• Journal of the Korea Institute of Military Science and Technology
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• v.21 no.6
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• pp.850-856
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• 2018

In this paper, a controller based on repetitive learning control is designed to control an unmanned surface vessel with nonlinear characteristics and unknown parameters. First, we define the equations of motion and error system of the unmanned vessel, and then design an repetitive learning controller composed of system error and estimated unknown parameters based on repetitive learning control and adaptive control. The stability of the unmanned vessel model controlled by the designed controller is verified through the analysis of the Lyapunov stability. Simulation shows that the error converges asymptotically to zero with semi-global result, confirming that the unmanned vessel is moving toward a given ideal path, and verifies that the controller is also feasible.

• Journal of Advanced Marine Engineering and Technology
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• v.39 no.2
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• pp.159-165
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• 2015

Motion control schemes are generally classified into three categories (point stabilization, trajectory tracking, and path following). This paper deals with the problem which is associated with the initial deployment of a group of Unmanned Surface Vehicle (USVs) and corresponding point stabilization. To keep the formation of a group of USVs, it is necessary to set the relationship between each vehicle. A forcing functions such as potential fields are designed to keep the formation and a graph Laplacian is used to represent the connectivity between vehicle. In case of fixed topology of the graph representing the communication between the vehicles, the graph Laplacian is assumed constant. However the graph topologies are allowed to change as the vehicles move, and the system dynamics become discontinuous in nature because the graph Laplacian changes as time passes. To check the stability in the stage of deployment, the system is modeled with Kronecker algebra notation. Filippov's calculus of differential equations with discontinuous right hand sides is then used to formally characterize the behavior of USVs. The stability of the system is analyzed with Lyapunov's stability theory and LaSalle's invariance principle, and the validity is shown by checking the variation of state norm.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.41 no.2
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• pp.16-23
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• 2018

Postural instability can increase the likelihood of hazardous slip and fall accidents in workplaces. The present study intended to extend understanding of the effect of abnormal neck posture on postural control during quiet standing. The effect of body fatigue on the postural control was also of primary concern. Twelve healthy undergraduate students volunteered to participate in the experiment. Standing on a force platform with the neck neutral, flexed, extended, or rotated, subjects' center of pressures (COP) were measured under the two levels of body fatigue. For the fatigue condition, Subjects exercised in a treadmill to meet the predetermined level of body fatigue. Analyzing the position coordinates of COPs, the length of postural sway path was assessed in both medio-lateral (ML) axis and anterior-posterior (AP) axis. Results showed that, in AP direction, neck extension or rotation significantly increased the sway length as compared with neck neutral. Neck extension led to greater sway length compared to neck rotation. Neck flexion did not differ from neck neutral. The sway length in the AP direction also became significantly larger as the body fatigue accumulated after treadmill exercise. In ML direction, as compared to neutral posture, the neck extension, flexion, or rotation did not significantly affect the length of postural sway path. However, the sway length seemed to increase marginally with the neck extended during the fatigued condition. This study demonstrates that abnormal neck posture may interfere with postural control during standing. The ability to maintain postural stability decreases significantly with the neck extended or rotated. Body fatigue leads to postural instability further.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.33 no.11A
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• pp.1034-1042
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• 2008

It is very hard, but important to sustain path stability for a reliable communication in mobile ad hoc networks. We propose a novel source routing protocol that establishes a group path with virtual multiple paths to enable a robust communication. The entire mobile nodes form a disjoint set of clusters: Each has its clusterhead as a cluster leader and a unique cluster label to identify itself from other clusters. A group path is a sequence of cluster labels instead of nodes and the nodes with the same label collaborate to deliver packets to a node with next label on the group path. We prove by resorting to simulation that our proposed protocol outperforms the existing key routing protocols, even for a network with a high node mobility and a high traffic.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.29 no.5C
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• pp.191-198
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• 2009

It has been reported in Korea that surface slope failures in weathered soil are mainly caused by downward infiltration due to rainfall. These failures are triggered by the deepening of the wetting band in soils accompanied by a decrease in matric suction induced by the water infiltration. So, a need exists that these trends of wetting path in gneiss weathered soils, which is commonly found in Korea, are assessed by phenomenological approach. In this paper, numerical analyses of unsaturated soil slope under rainfall conditions are presented based on the wetting path soil-water characteristic curve in the laboratory. As the field SWCC matches well with the wetting path of the laboratory SWCC from the literatures, it seems reasonable to adopt the laboratory wetting SWCC as an upper boundary condition in the assessment of unsaturated slope instability.

