• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.1029-1036
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• 2011

An energy-efficient reference walking trajectory generation algorithm is suggested utilizing allowable ZMP (Zero-Moment-Point) region, which maxmizes the energy efficiency for cyclic gaits, based on three-dimensional LIPM (Linear Inverted Pendulum Model) for biped robots. As observed in natural human walking, variable ZMP manipulation is suggested, in which ZMP moves within the allowable region to reduce the joint stress (i.e., rapid acceleration and deceleration of body), and hence to reduce the consumed energy. In addition, opimization of footstep planning is conducted to decide the optimal step-length and body height for a given forward mean velocity to minimize a suitable energy performance - amount of energy required to carry a unit weight a unit distance. In this planning, in order to ensure physically realizable walking trajectory, we also considered geometrical constraints, ZMP stability condition, friction constraint, and yawing moment constraint. Simulations are performed with a 12-DOF 3D biped robot model to verify the effectiveness of the proposed method.

• International Journal of Automotive Technology
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• v.8 no.2
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• pp.185-191
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• 2007

The new FMVSS 208, 213, 225 regulations include automatic suppression of airbags to prevent low-risk airbag deployment and the use of child seats with a rigid-bar anchor system. The regulations mean that children must sit in the rear seat, but do not include other specific safety measures for their protection. In the rear, restraint equipment consists of three-point shoulder/lap belts for the outside seats and a static two-point lap belt in the middle, with no additional devices such as pretensioners or load limiters; this is far from optimal for children. This study investigated injury rates using a 3-year-old-child dummy. ECE R44 sled tests used a booster, a speed of 48 km/h, and a 26- to 32-g rectangular deceleration pulse. While seated on a booster, the dummies were restrained by an adult shoulder/lap three-point belt. HIC_15 msec, Chest G and Nij were somewhat lower with an emergency locking retractor (ELR)+pretensioner+load limiter than with only an ELR or with ELR+pretensioner. However, the current seat-belt system results in injury rates that exceed the limit for OOP performance under the new FMVSS 208 regulations.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10a
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• pp.537-540
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• 1992

This paper presents Samsung CNC (Computer Numerical Controller) system with an intel 80486/487 as the main CPU and a 32 bit floating point DSP(Digital Signal Processor) TMS320C30 as the motion control CPU. The Samsung CNC system diverse user-frienly characteristics such as multi-tasking, powerful menu system, internal PLC system, and 2/3 dimensional graphics in wire and solid mode. The main CPU executes central processing program, user interface program, interpreter, BMI, etc while the motion control CPU carries out some interpolations, acceleration/deceleration, and PID control algorithm with feedforward terms. Complex interpolations except linear and circular ones are performed on the main control CPU. The experimental results for the circular interpolation under linear acceleration/deceleration shows that the proposed CNC system can be widely used in controlling machining centers with good machining accuracy.

• Journal of Advanced Navigation Technology
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• v.10 no.4
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• pp.319-326
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• 2006

In this paper, a fuzzy inference control system is proposed for a turbojet engine with fuel flow control input only. The proposed control system provides a practical fuel flow control method to prevent surge or flame out during engine acceleration or deceleration. A fuzzy logic is designed to obtain the fast acceleration and deceleration of the engine under the condition that the operating point should stay between the surge line and flame out control line. With using both engine rotating speed error and surge margin as fuzzy input variables, the desired engine rotating speed can be achieved to rapidly follow the engine control line without engine stall. Computer simulation using the MATLAB is realized to prove the proposed control performance to the turbojet engine which is linear modelized using DYGABCD program package.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.37 no.2
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• pp.397-407
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• 2017

This study investigated current status of rest area for drowsy drivers on the highways and drew the related issues to define specifications and design criteria regarding expressway rest area for drowsy drivers on the highways. Based on the investigation result, geometric structure specifications and improvement plans are suggested. The entry part of a rest area for drowsy drivers on the highways was divided into deceleration transition section, deceleration lane and entry connection road while the exit part was divided into exit connection road, acceleration lane and acceleration transition section. The optimum length was estimated by considering the main lane vehicle traveling speed, traveling speed at the beginning/end point of entry/exit connection roads, deceleration and acceleration. In addition, reasonable design criteria were suggested by dividing the parking section of rest area for drowsy drivers according to parking style and cross-section composition, and length of parking space and then considering the ratio of vehicles using rest area for drowsy drivers, the ratio of heavy vehicles, and the design speed within a rest area for drowsy drivers. It is believed that the suggested design criteria on rest area for drowsy drivers on the highways can be utilized in the future planning and maintenance of rest area for drowsy drivers. Additionally, the defined criteria on installing rest area for drowsy drivers on the highways will prevent traffic accidents in resting facilities and highways as well as improve usage and safety of them.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.22 no.6
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• pp.591-598
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• 2021

