• 한국정보통신학회논문지
• /
• 제24권11호
• /
• pp.1417-1423
• /
• 2020

본 논문에서는 수중에서 운동하는 무인잠수정의 경로점 유도법칙을 제안한다. 시선각 유도법칙과 수선경로 오차를 줄여가는 경로추종 유도법칙을 조합하여 효과적인 경로점 유도법칙을 설계하였고, 수선경로 오차의 거리에 따라 제어이득을 변화시켜 시스템의 안정성을 증가시켰다. 또한, 관성항법장치와 도플러속도계를 이용한 복합항법 시스템의 성능을 확인할 수 있는 HILS를 구성하였다. 같은 경로점 및 목표점을 입력 후 HILS 수행결과와 실해역 주행시험 결과를 비교하여, 제안한 유도법칙 및 HILS가 올바르게 구성되어 있음을 확인하였다.

• 제어로봇시스템학회논문지
• /
• 제8권8호
• /
• pp.682-690
• /
• 2002

This paper presents an output feedback controller design method for uncertain linear systems with sinusoidal disturbance of uncertain frequencies. The controller needs to compensate for the performance deterioration due to the uncertain frequencies of sinusoidal disturbance. To this end, we introduce a virtual system including the dynamics corresponding to the uncertain frequencies and design a controller which minimizes the output difference between the virtual system and the closed-loop system. In other words, the controller is designed so that the closed-loop system approximates the virtual system. The feedback controller is achieved by solving an LMI optimization problem involving a robust $H_{\infty}$ constraint. The advantages of the proposed design method are examined by comparing it with a design method that only minimizes the $H_{\infty}$ norm of the transfer function between the sinusoidal disturbance and the output. The proposed design method is applied to the track-following system of rewritable optical disk drives and is evaluated through an experiment.

• Steel and Composite Structures
• /
• 제33권2호
• /
• pp.209-224
• /
• 2019

This paper describes a study of the mapping relationship between the vertical deformation of bridge structures and rail deformation of high-speed railway, taking the interlayer interactions of the bridge subgrade CRTS II ballastless slab track system (HSRBST) into account. The differential equations and natural boundary conditions of the mapping relationship between the vertical deformation of bridge structures and rail deformation were deduced according to the principle of stationary potential energy. Then an analytical model for such relationship was proposed. Both the analytical method proposed in this paper and the finite element numerical method were used to calculate the rail deformations under three typical deformations of bridge structures and the evolution of rail geometry under these circumstances was analyzed. It was shown that numerical and analytical calculation results are well agreed with each other, demonstrating the effectiveness of the analytical model proposed in this paper. The mapping coefficient between bridge structure deformation and rail deformation showed a nonlinear increase with increasing amplitude of the bridge structure deformation. The rail deformation showed an obvious "following feature"; with the increase of bridge span and fastener stiffness, the curve of rail deformation became gentler, the track irregularity wavelength became longer, and the performance of the rail at following the bridge structure deformation was stronger.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
• /
• pp.261-262
• /
• 2007

This paper proposed a model algorithm control (MAC) method for trajectory tracking control of the differentially steeredwheeled mobile robots (WMRs) subject to nonholonomic constraint. The dynamic model of the wheeled mobile robot is presented and used as the model to be controlled. The performance of the proposed control algorithm is verified via computer simulations in which the WMR is controlled to track several different reference paths. It is shown that the control strategy is feasible.

• Wind and Structures
• /
• 제21권4호
• /
• pp.369-381
• /
• 2015

Moore, Oklahoma was hit by an EF5 tornado on May 20, 2013. The tornado track slightly overlapped with two previous tornadoes that occurred on May 3, 1999 and May 8, 2003 respectively. A research team from Texas Tech University was deployed to investigate the performance of shelters based on observation of their post-storm conditions. Sixty-one shelter units were further documented by size, manufacturer, and date of installation if available. Then they were crossed referenced with the external databases to determine their compliance with design and construction standards by the International Code Council/National Storm Shelter Association and/or criteria from the Federal Emergency Management Agency publications. Wind intensity was estimated for each shelter location using the EF scale. Results showed a marked increase in the number of exterior underground shelters as well as the popularity of a new in-garage floor underground shelter design. All of the units provided protection for their occupants with no loss of life reported. However, one older shelter had a door failure due to neglect of maintenance. Recommendations were made to improve future performance of shelters.