• Geomechanics and Engineering
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• v.14 no.5
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• pp.439-451
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• 2018

The stress path characteristics of surrounding rock in the formation of gob were analysed and the unloading was solved. Taking Chengchao Iron Mine as the engineering background, the model for analysing the instability of deep gob was established based on the mechanism of stress relief in deep mining. The energy evolution law was investigated by introducing the local energy release rate index (LERR), and the energy criterion of instability of surrounding rock was established based on the cusp catastrophe theory. The results showed that the evolution equation of the local energy release energy of the surrounding rock was quartic function with one unknown and the release rate increased gradually during the mining. The calculation results showed that the gob was stable. The LERR per unit volume of the bottom structure was relatively smaller, which mean the stability was better. The LERR distribution showed that there was main energy release in the horizontal direction and energy concentration in the vertical direction which meet the characteristics of deep mining. In summary, this model could effectively calculate the stability of surrounding rock in the formation of gob. The LERR could reflect the dynamic process of energy release, transfer and dissipation which provided an important reference for the study of the stability of deep mined out area.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.786-791
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• 2003

This paper proposes an adaptive control algorithm for nonholonomic mobile robots with unknown parameters and the proposed control method is used in numerical simulations for applying to a practical twowheeled welding mobile robot(WMR). The proposed adaptive controller to track an arbitrary given welding path is designed by using back-stepping technique and is derived for a nonlinear model under the assumption such that the system parameters are partially known. Moreover, the proposed adaptive control system is stable in the sense of Lyapunov stability. Inertia moments of system are considered to be unknown parameters and their values can be estimated simply by using update laws proposed in an adaptive control scheme of this research. The simulation results are provided to show the effectiveness of the accurate tracking capability of the proposed controller for two-wheeled welding mobile robot with a smooth curved reference welding path.

• The Journal of Korea Robotics Society
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• v.2 no.3
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• pp.275-281
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• 2007

This paper presents a motion planning strategy for legged robots using locomotion primitives in the complex 3D environments. First, we define configuration, motion primitives and locomotion primitives for legged robots. A hierarchical motion planning method based on a combination of 2.5 dimensional maps of the 3D workspace is proposed. A global navigation map is obtained using 2.5 dimensional maps such as an obstacle height map, a passage map, and a gradient map of obstacles to distinguish obstacles. A high-level path planner finds a global path from a 2D navigation map. A mid-level planner creates sub-goals that help the legged robot efficiently cope with various obstacles using only a small set of locomotion primitives that are useful for stable navigation of the robot. A local obstacle map that describes the edge or border of the obstacles is used to find the sub-goals along the global path. A low-level planner searches for a feasible sequence of locomotion primitives between sub-goals. We use heuristic algorithm in local motion planner. The proposed planning method is verified by both locomotion and soccer experiments on a small biped robot in a cluttered environment. Experiment results show an improvement in motion stability.

• World Technopolis Review
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• v.8 no.1
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• pp.59-70
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• 2019

Where is a better place to live? In the coming era, this should be more than simply a livable place. It should be an adaptable place that has a flexible system adaptable to any new situation in terms of diversity. Customization and real-time operation are needed in order to realize this technologically. We expect a smart city to have a flexible system that applies technologies of self-monitoring and self-response, thereby being a promising city model towards being a better place to live. Energy demand and supply is a crucial issue concerning our expectations for the flexible system of a smart city because it is indispensable to comfortable living, especially city living. Although it may seem that energy diversification, such as the energy mix of a country, is a matter of overriding concern, the central point is the scale of place to build grids for realizing sustainable urban energy systems. A traditional hard energy path supported by huge centralized energy systems based on fossil and nuclear fuels on a national scale has already faced difficult problems, particularly in terms of energy flexibility/resilience. On the other hand, an alternative soft energy path consisting of small diversified energy systems based on renewable energy sources on a local scale has limitations regarding stability, variability, and supply potential despite the relatively light economic/technological burden that must be assumed to realize it. As another alternative, we can adopt a holonic path incorporating an alternative soft energy path with a traditional hard energy path complimentarily based on load management. This has a high affinity with the flexible system of a smart city. At a system level, the purpose of all of the paths mentioned above is not energy itself but the service it provides. If the expected energy service is fixed, the conclusive factor in choosing a more appropriate system is accessibility to the energy service. Accessibility refers to reliability and affordability; the former encompasses the level of energy self-sufficiency, and the latter encompasses the extent of energy saving. From this point of view, it seems that the small diversified energy systems of a soft energy path have a clear advantage over the huge centralized energy systems of a hard energy path. However, some insuperable limitations still remain, so it is reasonable to consider both energy systems continuing to coexist in a multiplexing energy system employing a holonic path to create and maintain reliable and affordable access to energy services that cover households'/enterprises' basic energy needs. If this is embodied in a smart city concept, this is nothing else but smart energy inclusion. In Japan, following the Fukushima nuclear accident in 2011, a trend towards small diversified energy systems of a soft energy path intensified in order to realize a nuclear-free society. As a result, the Government of Japan proclaimed in its Fifth Strategic Energy Plan that renewable energy must be the main source of power in Japan by 2050. Accordingly, Sony vowed that all the energy it uses would come from renewable sources by 2040. In this situation, it is expected that smart energy inclusion will be achieved by the Japanese version of a smart grid based on the concept of a minimum cost scheme and demand response.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.84-91
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• 2002

A new composite control method for a carriage balancing single inverted pendulum system is proposed and applied to swing up the pendulum and to stabilize it under the state constraint. The target inverted pendulum system has an extremely limited length of the cart(below 16cm). The proposed swing-up controller comprises a sliding mode control algorithm and an optimal control algorithm based on two regions: the region near the inverted unstable equilibrium position and the rest of the state space including the downward stable equilibrium position. The sliding mode controller uses a switching control action to converge along the specified path(hyperplane) derived from energy equation from a state around the path to desired state(standing position). An optimal control method is also used to guarantee the stability at unstable equilibrium position. Compared with the reported controllers, it is simpler and easier to implement. Experimental results are given to show the effectiveness of this controller.