One of the requirements of metro trains is to stop with precision to ensure that the train can stop precisely at the designated location on the platform. If this is not satisfied, interference with the screen door occurs, causing inconvenience to passengers and delays in operation. In the case of an automatic operated train, the current position is determined by the current speed information of the train, and control is performed by issuing an acceleration/deceleration command. Therefore, accurate control becomes impossible if the error of the speed information is large. In metro railroads, a Precision Stop Marker (PSM) is used to correct the position error, so that the error of stop control can be reduced by correcting the position error at a specific point. On the other hand, because the PSM itself has only position information, it does not compensate for the speed error. This paper proposes a method for performing in-place stop control by estimating the speed with the PSM progress information. The speed can be estimated when the train is operated at a constant deceleration speed, and the target deceleration can be obtained to perform stop control. The feasibility and excellence of the proposed method are shown through a numerical simulation.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.52 no.12
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• pp.616-623
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• 2003

Conventional P/PI speed controller of today's servo drives should be manually tuned the controller switching set-point by trial-and-errors, which may translate the drive system down-time and loss of productivity. The adjustable drive performance is heavily dependent on the quality of the expert knowledge and becomes inadequate in applications where the operating conditions change in a wide range, i.e., tracking command, acceleration/deceleration time, and load disturbances. In this paper, the demands on simple controls/setup are discussed for industry servo drives. Analyzing the frequency content of motor torque command, P/PI control mode switching is automatically performed with some prior knowledge of the mechanical dynamics. The dynamic performance of the proposed scheme assures a desired tracking response curve with minimal oscillation and settling time over the whole operating conditions. For comprehensive comparison of traditional P/PI control scheme, extensive test is carried out on actual servo system.

• Proceedings of the ESK Conference
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• 1997.04a
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• pp.107-113
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• 1997

In this paper, an interfacing method to control rehabilitation assitance system with bio-signal is proposed. Controlling with EMG signals method has certain advantage on signal-collecting, but has some drawbacks in the function resolution of EMG signals because data-processing process is not efficient. To improve function-resolution and to increase the efficiency of EMG signal interfacing with rehabilitation assistance system, Multi-layer Perception which is highly effective with static signal and hidden-Markov model for dynamic signal resolving are fused together. In proposed method. The direction and average speed of the rehabilitation assitance system are controlled by the trajectory control and estimation of the moving direction result from the fused model. From the experiment, proposed GMM and 2-level MLP hybrid-classifier yielded 8.6% perception-error rate, improving function resolution. New acceleration control method constructed with 3 nested linear filter produced continuous acceleration paths without the information of destination point. Thus, the mass output caused by non- continuous acceleration-deceleration was eliminated. In the simulation, the necessary calculation, in the case of multiplication, was reduced by 11.54%.

• Proceedings of the KIPE Conference
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• 2002.07a
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• pp.281-284
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• 2002

This paper describes the initial angle adjustment method on Hall Sensorless Linear Permanent Magnet Synchronous Motor The implementation of the controller is designed on the DSP TMS320C32 board. PMLSM is operated by using 4-point absolute positions profile with each velocity, acceleration and deceleration. To achieve Hall Sensorless characteristics, Moving Coil Type PMLSM is used and initial angle adjustment algorithm is adapted.

• Proceedings of the KIEE Conference
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• 1999.07a
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• pp.421-423
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• 1999

The function of the automatic train operation(ATO) system is to regulate the train ride comfort during start, acceleration and deceleration and execute operation of constant speed travelling and fixed point parking. The mathematical model for the train is presented by considering unknown disturbances which consist of start resistance, travelling resistance, slope resistance, curve resistance and so on. The speed control of ATO system is designed by considering the disturbances. The simulation is executed to verify the speed control performance and compare its performance with that of a PID-type ATO control system under the disturbances. Simulation results show that the control performance of gain scheduled control for ATO system is better than that of the conventional PID controller.