• The Journal of Korea Robotics Society
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• v.5 no.2
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• pp.110-119
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• 2010

This paper aims to add the autonomous driving capability to the inverted pendulum system which maintains the inverted pendulum upright stably. For the autonomous driving from the starting position to the goal position, the motion control algorithm is proposed based on the dynamics of the inverted pendulum robot. To derive the dynamic model of the inverted pendulum robot, a three dimensional robot coordinate is defined and the velocity jacobian is newly derived. With the analysis of the wheel rolling motion, the dynamics of inverted pendulum robot are derived and used for the motion control algorithm. To maintain the balance of the inverted pendulum, the autonomous driving strategy is derived step by step considering the acceleration, constant velocity and deceleration states simultaneously. The driving experiments of inverted pendulum robot are performed while maintaining the balance of the inverted pendulum. For reading the positions of the inverted pendulum and wheels, only the encoders are utilized to make the system cheap and reliable. Even though the derived dynamics works for the slanted surface, the experiments are carried out in the standardized flat ground using the inverted pendulum robot in this paper. The experimental data for the wheel rolling and inverted pendulum motions are demonstrated for the straight line motion from a start position to the goal position.

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.2
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• pp.96-101
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• 1996

In this paper, a simulator is designed along with S/W package for crane controllers. Due to trolley's acceleration or deceleration, cranes inherently cause swing motion of the objects in transporting heavy objects. This swing not only deteriorates the crane handling safety but also increases the processing time. To overcome these drawbacks, the fuzzy rule-based simulator is developed with inhibitory swing at final action. The computer simulation shows that the swing at initial and final positions is removed fast with small position error. The proposed simulator can be used for handling object stabley and the study of effectiveness in unmanned operation of cranes.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.9
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• pp.2294-2303
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• 1993

This paper investigated the characteristics of the turbulent incompressible flow past the orifice ring in an axi-symmetric pipe. The flow field was the turbulent pulsatile flow for Reynolds number of $2{\times}10^{5}$ which was defined based on the maximum velocity and the pipe diameter at the inlet, with oscillating frequence $(f_{os})=1/4{\pi}$ which was considered as quasi-steady state frequence. In the present investigation, finite analytic method was used to solve the governing equations in Navier Stokes and turbulent transport formulations. Particularly at high Reynolds number and low oscillation frequency, the effects of orifice ring on the flow were numerically investigated. The separation zone behind the orifice ring during the acceleration phase was found to be decreased. However, during the deceleration phase, the separation behind the orifice ring for pulsatile flow continuously grow to a size even larger than that in steady flow. The pressure drop in steady flow was found to be constant and always positive while for pulsatile flow the pressure drop change with time. And large turbulent kinetic energy, dissipation rate were found to be located in the region where the flow passes through the orifics ring. The maximum turbulent kinetic energy, generally occurs along the shear layer where the velocity gradient is large.

• Journal of Power System Engineering
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• v.8 no.3
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• pp.58-66
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• 2004

The sway motion control problem of a container hanging on the trolly is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, many trolley motion control strategies are introduced and applied. In this paper, we introduce and synthesize a swing motion control system in which a small auxiliary mass is installed on the spreader made by ourselves. In this control system, the actuator reacting against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. Especially, we apply the $H_{\infty}$ based gain-scheduling control technique the anti-sway control system design problem of the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful to the case of time-varying system and, robust to disturbances like winds and initial sway motion.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.631-636
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• 2004

The sway motion control problem of a container hanging on the trolly is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, many trolley motion control strategies are introduced and applied. In this paper, we introduce and synthesize a swing motion control system in which a small auxiliary mass is installed on the spreader made by ourselves. In this control system, the actuator reacting against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. Especially, we apply the $H_{\infty}$ based gain-scheduling control technique the anti-sway control system design problem of the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the experiment result shows that the proposed control strategy is shown to be useful to the case of time-varying system and, robust to disturbances like winds and initial sway motion.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.29 no.9 s.240
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• pp.1042-1048
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• 2005

