• Journal of Institute of Control, Robotics and Systems
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• v.18 no.6
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• pp.532-539
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• 2012

This paper proposes a balancing and driving control system for a bicycle robot. A reaction wheel pendulum control method is adopted to maintain the balance while the bicycle robot is driving. For the driving control, PID control algorithm with a variable gain adjustment has been developed in this paper, where the gains are heuristically adjusted during the experiments. To measure the angles of the wheels the encoders are used. For the balancing control, a roll controller is designed with a non-model based algorithm to make the shortest cycle. The tilt angle is measured by the fusion of the acceleration and gyroscope sensors, which is used to generate the control input of the roll controller to make the tilt angle zero. The performance of the designed control system has been verified through the real experiments with the developed bicycle robot.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.64 no.7
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• pp.1012-1018
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• 2015

The studies on the operating performance analysis or design about the fixed tilt angle flat-plate photovoltaic (PV) system are still lively going off. However the operating property analysis about the arch type PV system which means PV array were designed as round type is dissatisfied. In this paper, we theoretically established the factors which are cause of the deterioration in performance of arch type PV system. In addition, we use the Solar Pro simulation tools to design both flat-plate type and arch type 30kW PV systems. The simulations about arch type PV system applied two ways such as central inverter and string inverter were conducted. The performance ratio (PR) of the PV system with flat-plate type shows the highest value 74[%] when the tilt angle is 30°. In case of arch type, when applying central inverter method, PR value shows approximately 73[%] and no more difference with arch type of the PV array. This value shows 1[%] decrease compare with the flat-plate type. However when applying string inverter methods, the average PR value shows 80 % and 6% improved than the central inverter method.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2002.10a
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• pp.250-253
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• 2002

The operation of surface and edge finishing is the last and essential process of parts machining, because a product is completed as an assembly. Therefore, the quality of the finished parts has a direct effect upon the performance of the product. Especially, the edge quality depending on the burr control process is very important. A number of deburring processes have been developed for macro burrs such as barreling, brushing, chemical methods, etc. However, micro burr removal when piercing a very thin plate is very difficult, because this badly deteriorates the surface quality of the processed part. When ultrasonic wave is propagated in liquids, it forms an infinitude of micro bubbles. These bubbles generate extremely strong force, which removes micro burrs. In ultrasonic micro deburring, the problem is that burrs are not removed completely, because only components of the explosive force directly act on the burrs, which is not enough. An attempt was made to remove the burrs using ultrasonic vibration in water with SiC as an abrasive agent. Because of the abrasive, smoother edges have been achieved. There are many control parameters in ultrasonic deburring such as abrasive size, ultrasonic frequency and amplitude, distance between tool and workpiece, tilt angle of workpiece etc. This study focuses on how distance and tilt angle influence deburring effect. A number of experiments for these parameters have been carried out, and then the effect of each parameter analyzed.

• International Journal of Highway Engineering
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• v.19 no.6
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• pp.147-153
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• 2017

PURPOSES : This research aims to estimate the occurrence of hydroplaning on roads based on the road alignment types and rainfall intensity in Seoul. METHODS : Three types of data were used for estimation of hydroplaning in this study. The Inner Circulation Road (12.5 km) to the Bukbu Expressway (7.4 km) in Seoul was selected as the test road and data was collected for road information using a probe-vehicle. Precipitation was observed from Automatic Weather System in Seoul. These data were interpolated by applying Inverse Distance Weighted Methodology for hydroplaning estimation. Finally, the water depth information of the roads was observed using an RCM411 device. RESULTS : This study demonstrated that the cross slope with small-angle-tilt or vertical section with large-angle-tilt are the primary factors causing hydroplaning on the roads. The flow velocity on steep slope is high; however, large drainage lengths result in hydroplaning on the roads. CONCLUSIONS : This result can contribute towards the reduction of car accidents on rainy days. Furthermore, information regarding hydroplaning can be delivered to drivers more rapidly and precisely in the future.

• Transactions on Electrical and Electronic Materials
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• v.7 no.6
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• pp.293-296
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• 2006

We studied homeotropic alignment effect for a nematic liquid crystal (NLC) on the $SiO_{x}$ thin film irradiated by the new ion beam method. $SiO_{x}$ thin films were deposited by plasma enhanced chemical vapor deposition (PECVD) and were treated by the DuoPIGatron ion source. A uniform liquid crystal alignment effect was achieved over 2100 eV ion beam energy. Tilt angle were about $90^{\circ}$ and were not affected by various ion beam energy.

