• Journal of Institute of Control, Robotics and Systems
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• v.17 no.4
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• pp.368-374
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• 2011

This paper proposes a robot control human interface using Markov model (HMM) based hand signal recognizer. The command receiving humanoid robot sends webcam images to a client computer. The client computer then extracts the intended commanding hum n's hand motion descriptors. Upon the feature acquisition, the hand signal recognizer carries out the recognition procedure. The recognition result is then sent back to the robot for responsive actions. The system performance is evaluated by measuring the recognition of '48 hand signal set' which is created randomly using fundamental hand motion set. For isolated motion recognition, '48 hand signal set' shows 97.07% recognition rate while the 'baseline hand signal set' shows 92.4%. This result validates the proposed hand signal recognizer is indeed highly discernable. For the '48 hand signal set' connected motions, it shows 97.37% recognition rate. The relevant experiments demonstrate that the proposed system is promising for real world human-robot interface application.

• International Journal of Automotive Technology
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• v.6 no.2
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• pp.107-117
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• 2005

A distributed hardware-in-the-loop simulation (HILS) platform is developed for designing an automotive engine control system. The HILS equipment consists of a widely used PC and commercial-off-the-shelf (COTS) I/O boards instead of a powerful computing system and custom-made I/O boards. The distributed structure of the HILS system supplements the lack of computing power. These features make the HILS equipment more cost-effective and flexible. The HILS uses an automatic code generation extension, REAL-TIME WORKSHOP$^{ (RTW$^{) of MATLAB$^{ tool-chain and RT-LAB$^{, which enables distributed simulation as well as the detection and generation of digital event between simulation time steps. The mean value engine model, which is used in control design phase, is imported into this HILS. The engine model is supplemented with some I/O subsystems and I/O boards to interface actual input and output signals in real-time. The I/O subsystems are designed to imitate real sensor signals with high fidelity as well as to convert the raw data of the I/O boards to the appropriate forms for proper interfaces. A lot of attention is paid to the generation of a precise crank/ earn signal which has the problem of quantization in a conventional fixed time step simulation. The detection of injection! command signal which occurs between simulation time steps are also successfully compensated. In order to prove the feasibility of the proposed environment, a simple PI controller for an air-to-fuel ratio (AFR) control is used. The proposed HILS environment and I/O systems are shown to be an efficient tool to develop various control functions and to validate the software and hardware of the engine control system.

• Journal of the Korea Society for Simulation
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• v.27 no.1
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• pp.61-73
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• 2018

In the defense modeling and simulation, for the detailed analysis of the communication system, many studies have carried out the analysis under the C3 SoS(system of systems) which consists of C2(command and control) and C(communication). However, it requires time and space constraints of the C2 system. To solve this problem, this paper proposes a communication analysis method in the standalone system environment which is combined with the C system after abstracting the C2 system. In the abstraction process, we hypothesize the traffic model and mobility model for C system analysis and learn the parameters in the model based on machine learning. Through the proposed method, it is possible to construct traffic and mobility model with different output according to the battlefield. This case study shows how the process can be applied to the C3 SoS and the enhanced accuracy than the existing method. We expect that it is possible to carry out the efficient communication analysis against many experimental scenarios with various communication parameters.

• Journal of the Korean Society for Aviation and Aeronautics
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• v.26 no.3
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• pp.23-31
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• 2018

This paper describes the effect of advice information for arriving aircraft landing order on the air traffic controller's work efficiency. The air traffic control simulator used in the experiment was modeled on the basis of the aircraft parameters from BADA, gamma-command model and the 4-dimensional trajectory using the Bezier curve. The simulation results show that advice information was helpful for the performance of the work for users who did not have the air traffic control training. On the other hand, in case of users who have experience in air traffic control training, the work efficiency was lowered when the advisory information that does not reflect the user's intention is provided. Therefore, it can be seen that the effect of improving the work efficiency through advice information can be limited depending on the skill level of the air traffic controllers and the complexity of the air traffic situation.

• Proceedings of the Korean Society of Propulsion Engineers Conference
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• 2011.11a
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• pp.731-736
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• 2011

A pneumatic driving solenoid valve operates pneumatic control devices by opening/closing operating flow passage when the command is given by control system for the liquid-propellant feeding system of space launch vehicle. The simulation model of pneumatic driving solenoid valve is designed with AMESim to verify the designs and evaluate the dynamic characteristics and pneumatic behaviors of valve. To validate a valve simulation model, the simulation results of their operating durations of valve by AMESim analysis are compared with the results of experiments. In addition, the results of internal flow simulation with FLUENT are utilized to improve the accuracy of valve-modeling. Using the model, we analyze performance of valve; opening/closing pressure, operating time on various design factors; shape of control valve seat, drainage seat, rate of sealing diameter, volume of control cavity. This study will serve as one of reference guides to enhance the developmental efficiency of ventilation-relief valves with the various operating conditions, which shall be used in Korea Space Launch Vehicle-II.

