• Journal of Advanced Marine Engineering and Technology
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• v.17 no.5
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• pp.44-53
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• 1993

In this paper, we discuss on the control algorithm to make the wheeled inverse pendulum type mobile robot move in two dimensional plane. The robot considered in this paper has two independently driven wheels in same axel which suport and move it-self, and is assumed to have the fyro type sensor to know the inclination algle of the body and rotary encoders to know wheel's rotation angular velocity. The control algorithm is divided into three parts. The first part is for the posture and velocity control for forward-backward direction, the second is the steering control, and the last part is for the control of total system to track the given trajectory. We handle the running velocity control of the robot as part of the posture control to keep the balance because the posture relates deeply with the velocity and can be controlled by the velocities of the wheels. The control problem is analyzed as the tracking control, and the controller is realized with the state feedback and feed-forward of the reference velocity. Constructing the control system which contained one intergrator in forward path, we also realized the control system without observer for the estimation of the accumulated errors in the inclination angle of the body. To prevent the robot from being unstable state by sudden variation of the reference velocity when it starts and stops, or changes velocity, the reference velocity of which acceleration is slowly changing, is ordered to the robot. To control its steering, we give the different reference velocities for both wheels which are calculated from the desired angular velocity of the body. Finally, we presents the experimental results of the experimental robot Yamabico Kurara in which the proposed control algorithm had been implemented.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.40 no.11
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• pp.51-62
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• 2003

This paper presents a novel survivor memeory management and decoding techniques with sequential backward state transition control in the trace back Viterbi decoder. The Viterbi algorithm is an maximum likelihood decoding scheme to estimate the likelihood of encoder state for channel error detection and correction. This scheme is applied to a broad range of digital communication such as intersymbol interference removing and channel equalization. In order to achieve the area-efficiency VLSI chip design with high throughput in the Viterbi decoder in which recursive operation is implied, more research is required to obtain a simple systematic parallel ACS architecture and surviver memory management. As a method of solution to the problem, this paper addresses a progressive decoding algorithm with sequential backward state transition control in the trace back Viterbi decoder. Compared to the conventional trace back decoding techniques, the required total memory can be greatly reduced in the proposed method. Furthermore, the proposed method can be implemented with a simple pipelined structure with systolic array type architecture. The implementation of the peripheral logic circuit for the control of memory access is not required, and memory access bandwidth can be reduced Therefore, the proposed method has characteristics of high area-efficiency and low power consumption with high throughput. Finally, the examples of decoding results for the received data with channel noise and application result are provided to evaluate the efficiency of the proposed method.

• Korean Journal of Agricultural Science
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• v.48 no.3
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• pp.597-606
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• 2021

Due to the characteristics of the farmland in Korea, forward and reverse shift is the most used. The fatigue of farmers is caused by forward and reverse shifting with a manual transmission. Therefore, it is necessary to improve the convenience of forward and backward shifting. This study was a basic study on the development of a current control system for forward and reverse shifting of agricultural tractors using proportional control valves and a controller. A test bench was fabricated to evaluate the current control accuracy of the control system, and the stability of the controller was evaluated through CPU (central processing unit) load measurements. A controller was selected to evaluate the stability of the proportional valve controller. The stability evaluation was performed by comparing and analyzing the command current of the controller and the actual current measured. The command current was measured using a CAN (controller area network) communication device and DAQ (data acquisition). The actual current was measured with a current probe and an oscilloscope. The control system and stability evaluation was performed by measuring the CPU load on the controller during control operations. The average load factor was 12.27%, and when 5 tasks were applied, it was shown to be 70.65%. This figure was lower than the CPU limit of 74.34%, when 5 tasks were applied and was judged to be a stable system.

• The Journal of Korea Robotics Society
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• v.3 no.4
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• pp.331-337
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• 2008

The field of robots is being widely accepted as a new technology today. Many robots are produced continuously to impart amusement to people. Especially the robot which operates with a wheelbarrow was enough of a work of art to arouse excitement in the audiences. All the wheelbarrow robots share the same technology in that the direction of roll and pitch are acting as balance controllers, allowing the robots to maintain balance for a long period by continuously moving forward and backward. However one disadvantage of this technology is that they cannot avoid obstacles in their way. Therefore movement in sideways is a necessity. For the control of rotation of yawing direction, the angle and direction of rotation are adjusted according to the velocity and torque of rotation of a motor. Therefore this study aimed to inquire into controlling yawing direction, which is responsible for rotation of a robot. This was followed by creating a simulation of a wheelbarrow robot and equipping the robot with a yawing direction controlling device in the center of the body so as to allow sideway movements.

