• International Journal of Naval Architecture and Ocean Engineering
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• v.12 no.1
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• pp.832-842
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• 2020

The coordination control of multiple Underactuated Underwater Vehicles (UUVs) moving in three dimensional space is investigated in this paper. The coordinated path following control task is decomposed into two sub tasks, that is, path following control and coordination control. In the spatial curve path following control task, path following error dynamics is build in the Serret-Frenet coordinate frame. The virtual reference object can be chosen freely on the desired spatial path. Considering the speed of the UUV, the line-of-sight navigation is introduced to help the path following errors quickly converge to zero. In the coordination control sub task, the communication topology of multiple UUVs is described by the graph theory. The speed of each UUV is adjusted to achieve the coordination. The path following system and the coordination control system are viewed as the feedback connection system. Input-to-state stable of the coordinated path following system can be proved by small gain theorem. The simulation experiments can further demonstrate the good performance of the control method.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.772-775
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• 1997

A high speed tracking control for 6-6 Stewart platform manipulator is performed by employing the joint-axis sliding mode control based on dynamics. Because of the complex dynamics and kinematics of Stewart platform manipulator, two computer systems, consisting of a PC and a DSP, are adopted, so that real time tasks are run in synchronous and asynchronous modes. It is experimentally proven that the proposed control system leads to an easy to implement and effective control task, and it can achieve the high performance tracking control under the high speed and severe payload condition.

• International Journal of Control, Automation, and Systems
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• v.1 no.1
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• pp.1-10
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• 2003

This paper presents a high-precision magnetically levitated (maglev) stage to meet demanding motion specifications in the next-generation precision manufacturing and nanotechnology. Characterization of dynamic behaviors of such a motion stage is a crucial task. In this paper, we address the issues related to the stochastic modeling of the stage including transfer function identification, and noise/disturbance analysis and prediction. Provided are test results on precision dynamics, such as fine settling, effect of optical table oscillation, and position ripple. To deal with the dynamic coupling in the platen, we designed and implemented a multivariable linear quadratic regulator, and performed time-optimal control. We demonstrated how the performance of the current maglev stage can be improved with these analyses and experimental results. The maglev stage operates with positioning noise of 5 nm rms in $\chi$ and y, acceleration capabilities in excess of 2g(20 $m/s^2$), and closed-loop crossover frequency of 100 Hz.

• IE interfaces
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• v.13 no.1
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• pp.17-28
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• 2000

As knowledge has been recognized as a new resource in gaining organizational competitiveness, Knowledge Management (KM) is suggested as a method to manage and apply knowledge for business management. KM research, however, has focused on identifying, storing, and distributing the transaction-related knowledge in an organization. There has been little research on applying the knowledge to decision-making or strategy development that is the main task of business management. The application of knowledge to decision making has higher impact on organizational performance rather than just the knowledge management for process transaction. In this research, we suggest System Dynamics (SD) for the knowledge-based decision-making. Based on the modeling method of SD, we can translate partial and implicit knowledge resident in individual's mental model into organized explicit knowledge. The simulation test of the organized knowledge model enables decision-makers to understand the structure of the target problem and its behavior mechanism, which facilitates effective decision-making. We will compare the proposed method and other KM methods and discuss this research based on the application case to a real telecommunication company.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.32 no.8
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• pp.685-692
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• 2008

In this paper, the trajectory control problem of an underwater robot is addressed. From the viewpoint of control engineering, trajectory control of the underwater robot is not an easy task due to its nonlinear dynamics, which includes various hydraulic forces such as buoyancy forces and hydrodynamic damping, the difference between the centers of buoyancy and gravity, and disturbances from a tether cable. To solve such problems, we applied Time Delay Control to the underwater robot. This control law has a very simple structure not requiring the nonlinear plant dynamics, and was proven to be highly robust against disturbances and uncertainties. We confirmed its effectiveness through experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.9
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• pp.799-808
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• 2004

In this paper, a new collision avoidance algorithm based on the dynamic model of a mobile robot is proposed. In order to avoid obstacles on the path of a mobile robot, intelligent force control is used to regulate accurate distance between a robot and an obstacle. Since uncertainties from robot and environment dynamics degrade the performance of a collision avoidance task, neural network is used to compensate for uncertainties so that the collision avoidance can be performed intelligently. Simulation studies are conducted to confirm the proposed collision avoidance tracking control algorithm.

• Speech Sciences
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• v.14 no.4
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• pp.7-24
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• 2007

This paper discusses some current issues regarding how prosodic structure is manifested in fine-grained phonetic details, how prosodically-conditioned articulatory variation is explained in terms of speech dynamics, and how such phonetic manifestation of prosodic structure may be exploited in spoken word recognition. Prosodic structure is phonetically manifested in prosodically important landmark locations such as prosodic domain-final position, domain-initial position and stressed/accented syllables. It will be discussed how each of the prosodic landmarks engenders particular phonetic patterns, ow articulatory variation in such locations are dynamically accounted for, and how prosodically-driven fine-grained phonetic detail is exploited by listeners in speech comprehension.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.492-495
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• 1997

This paper aims to derive a mathematical model of the dynamics of handling task in field robot which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraints of tight area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of contact-area are discussed. Finally, it is shown that even in the simplest case of dual single D.O.F. manipulators there exists a sensory feedback from sensing data of he rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that he object is of rectangular shape and motion is confined to a horizontal

• Journal of the Korean Society of Combustion
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• v.14 no.2
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• pp.18-25
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• 2009

Fuel lean reburning method is very attractive way in comparison with conventional reburning method for reducing NOX. Meanwhile, the knowledge of the how flue gas re-circulated, temperature distribution and species concentration is crucial for the design and operation of an effective fuel lean reburning system. For this reason, numerical analysis of fuel lean reburning system is a very important and challenge task. In this work, the effect of fuel lean reburn system on NOX reduction has been experimentally and numerically conducted. Experimental study has been conducted with a 15kW lab scale furnace. Liquefied Petroleum Gas is used as main fuel and reburn fuel. To carry out numerical study, the finite-volume based commercial computational fluid dynamics (CFD) code FLUENT6.3 was used to simulate the reacting flow in a given laboratory furnace. Steady state, three dimensional analysis performed for turbulent reactive flow and radiative heat transfer in the furnace.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.21 no.3
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• pp.368-375
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• 2012

Durability performance evaluation of automotive components is very important and time consuming task. In this paper, to reduce vehicle component development time and cost virtual testing simulation technology is used to evaluate durability performance of a passenger car front aluminum sub-frame. Multibody dynamics based vehicle model and virtual test simulation model of a half car road simulator are validated by comparisons between rig test results and simulation results. Durability life prediction of the sub-frame is carried out using the model with road load data of proving ground which can evaluate accelerated durability life. We found that the durability performance of the sub-frame is sufficient and it can be predicted within short time compared to rig test time.