• Smart Structures and Systems
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• v.4 no.5
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• pp.667-684
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• 2008

Numerous devices exist for reducing or eliminating seismic damage to structures. These include passive dampers, semi-active dampers, and active control devices. The performance of structural systems with these devices has often been evaluated using numerical simulations. Experiments on structural systems with these devices, particularly at large-scale, are lacking. This paper describes a real-time hybrid testing facility that has been developed at the Lehigh University NEES Equipment Site. The facility enables real-time large-scale experiments to be performed on structural systems with rate-dependent devices, thereby permitting a more complete evaluation of the seismic performance of the devices and their effectiveness in seismic hazard reduction. The hardware and integrated control architecture for hybrid testing developed at the facility are presented. An application involving the use of passive elastomeric dampers in a three story moment resisting frame subjected to earthquake ground motions is presented. The experiment focused on a test structure consisting of the damper and diagonal bracing, which was coupled to a nonlinear analytical model of the remaining part of the structure (i.e., the moment resisting frame). A tracking indictor is used to track the actuator ability to achieve the command displacement during a test, enabling the quality of the test results to be assessed. An extension of the testbed to the real-time hybrid testing of smart structures with semi-active dampers is described.

• Journal of Institute of Control, Robotics and Systems
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• v.8 no.7
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• pp.613-623
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• 2002

Ascent trajectory optimization and explicit guidance problems for a satellite launch vehicle with yaw maneuver in a 3-dimension are considered. The trajectory optimization problem with boundary conditions is formulated as a nonlinear programming problem by parameterizing the inertial pitch and yaw attitude control variables, and is solved by using the SQP algorithm. The flight constraints such as gravity-turn and range safety conditions are imposed. An explicit inertial guidance algorithm in the exoatmospheric phase is also presented. The guidance algorithm provides steering command and time-to-go value directly using the current states of the vehicle and the desired orbit insertion conditions. The liquid propelled Delta 2910 launch vehicle is used as a numerical model.

• International Journal of Aeronautical and Space Sciences
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• v.13 no.3
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• pp.361-368
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• 2012

This paper presents an approach on the design of a nonlinear controller to track a reference velocity for an air-breathing supersonic vehicle. The nonlinear control scheme involves an adaptation of propulsive and aerodynamic characteristics in the equations of motion. In this paper, the coefficients of given thrust and drag functions are estimated and they are used to approximate the equations of motion under varying flight conditions. The form of the function of propulsive thrust is extracted from a thrust database which is given by preliminary engine input/output performance analysis. The aerodynamic drag is approximated as a function of angle of attack and fin deflection. The nonlinear controller, designed by using the approximated nonlinear control model equations, provides engine fuel supply command to follow the desired velocity varying with time. On the other hand, the stabilization of altitude, separated from the velocity control scheme, is done by a classical altitude hold autopilot design. Finally, several simulations are performed in order to demonstrate the relevance of the controller design regarding the vehicle.

• Journal of the Society of Naval Architects of Korea
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• v.47 no.2
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• pp.248-257
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• 2010

In this study, a discrete event and dynamic-based discrete time combined simulation modeling architecture, which can be used to calculate equations of motions among discrete events, is developed. This is composed of a command model, which is in charge of discrete event simulation, a numerical integration model, which finds motions by numerically integrating equations of motions, and an external force and control force model, which calculates the force and transmits it to the equations. Using this architecture, we can develop dynamic-based simulation by simply connecting and combining models, and handle simultaneously discrete event and discrete time simulation. To verify the efficiency of the architecture, it is applied to the submarine diving and surfacing simulation.

• Proceedings of the KIEE Conference
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• 1996.07a
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• pp.578-581
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• 1996

A torque trajectory control of the IPM synchronous motor using an adaptive input-output linearization technique is proposed. The input-output linearization is performed using the estimated torque output with the knowledge of machine parameters. The linearized model gives the output torque error under the variation of the flux linkage. To give a good torque tracking in the presence of the flux linkage variation, the flux linkage will be estimated where the adaptation law h derived by the Popov's hyperstability theory and the positivity concept. This estimated value is also used for the generation of the d-axis current command for the maximum torque control. Thus, a good torque tracking and the exact maximum torque-per-current operation will be obtained.