• Fire Science and Engineering
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• v.25 no.5
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• pp.32-38
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• 2011

Amphibious possible, and good fuel economy, so as leisure and transport has increased the use of hovercraft. Fire started in Korea, the prevalence is increasing in demand as the trend has been increasing steadily. In this paper, the hovercraft's forward and backward direction can be controlled in order to free the reverse bucket control system was developed. Control due to development by promoting the flow of air and turn right, turn left and easy to reverse the life-saving and stable at high speed, etc. has made possible the operation of hovercraft. The controller for the stability and fast response Fuzzy-PID method was used. To prove the validity of the proposed controller in Matlab simulation and the actual delivery at the firehouse, built into a model for the demonstration test was performed.

• 한국전산유체공학회:학술대회논문집
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• 2008.03b
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• pp.452-455
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• 2008

A new passive control technique of cavity-induced pressure oscillations has been investigated numerically for a supersonic two-dimensional flow over open rectangular cavities at Mach number 1.83 just upstream of a cavity, in which a sub-cavity system is installed on the backward-facing step of the main cavity. A third-order TVD (Total Variation Diminishing) finite difference scheme with MUSCL is used to discretize the spatial derivatives in the unsteady compressible Navier-Stokes equations. The results obtained show that the present sub-cavity system is very effective in reducing cavity-induced pressure oscillations. The results also showed that the resultant amount of attenuation of cavity-induced pressure oscillations was dependent on the length and thickness of the flat plate, and also on the depth of the sub-cavity used as an oscillation suppressor.

• The Journal of Korean Physical Therapy
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• v.23 no.6
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• pp.71-76
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• 2011

Purpose: We investigated a better method to enhance the vestibular system including balancing by comparing the vestibular stimulation exercise (VSE) and galvanic vestibular stimulation (GVS). Methods: The study was performed with 40 subjects randomized into four groups, including a control group, a VSE group, a GVS group, and a VSE with GVS group. The subjects of VSE performed a forward and backward roll, a right side and left side roll, and an equilibrium board in vestibular stimulation training. GVS was applied for 10 minutes and the cathode and anode side were then changed and GVS was then applied for the remaining 10 minutes. GVS was applied for 20 minutes to the subjects of this group after completion of the VSE program. Results: In the control group, all conditions were significantly decreased (p<0.05) compared to the VSE with GVS group. Also, the center of pressure (CoP) surface was more significantly decreased (p<0.01) and the CoP speed was significantly decreased in the one legged stance (p<0.05) in the control group compared to the GVS group. Conclusion: These findings suggested that GVS training increases balance ability in a narrow width. VSE with GVS training is therefore recommend as the superior method. Using GVS or VSE with GVS training is considered to clinically improve balance ability by stimulating the vestibular system.

• Transactions of Materials Processing
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• v.25 no.4
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• pp.235-241
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• 2016

Dimensional accuracy of hot coil is improved by precise control of thickness profiles, flatness, width and winding profile. Especially, precise width control is important because yield could be increased significantly. Precise width control can be improved by predicting the amount of width spread. The purpose of this study is to develop the advanced prediction model for width spread in hot finish rolling for controlling width precisely. FE-simulations were performed to investigate the effect of process variables on width spread such as reduction ratio, forward and backward tension and initial width at each stand. From the statistical analysis of simulated data, advanced model was developed based on the existing models for strip width spread. The experimental hot rolling trials showed that newly developed model provided fairly accurate predictions on the strip width spread during the whole hot finishing rolling process.

• Journal of Drive and Control
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• v.11 no.4
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• pp.61-67
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• 2014

When a manual transmission equipped car stops on an incline where the nose of the car is higher than the rear, hill-start control or hill-holder could prevent the vehicle from rolling backward as the car moves forward. The easy-hill assist valve consists of a check valve and a needle type ON/OFF solenoid valve connected in parallel; it is a hydraulic actuator that can maintain brake pressure using an electrical signal from the ECU. As the EHA valve is a safety-related component of the brake system, high reliability as well as superior dynamic performance is required for it to be applied in commercial vehicles. This paper presents the design of the EHA valve as a piece of equipment that can simulate the brake actuation pressure with a pressurizing piston. Following specific test standards, the experimental results validate the implemented functions of the test equipment, proving the test stand to be effective for the performance and endurance of the EHA valve.

• Proceedings of the KIPE Conference
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• 2001.07a
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• pp.243-246
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• 2001

The control of the SRM(Switched Reluctance Motor) is usually based on the non-linear inductance profiles with positions. So determination of optimal switching angle is very different. This paper proposed that the determination method of turn-on/off angle in the SRM drives is to maintain the high torque, which is realized by using self-tuning control method. During the sampling time, a number of pulses from the encoder are checked by using micro-controller. And compared with pre-checked a number of pulses. After calculating difference between two data, turn-on/off angle moves forward or backward direction by using self-tuning method. The optimal turn-on/off angle is determined by iterating such a process and the maximum torque is maintained. Experimental results are provided to demonstrate the validity of the self-tuning controller.