• Journal of Biosystems Engineering
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• v.32 no.4
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• pp.230-236
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• 2007

In this study, a tail rotor system for an agricultural RF controlled helicopter was developed and tested. This study concluded the mechanical development of the 'Agro-heli' by completing the tail rotor system and its radio console. The RF control system was closely related with the tail system for the control of flying attitude. The thrust of the tail system balance off the reaction torque, created by the main rotor. Lifting tests with and without the tail system were compared for estimating the consumption of power. The tail system would use $4{\sim}5%$ of the total power which was in an acceptable range. Flying performance and attitude was visually inspected. It showed reliable and safe control during the distance flying trials and could be adapted for utilization in aerial applications. Aerial application using an RF controlled agricultural helicopter may make precise and timely spraying possible.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.8
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• pp.801-806
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• 2014

LAS (Laparoscopy Assisted Surgery) has been substituted alternatively for traditional open surgery. However, when using a commercialized robot assisted laparoscopic such as Da Vinci, surgeons have encountered some problems due to having to depend only on information by visual feedback. To solve this problem, a haptic function is required. In order to realize the haptic teleoperation system, a force feedback and bilateral control system are needed. Previous research showed that the perturbation value estimated by a SPO (Sliding Perturbation Observer) followed a reaction force that loaded on the surgical robot instrument. Thus, in this paper, the force feedback problem of surgical robots is solved through the reaction force estimation method. This paper then introduces the possibility of the haptic function realization of a laparoscopic surgery robot using a bilateral control system. For bilateral control, the master uses an impedance control and the slave uses a SMC (Sliding Mode Control). The experiment results show that a torque and force sensorless teleoperation system can be implemented using a bilateral control structure.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.32 no.3
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• pp.45-50
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• 2004

The design of reaction wheel control logic is critical to achieve the spacecraft attitude stabilization and performance requirements for the successful mission. Due to various uncertainties on orbit there exist limitation to obtain the model parameters through the ground tests and to design the associated control logic. Thus, the model parameter correction using on-orbit data is essential to the control performance on orbit. This paper performs the system identification using KOMPSAT-1 telemetry data and extracts the model parameters of the reaction wheel. Moreover, the reaction wheel is remodeled and compared with the ground test results.

• Journal of Aerospace System Engineering
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• v.10 no.1
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• pp.95-102
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• 2016

There are many possible disturbance sources on such a spacecraft, but reaction wheel assembly (RWA) which is generally used for spacecraft attitude control is anticipated to be the largest. These effects on degradation of performance of spacecraft such as attitude stability. In reaction wheel, disturbance caused by imbalance and speed error. It is hard to emulate speed error disturbance because it is not coincide with wheel frequency. This paper concentrates on emulating and analyzing the speed error disturbance. Firstly, classify the causes that lead to speed error disturbance which generate RPM fluctuation. Secondly, simulated with disturbance driver module and reaction wheel assembly which are developed by Spacecraft Control Lab. Experimental investigations have been carried out to test the disturbance emulator module as a disturbance generator for RWA. Measurements and test have been conducted on various fault. Frequency analysis of test data show that speed error disturbance effects on wheel settling wheel speed or fluctuation type.

• International Journal of Aeronautical and Space Sciences
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• v.11 no.4
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• pp.303-312
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• 2010

This paper introduces the upper stage attitude control system of KSLV-I, which is the first space launch vehicle in Korea. The KSLV-I upper stage attitude control system consists of two electro-hydraulic actuators and a reaction control system using cold nitrogen gas. A proportional, derivative, and integral controller is designed for the electro-hydraulic thrust vectoring system, and Schmidt trigger ON/OFF controllers are designed for the reaction control system. Each attitude controller is designed to have enough stability margins. The stability and performance of KSLV-I upper stage attitude control system is verified via hardware in the loop tests. Hardware in the loop tests are accomplished for perturbed flight conditions as well as nominal flight condition. The test results show that the attitude control loop of KSLV-I upper stage is very stable and the attitude controllers perform well for all flight conditions. Attitude controllers designed in this paper have been successfully applied to the first flight of KSLV-I on August 25, 2009. The flight test results show that all attitude controllers of the KSLV-I upper stage performed well and satisfied the accuracy specifications even during abnormal flight conditions.