• Journal of Biosystems Engineering
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• v.27 no.2
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• pp.79-88
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• 2002

This study was conducted to develop system for high speed rice transplanting machines. The control system includes a sensor detecting the tilt angle of the seedling bed, a micro-controller and a hydraulic system consisting of a double acting cylinder, a four-way three-position solenoid valve, a relief valve and a hydraulic pump. The levelling system shared the pump with the existing steering control, resulting in a tandem center circuit for the steering and levelling control systems. Using the input signal from the sensor, the micro-controller determined and generated the output signal to control the cylinder through the solenoid valve to keep the seedling bed always parallel to the water surface regardless of soil unevenness during the transplanting operations. Both an ON/OFF and a PWM control schemes were tested. When the flow rate was more than 1 ι/min in the ON/OFF control, the system showed unstable rolling. However, in the PWM control, the system worked stably although the flow rate was more than 1 ι/min. The PWM control showed a better performance when a large difference between the angle and the dead band of the control system occurred. The characteristics of tile system response to given tilt angles were predicted by a computer simulation. Both the ON/OFF and the PWM control systems worked well providing that the operating and waiting times were properly adjusted.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.34 no.2
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• pp.99-104
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• 2021

Ion-beam sputtering (IBS) was used to deposit semiconducting IZTO (indium zinc tin oxide) thin films onto heavily-doped Si substrates using a sintered ceramic target with the nominal composition In0.4Zn0.5Sn0.1O1.5, which could work as a channel layer for oxide TFT (oxide thin film transistor) devices. The crystallization behavior and electrical properties were examined for the films in terms of deposition parameters, i.e. target tilt angle and substrate temperature during deposition. The thickness uniformity of the films were examined using a stylus profilometer. The observed difference in electrical properties was not related to the degree of crystallization but to the deposition temperature which affected charge carrier concentration (n), electrical resistivity (ρ), sheet resistance (Rs), and Hall mobility (μH) values of the films.

• The Journal of Korea Robotics Society
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• v.18 no.3
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• pp.241-250
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• 2023

This paper describes the posture stabilization control of a bipedal transformer robot being developed for military use. An inverted pendulum model with a rectangular that considers the robot's inertia is proposed, and a posture stabilization moment that can maintain the body tilt angle is derived by applying disturbance observer and state feedback control. In addition, vertical force and posture stabilization moments that can maintain the body height and balance are derived through QP optimization to obtain the necessary torques and vertical force for each foot. The roll and pitch angles of the IMU sensor attached to the robot's feet are reflected in the ankle joint to enable flexible adaptation to changes in ground inclination. Finally, the effectiveness of the proposed algorithm in posture stabilization is verified by comparing and analyzing the difference in body tilt angle due to disturbances and ground inclination changes with and without algorithm application, using Gazebo dynamic simulation and a down-scale test platform.

• The Magazine of the Society of Air-Conditioning and Refrigerating Engineers of Korea
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• v.13 no.4
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• pp.230-236
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• 1984

This paper presents a method for estimating the useful output of solar D.H.W. system. Heating load calculations, climate data and various conditions are used in this procedure to assess the fraction of the monthly solar energy and the actual solar energy supplied by solar energy for particular system. The design procedure presented in this paper referred to the f-Chart Method. The results of analyzing of this study by Fortran programming are as follows ; 1 . The amount of actual solar energy required to the hot water system is slowly rised to the ascend of tilt angle within the range of $45^{\circ}$, with is decreased since $45^{\circ}$. 2. The fraction of solar energy is superior when collector area is $8.64m^2$. 3. At the tilt angle with the range of $37.6^{\circ}\~45^{\circ}$, the amount of actual solar energy established the best results. 4 Both the fraction of solar energy and the actual solar energy are the most suitable during the storage volume is $300{\iota}$.

• Journal of Digital Contents Society
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• v.19 no.8
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• pp.1585-1592
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• 2018

Due to un-balancing weight allocation on the wheelchair the existing wheelchair system are faced with the risk of flipping or falling when a wheelchair goes up to a hill. In to order to be safer during riding the wheelchair, in this paper, we proposed a real-time new solution using the integrated Gyro Sensor and Tilt Sensor for controlling the balance. Because the typical property of wheelchair is for the special user who meets the difficulty in moving on foot the maintain the balance of wheel-chair systems have become important and helpful. In our method, we calculate the seat angle using information from Tilt Sensor. However, due to the law of inertia when a wheelchair is moving there is a deviation in the output value of Tilt Sensor. Therefore, we have to optimize the value of the angle by utilizing the acceleration that is the output of the Gyro Sensor. We took the advantages by using the combination of Gyro and Tilt sensors. Moreover, we also solved the consumption issue of the whole system. Through various experimentations with usage of ZigBee sensor module, the power consumption for the balancing system is reduced significantly.