This paper addresses an innovative integrated localization algorithm using a multiple information fusion approach. Firstly, the output of IMU is employed to construct the two-dimensional (2-D) dynamics equation of Mars rover. Secondly, radio beacon measurement and terrain image matching are considered as external measurements and included into the navigation filter to correct the inertial basis and drift. Then, extended Kalman filtering (EKF) algorithm is designed to estimate the position state of Mars rovers and suppress the measurement noise. Finally, the localization algorithm proposed in this paper is validated by computer simulation with different parameter sets.

• International Journal of Aeronautical and Space Sciences
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• v.3 no.1
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• pp.86-94
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• 2002

The initial alignment of inertial platform for navigation system was considered. An adaptive filtering technique is developed for the system with unknown and varying sway disturbance. It is assumed that the random sway motion is the second order ARMA(Auto Regressive Moving Average) model and performed parameter identification for unknown parameters. Designed adaptive filter contain both a Kalman filter and a self-tuning filter. This filtering system can automatically adapt to varying environmental conditions. To verify the robustness of the filtering system, the computer simulation was performed with unknown and varying sway disturbance.

• International Journal of Aeronautical and Space Sciences
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• v.18 no.3
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• pp.555-564
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• 2017

In this paper, a new technique for attitude and heading reference system (AHRS) using low-cost MEMS sensors of the gyroscope, accelerometer, and magnetometer is addressed particularly in vibration environments. The motion of MEMS sensors interact with the scale factor and cross-coupling errors to produce random errors by the harsh environment. A new adaptive attitude estimation algorithm based on the Kalman filter is developed to overcome these undesirable side effects by analyzing windowed measurement error covariance. The key idea is that performance degradation of accelerometers, for example, due to linear vibrations can be reduced by the proposed measurement error covariance analysis. The computed error covariance is utilized to the measurement covariance of Kalman filters adaptively. Finally, the proposed approach is verified by using numerical simulations and experiments in an acceleration phase and/or vibrating environments.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.23 no.11
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• pp.966-972
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• 2013

Measurement or estimation of tilt angle is necessary for balancing robot such as Segway which is considered as a next generation transportation vehicle. However, it requires high-cost accurate sensors to hold balancing during stationary and moving situations. In this paper, a tilt angle estimation of a plane rotating in a vertical plane using low-cost sensors. Estimation using a set of 2-axis orthogonal accelerometers along with an inaccurate rate gyro has been considered. Feasibility and performance of the proposed technique has been verified through some experimental results.

• Journal of Power Electronics
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• v.17 no.4
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• pp.953-962
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• 2017

Momentum flywheels are widely applied for the generation of small and precise torque for the attitude control and inertial stabilization of satellites and space stations. Due to its inherited system nonlinearity, the tracking performance of the flywheel torque/speed in dynamic/plug braking operations is limited when a conventional controller is employed. To take advantage of the well-separated two-time-scale quantities of a flywheel driving system, the singular perturbation technique is adopted to improve the torque tracking performance. In addition, the composite control law, which combines slow- and fast- dynamic portions, is derived for flywheel driving systems. Furthermore, a novel control strategy for plug braking dynamics, which considers couplings between the Buck converter and the three-phase inverter load, is designed with easy implementation. Finally, experimental results are presented to demonstrate the correctness of the analysis and the superiority of the proposed methods.

• Nonlinear Functional Analysis and Applications
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• v.27 no.1
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• pp.59-82
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• 2022

In this paper, we present a modified (improved) generalized M-iteration with the inertial technique for three quasi-nonexpansive multivalued mappings in a real Hilbert space. In addition, we obtain a weak convergence result under suitable conditions and the strong convergence result is achieved using the hybrid projection method with our modified generalized M-iteration. Finally, we apply our convergence results to certain optimization problem, and present some numerical experiments to show the efficiency and applicability of the proposed method in comparison with other improved iterative methods (modified SP-iterative scheme) in the literature. The results obtained in this paper extend, generalize and improve several results in this direction.

• Journal of Positioning, Navigation, and Timing
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• v.12 no.1
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• pp.37-42
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• 2023

Wi-Fi Received Signal Strength Indicator (RSSI) is considered one of the most important sensor data types for indoor localization. However, collecting a RSSI fingerprint, which consists of pairs of a RSSI measurement set and a corresponding location, is costly and time-consuming. In this paper, we propose a Wi-Fi RSSI learning technique without true location data to overcome the limitations of static database construction. Instead of the true reference positions, inertial measurement unit (IMU) data are used to generate pseudo locations, which enable a trainer to move during data collection. This improves the efficiency of data collection dramatically. From an experiment it is seen that the proposed algorithm successfully learns the unsupervised Wi-Fi RSSI positioning model, resulting in 2 m accuracy when the cumulative distribution function (CDF) is 0.8.

• Structural Engineering and Mechanics
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• v.87 no.4
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• pp.363-373
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• 2023

Since the first family of structure-dependent methods can simultaneously integrate unconditional stability and explicit formulation in addition to second order accuracy, it is very computationally efficient for solving inertial problems except for adopting auto time-stepping techniques due to no nonlinear iterations. However, an unusual stability property is first found herein since its unconditional stability interval is drastically different for zero and nonzero damping. In fact, instability might occur for solving a damped stiffness hardening system while an accurate result can be obtained for the corresponding undamped stiffness hardening system. A technique of using a stability factor is applied to overcome this difficulty. It can be applied to magnify an unconditional stability interval. After introducing this stability factor, the formulation of this family of structure-dependent methods is changed accordingly and thus its numerical properties must be re-evaluated. In summary, a large stability factor can result in a large unconditional stability interval but also lead to a large relative period error. As a consequence, a stability factor must be appropriately chosen to have a desired unconditional stability interval in addition to an acceptable period distortion.