• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.5
• /
• pp.505-511
• /
• 2011

In this paper, we have developed an automatic velocity control system of a small-sized commercial treadmill (belt length of 1.2 m and width of 0.5 m) which is widely used at home and health centers. The control objective is to automatically adjust the treadmill velocity so that the subject's position is maintained within the track when the subject walks at a variable velocity. The subject's position with respect to a reference point is measured by a low-cost sonar sensor located on the back of the subject. Based on an encoder sensor measurement at the treadmill motor, a state feedback control algorithm with Kalman filter was implemented to determine the velocity of the treadmill. In order to reduce the unnatural inertia force felt by the subject, a predefined acceleration limit was applied, which generated smooth velocity trajectories. The experimental results demonstrate the effectiveness of the proposed method in providing successful velocity changes in response to variable velocity walking without causing significant inertia force to the subject. In the pilot study with three subjects, users could change their walking velocity easily and naturally with small deviations during slow, medium, and fast walking. The proposed automatic velocity control algorithm can potentially be applied to any locomotion interface in an economical way without having to use sophisticated and expensive sensors and larger treadmills.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.16 no.5
• /
• pp.639-645
• /
• 2013

The aim of the study is to investigate the method to estimate a storage life of propelling charge on the decrease of muzzle velocity by stochastic gamma process model. It is required to establish criterion for state failure to estimate the storage life and it is defined in this paper as a muzzle velocity difference between reference value and maximum allowable standard deviation multiplied by 6. The relationship between storage time and muzzle velocity is investigated by nonlinear regression analysis. The stochastic gamma process model is used to estimated the state distribution and the life distribution for storage time for 155mm propelling charge KM4A2 because the regression analysis is a deterministic method and it can't describe the distribution of life for storage time.

• Earthquakes and Structures
• /
• v.4 no.5
• /
• pp.489-508
• /
• 2013

Design spectra for damping ratios higher than 5% have several important applications in the design of earthquake-resistant structures. These highly damped spectra are usually derived from a 5%-damped reference pseudo-acceleration spectrum by using a damping modification factor. In cases of high damping, the absolute acceleration and the relative velocity spectra instead of the pseudo-acceleration and the pseudo-velocity spectra should be used. This paper elaborates on the recovery of spectral absolute acceleration and spectral relative velocity from their pseudo-spectral counterparts. This is accomplished with the aid of correction factors obtained through extensive parametric studies, which come out to be functions of period and damping ratio.

• Journal of computational fluids engineering
• /
• v.16 no.2
• /
• pp.56-61
• /
• 2011

Numerical study is conducted to design the high temperature heat exchanger of Stirling engine by using the commercial CFD solver, FLUENT. The Fin-tube type of heat exchanger is designed as a reference model by considering the type of engine which is ${\beta}$-configuration. To find the optimal design of heat exchanger in heat transfer capacity numerical calculation is conducted by changing the shape, the number, and material of reference model in three-dimensional combustion field. Adjusted one-way constant velocity of working fluid that is helium is considered as the representative velocity of oscillating flow. The optimal design of heat exchanger considering the heat transfer capability is suggested by using the calculation results.

• Journal of the Korean Society of Combustion
• /
• v.18 no.4
• /
• pp.21-28
• /
• 2013

HCCI engines have mainly focused on achieving low temperature combustion in order to obtain higher efficiency and lower emission. One of practical difficulties in HCCI combustion is to control the start of combustion and subsequent combustion phasing. The choice of primary reference fuels in HCCI strategy is one of various promising solutions to make HCCI combustion ignition-controlled. The behavior of ignition delay to the frequency variation of sinusoidal velocity oscillation is computationally investigated under HCCI conditions of PRF75 using a reduced chemistry in a counterflow configuration. The second-stage ignition is more delayed as the higher frequency is imposed on nozzle velocity fluctuation whereas the first-stage ignition is not much influenced.

• Journal of Biosystems Engineering
• /
• v.25 no.2
• /
• pp.141-150
• /
• 2000

This study was carried out to de develop a control strategy of a fruit harvesting redundant robot. The method of generating a safe trajectory, which avoids collisions with obstracles such as branches or immature fruits, in the 3D(3-dimension) space using artificial potential field technique and virtual plane concept was proposed. Also, the method of setting reference velocity vectors to follow the trajectory and to avoid obstacles in the 3D space was proposed. Developed methods were verified with computer simulations and with actual robot tests. Fro the actual robot tests, a machine vision system was used for detecting fruits and obstacles, Results showed that developed control method could reduce the occurrences of the robot manipulator located in the possible collision distance. with 10 virtual obstacles generated randomly in the 3 D space, maximum rates of the occurrences of the robot manipulator located in the possible collision distance, 0.03 m, from the obstacles were 8 % with 5 degree of freedom (DOF), 8 % with 6-DOF, and 4% with 7-DOF, respectively.

• Journal of the Society of Naval Architects of Korea
• /
• v.49 no.6
• /
• pp.469-477
• /
• 2012

This paper describes the characteristic analysis of ice impact force for the Arctic structure shape. In the present study an energy method has been used to predict the impact force during the ice-structure collision. This study also employs two concepts for reference contact area and normalized stress in analysis procedure. The influences of factors, such as impact velocity, full penetration depth, structure shape and ice floe size, are investigated. Full penetration occurs, particularly at lower impact velocity when ice thickness increase. But "typical size" ice floe does not expected ever to achieve full penetration during the impact procedure. The structure shape is the dominant factor in ice impact force characteristic. The results for various ice-structure collision scenarios are analyzed.

• Journal of Drive and Control
• /
• v.9 no.3
• /
• pp.1-7
• /
• 2012

This paper deals with the issue of model reference adaptive control strategy to control the injection molding machine. Prior to controller design, a pair of transfer functions are derived for the injection and dwelling process based on mathematical models of components. As external disturbances to examine the robustness of the proposed controller, nozzle clogging and contraction of molded objects are considered and realized by proportional valve. The overall simulation system, consisting of hydraulic components, controller and sensors, is implemented using the components of commercial software SimulationX. The simulation results confirm the proposed scheme's efficiency and robustness.

• Proceedings of the KIEE Conference
• /
• 2000.07d
• /
• pp.2837-2839
• /
• 2000

We design a stable controller for a mobile robot with variable gains and reference velocity in order to apply the proper gains and reference velocity, which are generated with fuzzy logic in on-line. The stability is guranteed by the Lyapunov theory. The fuzzy logic rules is found in off-line with GA strategy which drives each object function to be the least. The proposed controller is applied smooth path tracking due to the local path planing. Simulation results show robust performances under a different initial conditions.

• Journal of Institute of Control, Robotics and Systems
• /
• v.12 no.6
• /
• pp.561-567
• /
• 2006

This paper deals with a fuzzy controller using IA(Immune Algorithm) for Trajectory Tracking of 2-DOF WMR(Wheeled Mobile Robot). The global inputs to the WMR are reference position and reference velocity, which are time variables. The global output of WMR is a current position. The tracking controller makes position error to be converged 0. In order to reduce position error, a compensation velocities on the track of trajectory is necessary. Therefore, a FIAC(Fuzzy-IA controller) is proposed to give velocity compensation in this system. Input variables of fuzzy part are position errors in every sampling time. The output values of fuzzy part are compensation velocities. IA are implemented to adjust the scaling factor of fuzzy part. The computer simulation is performed to get the result of trajectory tracking and to prove efficiency of proposed controller.