• Journal of Institute of Control, Robotics and Systems
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• v.15 no.2
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• pp.218-224
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• 2009

This paper proposes an effective SLAM based on redundant extended Kalman filter for robot navigation in an irregular surface to enhance the accuracy of robot's pose. To establish an accurate model of a caterpillar type robot is very difficult due to the mechanical complexity of the system which results in highly nonlinear behavior. In addition, for robot navigation on an irregular surface, its control suffers from the uncertain pose of the robot heading closely related to the condition of the floor. We show how this problem can be overcome by the proposed approach based on redundant extended Kalman filter through some computer simulation results.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.11
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• pp.1067-1073
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• 2011

In this paper, the methodology of a CA (Control Allocation) based FTNCS (Fault-Tolerant Networked Control System) is proposed. Control allocation is a control surface management technique by redistributing the redundant control surfaces in overactuated systems. In modern high performance aircrafts, they adopt many redundant control surfaces to provide high performance and to satisfy various tactical requirements. Moreover, redundant control surfaces provide an opportunity to compensate performance degradation due to failures in more than one actuator by re-allocating redundant control surfaces. Simulation results with an F-18 HARV demonstrate that the proposed CA based FTNCS can achieve a fast and accurate tracking performance even in the presence of actuator faults.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.32 no.9
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• pp.65-71
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• 2004

Redundant control surfaces arc adopted to modern aircraft designs because of high performance and fault tolerant control, so efficient redundancy management is necessary to take advantage of redundant control surfaces. This paper focuses on the control allocation scheme as one of redundancy management methods. A modified pseudo inverse redistribution method is proposed. The existing method sets all saturated controls as their limit values when a pseudo inverse is calculated. But the modified scheme sets only one saturated control as its limit value and redistributes remaining controls. It is shown that the proposed scheme is superior to the existing method by several numerical examples.

• Aerospace Engineering and Technology
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• v.12 no.1
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• pp.54-63
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• 2013

In general, multiple hydraulic servo actuators are installed on one control surface of aero-dynamically highly loaded condition aircraft for redundancy management to satisfy flight control safety requirements. If motions of multiple actuators are not synchronized, control surface is deformed from its free stressed state. In result, force fight conditions are generated on each actuator due to restoration reaction force of deformed control surface. In addition, force fight is induced from severe initial rigging tolerance. Force fight condition of multiple actuators affects control accuracies and reduces operational life of actuators and control surface due to fatigue phenomenon. In this study, we designed controller using force feedback to reduce force fight of duplex servo actuation system.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.12
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• pp.1244-1252
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• 2008

This paper presents the analysis results obtained by the flight test of reconfiguration flight control system for an aircraft. The reconfiguration flight control system was designed by using control allocation scheme that automatically distributes the demanded control moments determined by control law to each actual control surface. In this paper, some control allocation algorithms for reconfiguration control of general aircraft with redundant control surfaces are summarized and their performance evaluation results through nonlinear simulation and Hardware-In-the-Loop-Simulation (HILS) test are shown. Also, Unmanned Aerial Vehicle (UAV) system adopted as a platform for the flight test of reconfiguration flight controller and the implementation procedure of reconfiguration flight controller into real-time UAV system were introduced. Finally, flight test results were analyzed.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.967-982
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• 2011

This paper presents a FTNCS (Fault-Tolerant Networked Control System) that can tolerate control surface failure and packet delay/loss in an UAV (Unmanned Aerial Vehicle). The proposed method utilizes the benefits of self-diagnosis by smart actuators along with the control allocation technique. A smart actuator is an intelligent actuation system combined with microprocessors to perform self-diagnosis and bi-directional communications. In the event of failure, the smart actuator provides the system supervisor with a set of actuator condition data. The system supervisor then compensate for the effect of faulty actuators by re-allocating redundant control surfaces based on the provided actuator condition data. In addition to the compensation of faulty actuators, the proposed FTNCS also includes an efficient algorithm to deal with network induced delay/packet loss. The proposed algorithm is based on a Lagrange polynomial interpolation method without any mathematical model of the system. Computer simulations with an UAV show that the proposed FTNCS can achieve a fast and accurate tracking performance even in the presence of actuator faults and network induced delays.