• Journal of Drive and Control
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• v.10 no.2
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• pp.1-6
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• 2013

This study describes a method which can attenuate reaction force effectively for an air spring system composed of an air spring and auxiliary chamber. For the analysis, the nonlinear governing equation of the air spring system is derived. For a performance improvement of the system, change of the heat transfer effect and the mass flow rates is included in the analysis of the air spring system. The simulation study is presented to show the reaction force is changed by variations in heat transfer characteristics and the air spring system of isothermal process has the best performance. As a result, to improve attenuation characteristics of reaction force, a process in the air spring system should be maintained near isothermal process.

• Particle and aerosol research
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• v.11 no.3
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• pp.77-85
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• 2015

A Belousov-Zhabotinsky reaction in a liquid-liquid system under microwave radiation was observed under non-stirring conditions. To control this non-equilibrium reaction, nano-particle, which is active under microwave irradiation, was added to the solution. Color changes of the solution during the oscillatory reaction were found to be influenced by the irradiation power although the droplet temperature was equal to the temperature of surrounding oil. During the irradiation, the period of oscillation became shorter because the reaction rate was faster. It could also be observed that there is possibility to eliminate oscillatory behaviors of the reaction using higher power of microwave. The possibility of controlling non-linear reaction using microwave was shown since microwave can easily travel through oil phase and reach water phase.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.31B no.1
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• pp.41-48
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• 1994

The conventional resolved motion control is not applicable for the control of robots on the spacecraft on account of the floating base of the robots. When the robots perform the assembly or repair operations, the position and attitude of the base satellite are disturbed by the reaction force/moment caused by the robot motion. This reaction will cause error on the robot. motion. Therefore, we define a new type of Jacobian(Extended Jacobian) to minimize the effects of reaction on the accuracy of the robot performing assembly or repair operations. In this paper, we utilize the redundancy of the closed chain system to minimize the effects of the robot motion on the position and attitude of spacecraft. This will results in the accurate assembly and repair operations by the robot.

• Aerospace Engineering and Technology
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• v.8 no.2
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• pp.122-126
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• 2009

KSLV(Korea Space Launch Vehicle)-I is designed as a launch vehicle to enter a 100 kg-class satellite to the LEO(Low-Earth Orbit). Attitude angles of the upper-stage, including roll, pitch and yaw are controlled by cold gas thruster system using nitrogen gas. To verify the flow rate of the gas charging system and to prepare a nitrogen gas charging scenario, the development of a gas charging simulator for RCS(Reaction Control System) is required. This paper describes the orifice design, development, and test of the gas charging simulator for RCS of KSLV-I.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2004.10a
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• pp.458-462
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• 2004

The hydraulic system for discharging compressed gas is composed of compressor tank, proportional flow control servo valve, expulsion spool valve and discharging tube. Purpose of this study is to control of expulsion spool valve. First, we analyzed the hydraulic system. The flow control servo valve is modeled as a 2nd order transfer function and friction force of the expulsion spool valve is modeled as nonlinear model with stribeck effect. However, it is difficult to include the flow reaction force in modeling. So, we exchanged from the simplified flow reaction force of the compressed gas affection into the flow analysis code written in FORTRAN code. Our simulation of the oil pressure system for discharging gas used MATLAB/Simulink. So, we realized ＆apos;Level -2 S-Function Fortran＆apos; to cooperate for MATLAB/Simulink and FORTRAN code. PD controller is selected to control in this system. Simulation results show that with given conditions the controllers give a good tracking performance.