• Coupled systems mechanics
• /
• v.7 no.6
• /
• pp.707-729
• /
• 2018

The semi-active optimal vibration control of nonlinear torsion-bar suspension vehicle systems under random road excitations is an important research subject, and the boundedness of MR dampers and the uncertainty of vehicle systems are necessary to consider. In this paper, the differential equations of motion of the coupling torsion-bar suspension vehicle system with MR damper under random road excitation are derived and then transformed into strongly nonlinear stochastic coupling vibration equations. The dynamical programming equation is derived based on the stochastic dynamical programming principle firstly for the nonlinear stochastic system. The semi-active bounded parametric optimal control law is determined by the programming equation and MR damper dynamics. Then for the uncertain nonlinear stochastic system, the minimax dynamical programming equation is derived based on the minimax stochastic dynamical programming principle. The worst-case disturbances and corresponding semi-active bounded parametric optimal control are obtained from the programming equation under the bounded disturbance constraints and MR damper dynamics. The control strategy for the nonlinear stochastic vibration of the uncertain torsion-bar suspension vehicle system is developed. The good effectiveness of the proposed control is illustrated with numerical results. The control performances for the vehicle system with different bounds of MR damper under different vehicle speeds and random road excitations are discussed.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.2
• /
• pp.108-114
• /
• 2015

Automated driving systems require a high level of performance regarding environmental perception, especially in urban environments. Today's on-board sensors such as radars or cameras do not reach a satisfying level of development from the point of view of robustness and availability. Thus, map data is often used as an additional data input to support these systems. An accurate digital map is used as a powerful additional sensor. In this paper, we propose a new approach for vehicle localization using a lane map and a single-layer LiDAR. The maps are created beforehand using a highly accurate DGPS and a single-layer LiDAR. A pose estimation of the vehicle was derived from an iterative closest point (ICP) match of LiDAR's intensity data to the lane map, and the estimated pose was used as an observation inside a Kalmanfilter framework. The achieved accuracy of the proposed localization algorithm is evaluated with a highly accurate DGPS to investigate the performance with respect to lateral vehicle control.

• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.9
• /
• pp.869-874
• /
• 2011

This paper addresses the trajectory tracking problem for ship berthing by using sliding mode technique. With significant potential advantages: insensitivity to plant nonlinearities, parameter variations, remarkable stability and robust performance with environmental disturbances, the multivariable sliding modes controller is proposed for solving trajectory tracking of ship in harbor area. In this study, the ship position and heading angle are simultaneously tracked to guarantees that the ship follows a given path (geometric task) with desired velocities (dynamic task). The stability of the proposed control law is proved based on Lyapunov theory. The proposed approach has been simulated on a computer model of a supply vessel with good results.

• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10a
• /
• pp.360-363
• /
• 1993

Fuzzy Logic Control immitating human decision making process is a novel control strategy based on expert's experience and knowledge and many process designers are developing its applications. But it is difficult to obtain a set of rules from human operator. And there is a limitation on adjusting to environmental changes. In this paper, we proposed adaptive fuzzy algorithm to overcome these difficulties using weights added to the rules. To verify the validity of this control strategy, we have implemented this algorithm for a DC servo motor with PD-type fuzzy controller.

• Journal of Institute of Control, Robotics and Systems
• /
• v.10 no.5
• /
• pp.421-427
• /
• 2004

In order to exploit underwater resources successfully, the first step would be a marine environmental research and exploration in the seafloor. Generally one sets up a long-term underwater experimental unit in the seafloor and retrieves the unit later after a certain period time. Essential to these applications is the reliable teleoperation and telemetering of the unit. In this paper we presents a robust underwater sound recognition algorithm by which we can identify the sound signal without the influence of disturbances due to underwater environmental changes. The proposed method provides a means suitable for the acoustic releaser which requires low power dissipation and long-time underwater operation. We demonstrate its ability of securing stability and fast sound recognition through simulation methods.

• Journal of Environmental Health Sciences
• /
• v.32 no.5 s.92
• /
• pp.431-439
• /
• 2006

This research was conducted using a model home plumbing system composed of copper, stainless steel, galvanized iron, carbon steel, and PVC (polyvinyl chloride) pipe. The number of bacteria present in stainless steel pipe and PVC was higher than other pipes. High turbidity and zinc release were found in galvanized iron pipe material and detected during the first 6 months. Conversely, there was a decrease in turbidity and zinc release after 6 months resulting in levels similar to other pipes. Copper concentration decreased as operation times increased. In this experiment, the number of bacteria detected in biofilm for a copper pipe continued to increase. Pipe material influenced bacterial numbers in biofilm and water. This showed that elevated chlorine could not control bacterial growth in biofilm for galvanized iron and stainless steel systems. It also suggested that the dosing of chlorine might not be available for all kinds of pipes. Therefore, another complementary method should be introduced to manage biofilm effectively in water distribution systems.