Numerical investigation has been made on the stent design to minimize the neointimal hyperplasia. Computational fluid dynamics is applied to investigate the flow distributions in the immediate vicinity of the given idealized stent implanted in the blood vessel. Parametric study on the variations of the number of stouts, stent diameters, stent spacings and Reynolds numbers has been conducted using axi-symmetric Navier-Stokes equations. An initial difficulty in the study is to determine the optimal stent design to understand the flow physics of the flow disturbance induced by stent. The size of recirculation zone around stent is depend on the stent diameter, number of stent wire and Reynolds number but is insensitive to the stent wire spacing. It is also found that when the flow is in acceleration, the flow sees a more favorable pressure gradient, and the separation zones are smaller than the steady flow case. When the flow is in deceleration and the flow sees a more adverse pressure gradient so that the separation zones are larger.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.12
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• pp.176-184
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• 2000

TDC(Time Delay Control) deals with the time-varying system parameters, unknown dynamics and unexpected disturbances using time delay. TDC can be divided into two separate parts: an auxiliary controller and a servo controller. The two controllers can be designed independently. The auxiliary controller is used to reduce sensitivity to parameter variations, nonlinear effects, and other disturbances. The servo controller is to reduce the error between the desired command and output. We propose the model-following time delay controller with modified error feedback controller. This was applied to follow the desired reference model for the uncertain time-varying overhead crane. The model generates the damped-out swinging motion trajectory to suppress the swinging motion caused by the acceleration and the deceleration of crane transportation. The control performance was evaluated through simulations. The theoretical results indicate that this control method shows excellent performance to an overhead crane with the uncertain time-varying parameters.

• Proceedings of the Korean Operations and Management Science Society Conference
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• 2004.05a
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• pp.48-51
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• 2004

The estimation of NC machining time is of significance since it provides shop floor engineers with information for the determination of the productivity of the floor as well as process schedules. The NC machining time commonly depends on NC programs since they have various important information such as tool positions, feed rates, and other miscellaneous functions. Thus, nominal NC machining time can be easily acquired based on the programs. Actual machining time, however, cannot be simply obtained because of the dynamic characteristics of a NC machine controller such as acceleration and deceleration. Hence, this study presents a NC machine time estimation model for sculptured surfaces, considering the dynamic characteristics. The estimation model uses the distribution of NC blocks according to a factor influencing the machining time. Finally, machining time is estimated by a statistical machining time estimation model representing the relationship between the block distribution and the machining time. The parameters in the model are searched out by a genetic algorithm.

• The Transactions of the Korean Institute of Power Electronics
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• v.14 no.2
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• pp.112-119
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• 2009

This paper presents a PLL(Phase Lock Loop) approach for effective speed and torque control of high speed miniature BLDCM(Brushless DC Motor) using hall sensor. The proposed speed control method based on PLL uses only a phase shift between reference pulse signal according to speed reference and actual pulse signal from hall sensor. It doesn't use any speed calculation, and calculates a direct current reference from phase shift. The current reference is changed to reduce the phase shift between reference and actual pulse. So the actual speed can keep the reference speed. The proposed control scheme is very simple but effective speed control is possible. In order to obtain a smooth torque production, the reference current is changed using acceleration and deceleration slope. The proposed control scheme is verified by experimental results of the 50W, 40,000[rpm] high speed miniature BLDCM.

• Journal of Electrical Engineering and Technology
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• v.3 no.4
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• pp.576-583
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• 2008

In this study, we attempt to design a real-time autonomic nervous system(ANS) evaluation system usable during exercise using heart instantaneous frequency(HIF). Although heart rate variability(HRV) is considered to be a representative signal widely used ANS evaluation system, the R-peak detection process must be included to obtain an HRV signal, which involves a high sampling frequency and interpolation process. In particular, it cannot accurately evaluate the ANS using HRV signals during exercise because it is difficult to detect the R-peak of electrocardiogram(ECG) signals with exposure to many noises during exercise. Therefore, in this study, we develop the ground for a system that can analyze an ANS in real-time by using the HIF signal circumventing the problem of the HRV signal during exercise. First, we compare the HRV and HIF signals in order to prove that the HIF signal is more efficient for ANS analysis than HRV signals during exercise. Further, we performed real-time ANS analysis using HIF and confirmed that the exerciser's ANS variation experiences massive surges at points of acceleration and deceleration of the treadmill(similar to HRV).