• Journal of Institute of Control, Robotics and Systems
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• v.13 no.9
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• pp.875-882
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• 2007

In order for a vehicle to follow a predetermined trajectory accurately, its position must be estimated accurately and reliably. In this thesis, we propose trajectory tracking control methods for unmanned vehicle and a positioning system using ultrasonic wave. The positioning problem is an important part of control problem for unmanned navigation of a vehicle. Dead Reckoning is widely used for positioning of vehicle. However this method has problems because it accumulates estimation errors. We propose a new method to increase the accuracy of position estimation using the Ultrasonic Satellite System (USAT). It is shown that we will be able to estimate the position of vehicle precisely, in which errors are not accumulated. And proposed trajectory tracking control methods include both a new path planning method and a lateral control method for vehicle. The experimental results show that the proposed methods enables exact vehicle trajectory tracking even under various environmental factors.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.12
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• pp.1213-1221
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• 2007

In most case of previous research about vehicle control system, external error occurred by unexpected environmental situation was hardly considered. However, in this paper, to have more accurate position control of differential derive vehicle, we separate the error as an internal error and external error. To calculate the vehicle position in real time, we introduced the Dead-Reckoning algorithms and the simulation result show that the proposed internal and external error control system has fast and accurate position tracking with remarkable diminishment of orientation error. The results reported here can easily be extended to the control of similar type vehicle.

• Transactions on Control, Automation and Systems Engineering
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• v.1 no.2
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• pp.94-98
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• 1999

Optical scanning systems use glavanometers to point the laser beam to the desired position on the workpiece. The angular speed of a galvanometer is typically controlled using Proportional+Integral+Derivative(PID) control algorithms. However, natural variations in the dynamics of different galvanometers due to manufacturing, aging, and environmental factors(i.e., process uncertainty) impose a hard limit on the bandwidth of the galvanometer control system. In general, the control bandwidth translates directly into efficiency of the system response. Since the optical scanning system must have rapid response, the higher control bandwidth is required. Auto-tuning PID algorithms have been accepted in this area since they could overcome some of the problems related to process uncertainty. However, when the galvanometer is attached to a larger mechanical system, the combined dynamics often exhibit resonances. It is well understood that PId algorithms may not have the capacity to increase the control bandwidth in the face of such resonances. This paper compares the achieable performance and robustness of a galvanometer control system using a PID controller tuned by the Ziegler-Nichols method and a controller designed by the Quantitative Feedback Theory(QFT) method. The results clearly indicate that-in contrast to PID designs-QFT can deliver a single, fixed controller which will supply high bandwidth design even when the dynamics is uncertain and includes mechanical resonances.

• Smart Structures and Systems
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• v.23 no.6
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• pp.521-536
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• 2019

Using magnetorheological (MR) dampers in multiswitch open-loop control mode has been shown to be cost-effective for cable vibration mitigation. In this paper, a method for analyzing the damping performance of taut cables incorporating MR dampers in open-loop control mode is developed considering the effects of damping coefficient, damper stiffness, damper mass, and stiffness of the damper support. Making use of a three-element model of MR dampers and complex modal analysis, both numerical and asymptotic solutions are obtained. An analytical expression is obtained from the asymptotic solution to evaluate the equivalent damping ratio of the cable-damper system in the open-loop control mode. The individual and combined effects of the damping coefficient, damper stiffness, damper mass and stiffness of damper support on vibration control effectiveness are investigated in detail. The main thrust of the present study is to derive a general formula explicitly relating the normalized system damping ratio and the normalized damper parameters in consideration of all concerned effects, which can be easily used for the design of MR dampers to achieve optimal open-loop vibration control of taut cables.

• The Journal of Engineering Geology
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• v.24 no.2
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• pp.191-199
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• 2014

We describe a method for detecting slope instability in flume tests using pore pressure and water content data in conjunction with a statistical control chart analysis. Specifically, we conducted univariate statistical analysis on x-MR control chart data (pore pressure and water content) collected at several points along the flume slope, which we separated into three parts: upper, middle, and lower. To assess our results in the context of landslide forecasting and warning systems, we applied control limit lines at $1{\sigma}$, $2{\sigma}$, and $3{\sigma}$ levels of uncertainty. In doing so, we observed that dispersion time varies depending on the control limit line used. Moreover, the detection of instabilities is highly dependent on the position and type of sensor. Our findings indicate that different characteristics of the data on various factors predict slope failure differently and these characteristics can be identified by univariate statistical analysis. Therefore, we suggest that a univariate statistical approach is an effective method for the early detection of slope instability.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.3
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• pp.181-187
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• 2003

For the moving objects with environmental sensors such as object tracking moving robot with audio and video sensors, environmental information acquired from sensors keep changing according to movements of objects. In such case, due to lack of adaptability and system complexity, conventional control schemes show limitations on control performance, and therefore, sensory-motor systems, which can intuitively respond to various types of environmental information, are desirable. And also, to improve the system robustness, it is desirable to fuse more than two types of sensory information simultaneously. In this paper, based on Braitenberg's model, we propose a sensory-motor based fusion system, which can trace the moving objects adaptively to environmental changes. With the nature of direct connecting structure, sensory-motor based fusion system can control each motor simultaneously, and the neural networks are used to fuse information from various types of sensors. And also, even if the system receives noisy information from one sensor, the system still robustly works with information from other sensors which compensates the noisy information through sensor fusion. In order to examine the performance, sensory-motor based fusion model is applied to object-tracking four-foot robot equipped with audio and video sensors. The experimental results show that the sensory-motor based fusion system can tract moving objects robustly with simpler control mechanism than model-based control approaches.