• Smart Structures and Systems
• /
• v.5 no.2
• /
• pp.193-207
• /
• 2009

A framework for structural health monitoring (SHM) systems is presented utilizing a recent 3.5 generation mobile telecommunication technology, HSDPA (High Speed Downlink Packet Access). It may be effectively applied to monitoring bridges, cut-slopes, and other facilities located in rural areas where the conventional Internet service is not readily available, since HSDPA is currently commercialized in 86 countries to make the Internet access possible in anywhere the mobile phone service is available. The proposed SHM framework is also incorporating remote desktop software to have remote control/operation of the SHM systems. The feasibility of the proposed framework has been demonstrated by field tests on a highway bridge in operation. One can expect that fast advances in the mobile telecommunication technology will further enhance the performance of the SHM network using the proposed framework for bridges and other facilities located in remote areas without the conventional wired Internet service.

• Journal of Institute of Control, Robotics and Systems
• /
• v.16 no.5
• /
• pp.469-475
• /
• 2010

This paper presents a method of classifying discolored defects of metal pads using geometric texture for AFVI (Automated Final Vision Inspection) systems. In PCB manufacturing process, the metal pads on PCB can be oxidized and discolored partly due to various environmental factors. Nowadays the discolored defects are manually detected and rejected from the process. This paper proposes an efficient geometric texture feature, SUTF (Symmetry and Uniformity Texture Feature) based on the symmetric and uniform textural characteristics of the surface of circular metal pads for automating AFVI systems. In practical experiments with real samples acquired from a production line, 30 discolored images and 1232 roughness images are tested. The experimental results demonstrate that the proposed method using SUTFs provides better performance compared to Gabor feature with 0% FNR (False Negative Rate) and 1.46% FPR (False Positive Rate). The performance of the proposed method shows its applicability in the real manufacturing systems.

• Proceedings of the Korean Environmental Health Society Conference
• /
• 2004.06a
• /
• pp.207-209
• /
• 2004

This study was performed to estimate the effects of salinity and washing of food wastes on temperature, pH, and salinity in aerobic composting of food wastes. Weight ratios of food wastes to water in washing were 1:0(Control), 1:1(W-1), 1:2(W-2), 1:3(W-3) and 1:4(W-4), respectively. Ratios of food wastes to wood chips in reactor of Control, W-1, W-2, W-3 and W-4 were 5kg:5L, respectively. Reactors were operated for 24 days with 1 hour stirring by 1 rpm and 2 hours aeration per day. The increase in the ratio of food wastes to water used in washing resulted in the decrease of the highest reaction temperature and the elongation of the high temperature reaction period. The lowering of the ratio of food wastes to water used in washing resulted in faster pH increase The final salinities of Control, W-1, W-2, W-3 and W-4 were 0.95%, 0.73%, 0.65%, 0.57% and 0.41%, respectively.

• Advances in Computational Design
• /
• v.7 no.4
• /
• pp.321-343
• /
• 2022

Museum buildings display artefacts for public education and enjoyment, ensuring their long-term safety and the comfort of visitors by following strict indoor environment control protocols using mechanical Heating, Ventilation and Air Conditioning (HVAC) systems to keep the (environmental) variables at a fixed comfort level. Maintaining this requires constant supply of energy currently mostly sourced from the combustion of fossil fuels which exacerbates climate change. However, a review on the effects of the indoor environmental variables on museum artefacts as well as museum visitors revealed that there is no specific point at which artefact deterioration occurs, and that there are wide ranges of conditions that guarantee the long-term safety of artefacts and human comfort. Visits to museum buildings in hot-humid tropical climate of Nigeria revealed that strict indoor environmental practices were adopted. Even when appropriate micro-climatic conditions are provided for artefacts, mechanical HVAC systems remain necessary for visitor comfort because almost no consideration is given to natural ventilation. With the current global push towards energy management, this paper reviewed passive environmental control practices, architectural design strategies, and discusses the adaptation of double skin façade with jali screens, and the notion of smart materials, which can satisfy the range of requirements for the long-term safety of artefacts and levels of human comfort in buildings in hot-humid tropical climate, without mechanical HVAC systems. This review would inspire more discussions on passive, energy efficient, smart and climate responsible popular architecture, challenging current thinking on the impact of the more accepted representative architecture.