• International Journal of Ocean System Engineering
• /
• v.1 no.3
• /
• pp.120-135
• /
• 2011

This paper proposes a model based trajectory tracking control scheme for under-actuated underwater robotic vehicles. The difficulty in stabilizing a non-linear system using smooth static state feedback law means that the design of a feedback controller for an under-actuated system is somewhat challenging. A necessary condition for the asymptotic stability of an under-actuated vehicle about a single equilibrium is that its gravitational field has nonzero elements corresponding to non-actuated dynamics. To overcome this condition, we propose a continuous time-varying control law based on the direct estimation of vehicle dynamic variables such as inertia, damping and Coriolis & centripetal terms. This can work satisfactorily under commonly encountered uncertainties such as an ocean current and parameter variations. The proposed control law cancels the non-linearities in the vehicle dynamics by introducing non-linear elements in the input side. Knowledge of the bounds on uncertain terms is not required and it is conceptually simple and easy to implement. The controller parameter values are designed using the Taguchi robust design approach and the control law is verified analytically to be robust under uncertainties, including external disturbances and current. A comparison of the controller performance with that of a linear proportional-integral-derivative (PID) controller and sliding mode controller are also provided.

• International conference on construction engineering and project management
• /
• 2022.06a
• /
• pp.945-951
• /
• 2022

The major objective of this research is to evaluate performance of improved intersections for response time to emergency vehicle preemption. Smart technologies have been introduced to civil infrastructure systems for resilient communities. The technologies need to evaluate their effectiveness and feasibility to confirm their introduction. This research focuses on the performance of emergency vehicle preemption, represented by response time, when smart intersections are introduced in a community. The response time is determined by not only intersections but also a number of factors such as traffic, distance, road conditions, and incident types. However, the evaluation of emergency response has often ignored factors related to emergency vehicle routes. In this respect, this research synthetically analyzes geospatial and incident data using each route of emergency vehicle and conducts before-and-after evaluations. The changes in performance are analyzed by the impact of smart intersections on response time through Bayesian regression models. The result provides measures of the project's performance. This study will contribute to the body of knowledge on modeling the impacts of technology application and integrating heterogeneous data sets. It will provide a way to confirm and prove the effectiveness of introducing smart technologies to our communities.

• Advances in aircraft and spacecraft science
• /
• v.3 no.4
• /
• pp.399-425
• /
• 2016

The dynamical requirements are obtained for airplanes to travel on inclined circular trajectories. Formulas are provided for determining the load factor, the bank angle, the lift coefficient and the thrust or power required for the motion. The dynamical properties of the airplane are taken into account, for both, airplanes with internal combustion engines and propellers, and airplanes with jet engines. A procedure is presented for the construction of tables from which the flyability of trajectories at a given angle of inclination can be read, together with the corresponding minimum and maximum radii allowed. Sample calculations are shown for the Cessna 182, a Silver Fox like unmanned aerial vehicle, and a F-16 jet airplane.

• Journal of Advanced Marine Engineering and Technology
• /
• v.29 no.7
• /
• pp.758-768
• /
• 2005

The ball screw actuated by the electric motor is widely used as an essential actuator for driving the mechanical system by virtue of accuracy and force transmission capability. In this paper, a design of the global sliding mode control is presented to drive the ball screw actuator along the minimum time trajectory, In the proposed control scheme, if the ranges of parametric uncertainties and torque limits of the system are specified, the arrival time of the load along the minimum time trajectory can be estimated. Also, the arriving time at the reference input and the maximum acceleration are expressed in a closed form solution. Conversely, the capacity of a ball screw actuator including the motor can be easily designed if the external load and its transportation time are specified. The superior performance of the proposed control scheme and analysis is validated by the computer simulation and experiments comparing with other sliding mode controllers.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.63 no.9
• /
• pp.1273-1280
• /
• 2014

This paper considers a GPS anti-spoofing problem. Spoofing is an intentional interference that mislead the GNSS receiver. The spoofing attack is very significant since the target receiver is not aware of being attacked from spoofing. Accelerometers can be used to detect the spoofing signal by being compared with the acceleration obtained from GPS information using Kalman filter. In this paper we propose an N by N-point average and M-point window algorithm to detect GPS spoofing by using accelerometers and GPS outputs. The performance of the proposed algorithm is analyzed using actual vehicle trajectory and spoofing trajectory generated from INS and GPS toolbox for simulation.

• Aerospace Engineering and Technology
• /
• v.2 no.1
• /
• pp.133-139
• /
• 2003

Position and trajectory data in-flight rocket are important informations to determine flight safety of rocket. In general tracking system, radar and transponder are used to acquire position information. Rocket position and trajectory can be determined by RF communication between ground station and in-flight rocket, and antenna position date. In this paper, it explains the ranging system which is low resolution rather than radar system but system configuration is simple. Therefore this system is useful for experimental flight vehicle.

• The Journal of Korea Robotics Society
• /
• v.3 no.1
• /
• pp.16-22
• /
• 2008

Recently, automatic parking assist systems are commercially available in some cars. In order to improve the reliability and the accuracy of parking control, pose uncertainty of a vehicle and some experimental issues should be solved. In this paper, following three schemes are proposed. (1) Odometry calibration scheme for the Car-Like Mobile Robot.(CLMR) (2) Accurate localization using Extended Kalman Filter(EKF) based redundant odometry fusion. (3) Trajectory tracking controller to compensate the tracking error of the CLMR. The proposed schemes are experimentally verified using a miniature Car-Like Mobile Robot. This paper shows that odometry accuracy and trajectory tracking performance can be dramatically improved by using the proposed schemes.

• The Transactions of the Korean Institute of Power Electronics
• /
• v.22 no.5
• /
• pp.397-403
• /
• 2017

This paper studies the voltage angle control of interior permanent magnet synchronous motors (IPMSMs). For voltage angle control, the optimum voltage angle trajectory according to the operating speed is researched while the voltage and current limit conditions are considered. Through research, two different optimum voltage angle trajectories that depend on the design of IPMSMs were found. The IPMSM drive based on a voltage angle control that follows such trajectory is proposed. Unlike the conventional voltage angle control method, which is applied only in the flux-weakening region, the proposed voltage angle control can be implemented in all operation ranges from low to high speed. The proposed method is verified by experiments using a DSC controller for 800 W IPMSM.

• Proceedings of the Korean Society of Propulsion Engineers Conference
• /
• 2017.05a
• /
• pp.764-765
• /
• 2017

A trajectory analysis program was developed using a 3 DOF model to analyze KSLV-II performance with the reducing weight. The program estimates the injection performance on the SSO orbit, which is determined as payload weight for the orbit, with various vehicle structural ratios. The KSLV-II can transport 2.58 ton to the target orbit with a reduced structural ratio similar to the Angara rockets.

• Proceedings of the KIEE Conference
• /
• 1996.07b
• /
• pp.1002-1004
• /
• 1996

In this paper, presented are the results of observability analysis for the vehicle maneuver during In-Flight Alignment of SDINS. The target system for observability analysis is 10th order one. Three trajectories for IFA are considered. To analyze the observability of the time varying system, correlation coefficient is used and to measure the degree of observability of the given system, simulation is carried out using covariance matrix. The results of simulation show that trajectories which are having continuous changes in attitude and acceleration of system is superior to straight trajectory in correcting navigation errors.