• Proceedings of the Korean Vacuum Society Conference
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• 2014.02a
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• pp.478.2-478.2
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• 2014

Atomic layer deposition (ALD) provides self-limiting processes based on chemisorption-based reactions. Such unique features allow for superior step coverage, atomic-scale control in thickness, and surface-dependent reaction controls. Furthermore, the surface-limited deposition enables the artificial deposition of oxide and/or metallic materials onto the porous systems as long as the supply is guaranteed in terms of time in providing reactant species and removing the byproducts and redundant reactants. The unique feature of atomic layer deposition is applied to solid oxide fuel cells whose incorporates two porous cathode and anode compartments in addition to the ionic electrolyte. Specific materials are deposited to the surface sites of porous electrodes, with the aim to controlling the triple phase boundaries crucial for the optimized SOFC performances. The effect of ALD on the SOFC performance is characterized using current-voltage characteristics in addition to frequency-dependent impedance spectroscopy. The pros and cons of ALD-controlled SOFCs are discussed toward high-performance SOFC systems.

• Current Industrial and Technological Trends in Aerospace
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• v.7 no.2
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• pp.85-94
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• 2009

The Fly-By-Wire system was first applied to the fighter and its inherent advantages lead to the advent of the Fly-By-Wire civil aircraft. Recently even the small jet aircraft shows the trend of adopting the Fly-By-Wire system. In the future, most of the aircraft are expected to be the Fly-By-Wire type. In this paper, the structure and the characteristics of the Fly-By-Wire system applied to the civil aircraft was described. The development trend of the redundant method of the flight control system, data communication system, control surface actuation system and the control laws implemented by the Fly-By-Wire system of the civil aircraft are discussed.

• The Journal of the Korea institute of electronic communication sciences
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• v.18 no.3
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• pp.509-520
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• 2023

In this paper, the structure and the characteristics of the Fly-By-Wire system applied to the civil aircraft was described. The development trend of the redundant method of the flight control system, data communication system, control surface actuation system and the control laws implemented by the Fly-By-Wire system of the civil aircraft are discussed. The Fly-By-Wire system was first applied to the fighter and its inherent advantages lead to the advent of the Fly-By-Wire civil aircraft. Recently even the small jet aircraft shows the trend of adopting the Fly-By-Wire system. In the future, most of the aircraft are expected to be the Fly-By-Wire type.

• The Journal of Korean Academy of Prosthodontics
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• v.46 no.4
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• pp.351-358
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• 2008

Purpose: This study examined the recovery of the dentin-resin bonding strength, and the difference in the bonding strength after applying pH hemostatic agents at various pH. Materials and methods: Bosmin, Hemodent, Astregedent, and Visine were used as the hemostatic agents in this study. The Bosmin, Hemodent, and Astrigedent hemostatic agents are acidic, and the Visine hemostatic agent is neutral and is used as a decongestant. Ninety human molar teeth were used as the specimen. The teeth were sectioned using a diamond wheel until the dentin was exposed and wet ground by silica paper. The specimens were divided into two groups according to the hemostatic agent used. The specimens were then subdivided into 9 groups according to the application of re etching (R group) or rinsing only (N group). A commonly used resin bonding procedure was used in the control group. The resin bonding procedure was managed dentin using celluloid capsule. In addition, the shear bond strength was measured using an Instron. Results: In general, samples with the applied hemostatic agent, with the exception of Visine, had a slightly weak bond that was similar to the control group. In addition, the rinsing only (N) group had slightly weak bond that was similar to the re etching (R) group. Conclusion: The application of a hemostatic agent on the dentin surface does not affect the shear bond strength after application for a short time. In addition, rinsing only can recover the shear bond strength making other management procedures redundant, particularly re etching.