• Journal of Animal Environmental Science
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• v.6 no.1
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• pp.1-14
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• 2000

The structural and environmental characteristics of typical pig houses in different growth phases were surveyed and analyzed. Based on the data for thirty nine selected farms in four provinces, Jeonbuk-do, Jeonnam-do, Gyeongbuk-do, and Gyeongnam-do, in the southern provinces, Korea, the goal is to eventually establish standard pig houses of sow and litter, nursery pigs, and growing-finishing pigs. The survey included farm scale, production specialization, structural dimensions of the houses and their ventilation systems, cooling and heating systems, and floor and pit systems related to manure collection. The survey showed 90∼98% of growing-finishing pig houses adopted the sidewall curtain systems. The sidewall curtain systems, although popular, is not well insulated which leads to excessive heating costs in winter. Regarding flooring and manure collection system of the house, 23∼35% of growing-finishing houses installed scraper systems with concrete-slat floors in Gyeongsang provinces while 52∼78% did in Jeolla provinces. The cause of a large variance in flooring between tow regions could not be academically pinpointed, rather it could be attributed to the advice of neighbors who leads local pig production circle. A general trend toward enlargement and enclosure of pig houses for all growth phases was gaining popularity in most regions in recent years. A steady shift to multisite operation from continuous operation was also observed to prevent a disease transfer. The structural design of a standard pig house with its environmental control systems including ventilation and heating/cooling system was suggested for further validation study. In-depth analysis of the survey data is presented in the Results and Discussion section.

• Proceedings of the Korean Nuclear Society Conference
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• 1998.05b
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• pp.441-446
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• 1998

As for safety assessment of a radioactive waste disposal facility, radiation dose to inadvertent intruders is evaluated according to scenarios related to intruder's postulated activities at the disposal site after the end of Institutional Control Period(ICP). Simple trench and Below Ground Vault(BGV) are considered for this study as alternative disposal systems, and different scenarios are applied to each disposal type. The results show that 300 years of ICP is needed for simple trench and 100 years for BGV. Even for BGV, concentration of long-lived radioactive nuclides should be limited considering degradation of BGV after 300 years.

• Journal of Mechanical Science and Technology
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• v.15 no.11
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• pp.1472-1481
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• 2001

In this paper, an advanced shift controller that supervises the shift transients with adaptive compensation is presented. Modern shift control systems for vehicle automatic transmission are designe d to provide smooth transients for passengers' comfort and better component durability. In the conventional methods, lots of testing and calibration works have been done to tune gains of the controller, but it does not assure optimum shift quality at all times owing to system variations often caused by uncertainties in shifting hydraulic systems and external disturbances. In the proposed control scheme, an adaptive compensation controller with intelligent supervisor is implemented to achieve improved shift quality over the system variations. The control input pattern which generates clutch pressure commands in hydraulic actuating systems, is updated through a learning process to adjust for each subsequent shift based on continuous monitoring of shifting performance and environmental changes. The proposed algorithm is implemented and evaluated on the experimental test setup. Results from the experimental studies for several operation modes show both improved performance and adaptability of the proposed shift controller to uncertain changes of the shifting environment in vehicle power transmission systems.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.10
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• pp.1823-1831
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• 2010

This paper proposes an automatic tracking control algorithm for efficiency improvement of photovoltaic generation. Increasing the power of PV systems should improve the efficiency of solar cells or the power condition system. The normal alignment of the PV module always have to run perpendicular to the sun's rays. The solar tracking system, able to improve the efficiency of the PV system, was initiated by applying that to the PV power plant. The tracking system of conventional PV power plant has been studied with regard to the tracking accuracy of the solar cells. Power generation efficiency were increased by aligning the cells for maximum exposure to the sun's rays. Using a perpendicular position facilitated optimum condition. However, there is a problem about the reliability of tracking systems unable to not track the sun correctly during environmental variations. Therefore, a novel control algorithm needs to improve the generation efficiency of the PV systems and reduce the loss of generation. This control algorithm is the proposed automatic tracking algorithm in this paper. Automatic tracking control is combined the sensor and program method for robust control in environment changing condition. This tracking system includes the insolation, rain sensor and anemometer for climate environment changing. Proposed algorithm in this paper, is compared to performance of conventional tracking control algorithm in variative insolation condition. And prove the validity of proposed algorithm through the experimental data.