• 대한기계학회논문집A
• /
• 제20권1호
• /
• pp.115-126
• /
• 1996

In the time optimal control problem, bang-bang control has been used becaese it is the theoretical time minimum solution. However, to improve tracking speed performance in the time optimal control, it is important to select a switching point accurately which makes the velocity zero near the target track. But it is not easy to select the swiching point accurately because of the damping coefficient variation and uncertainties of modeling an actual system. The Adaptive model following control(AMFC) is implemented to relieve the difficulty and inconvenience of this task. The AMFC and make the controlled plant follow as closely as possible to a desired reference model whose switching point can be calculated easily and accurately, assuring the error between the states of the reference model and those of the controlled plant appoaches zero. The hybrid control method composed of AMFC and PID is applied to a tracking actuator of the magneto optical disk drive(MODD) in random access devices to improve its slow tracking performance. According to the simulaion and experimental results, the average tracking time as small as 20ms is obtained for a 3.5 magneto-optical disk drive. The AMFC also can be applied for other random access devices to improve the average tracking performance.

• 한국도로학회논문집
• /
• 제19권2호
• /
• pp.75-85
• /
• 2017

PURPOSES : The purpose of this study was to determine the optimum mix design of the content of 100 % reclaimed asphalt pavement (RAP) for spray injection application with different binder types. METHODS : Literature review revealed that spray injection method is the one of the efficient and economical methods for repairing a small defective area on an asphalt pavement. The Rapid-Setting Polymer modified asphalt mixtures using two types of rapid setting polymers-asphalt emulsion and a quick setting polymer asphalt emulsion-were subjected to the following tests to determine optimum mix designs and for performance comparison: 1) Marshall stability test, 2) Retained stability test, 3) Wet track abrasion test, and 4) Dynamic stability test. RESULTS and CONCLUSIONS : Type A, B, and C emulsions were tested with different mix designs using RAP aggregates, to compare the performances and determine the optimum mix design. Performance of mixtures with Type A emulsion exceeded that of mixtures with Type B and C emulsion in all aspects. In particular, Type A binder demonstrated the highest performance for WTAT at low temperature. It demonstrated the practicality of using Type A mixture during the cold season. Furthers studies are to be performed to verify the optimum mix design for machine application. Differences in optimum mix designs for machine application and lab application will be corrected through field tests.

• 한국항해항만학회지
• /
• 제47권1호
• /
• pp.10-17
• /
• 2023

최근 자율운항선박 개발을 위한 연구가 국내외에서 추진 중에 있다. 자율운항선박 개발에서 핵심기술 중 하나는 항로추종인데, 항로추종은 선박의 안전성 확보에 중요하기 때문에 자율운항선박 설계 시 사전평가 해야 한다. 본 연구의 목적은 자율운항선박 설계 시 항로추정성능의 시각적 및 정량적 평가기법을 개발하기 위한 것이다. 이 평가기법은 전산유체역학 기반의 자유 항주 모델과 LOS(Line-of-Sight) 알고리즘을 연계하여 개발하였다. 평가기법 중, 시각적 평가는 항로추종 중인 선박에 의해 생성되는 파계를 전산유체역학 소프트웨어를 이용하여 가시화하여 평가하고, 정량적 평가는 목표 선수방위각과 추정 선수방위각 사이의 차이 값과 계획항로와 추종항로 사이의 거리 차이 값을 이용하여 평가하였다. 항로추종성능 평가 결과, 항로추종 중 변침지점 부근에서 항로이탈편차가 크게 발생함을 알았고, 또한 선박 주위 유동의 시각화를 통해 선박 주위 유체 현상을 쉽게 파악할 수 있었다. 본 연구에서 제안한 평가기법은 자율운항선박 설계 시 항로추정성능 평가에 관한 시각적 및 정량적 평가에 기여할 것으로 기대된다.

• 한국소음진동공학회:학술대회논문집
• /
• 한국소음진동공학회 2002년도 추계학술대회논문집
• /
• pp.782-787
• /
• 2002

In optical disk drives (ODD), the demands of high data density and high speed have been increasing rapidly to achieve high data capacity and data transfer rate. The short wavelength laser, High NA objective lens, and high track following performance are needed to raise data density and data rate. For high-performance actuator, the improvement of linearity and acceleration become more important. Also, 3-axis actuator for active tilt compensation is introduced to overcome the decrease in disk tilt tolerance which is induced by short wavelength laser. In this paper, a hybrid type 3-axis actuator is presented and a new yoke structure, which can reduce the interaction between yoke and moving magnet, is designed to keep the efficiency of magnetic circuit. Experimental results show the validity of the yoke in the hybrid type actuator.

• Ocean and Polar Research
• /
• 제36권4호
• /
• pp.465-473
• /
• 2014

This paper proposes a formation control method by which multi-mining robots maintain a specified formation and follow a path. To secure the path tracking performance, a pure-pursuit algorithm is considered for each individual robot, and to minimize the deviation from the reference path, speed reduction in the steering motion is added. For the formation, in which two robots are parallel in a lateral direction, the robots track the specified path at a constant distance. In this way, the Leader-Follower method is adopted and the following robot knows the position and heading angle of the leader robot. Through the experimental test using two ground vehicle models, the performance is verified.