• 로봇학회논문지
• /
• 제17권1호
• /
• pp.48-57
• /
• 2022

In this paper, we propose a legged landing platform for the quadcopter taking off and landing in the ship environment. In the ship environment with waves and winds, the aircraft has risks being overturned by contact impact and excessive inclination during landing on the ship. This landing platform has four landing legs under the quadcopter for balancing and shock relief. In order to make the quadcopter balanced on ships, the position of each end effector was controlled by PID control. And shocks have mainly happened when quadcopter contacts the ship's surface as well as legs move fast. Hence, impedance control was used to cope with the shocks. The performance of the landing platform was demonstrated by a simulation and a prototype in three sea states based on a specific size of a ship. During landing and tracking the slope of the ship's surface, oscillations of rotation and translation from the shock were mitigated by the controller. As a result, it was verified that transient response and stability got better by adding impedance control in simulation models and prototype experiments.

• Current Optics and Photonics
• /
• 제6권1호
• /
• pp.79-85
• /
• 2022

Tracers are one of the critical factors for improving the performance of velocimetry. Silver and gold nanoparticles as tracers with localized surface-plasmon resonance are analyzed for their scattering properties. The scattering cross sections, angular distribution of the scattering, and equivalent scattering cross sections from 53° and 1.5° half-angle cones at 532 nm are calculated, with particle sizes in the nanoscale range. The 53° and 1.5° half-angle cones used as examples correspond respectively to the collection cones for microscope objectives in microscopic measurements and camera lenses in macroscopic measurements. We find that there is a transitional size near 35 nm when comparing the equivalent scattering cross sections between silver and gold nanoparticles in water at 532 nm. The equivalent scattering cross section of silver nanoparticles is greater or smaller than that of gold nanoparticles when the particle radius is greater or smaller than 35 nm respectively. When the radius of the plasmonic nanoparticles is smaller than about 44 nm, their equivalent scattering cross sections are at least ten times that of TiO₂ nanoparticles. Plasmonic nanoparticles are promising for velocimetry applications.

• Journal of Computing Science and Engineering
• /
• 제2권1호
• /
• pp.98-108
• /
• 2008

Terrain reconstruction from images is an ill-posed, yet commonly desired Structure from Motion task when compositing visual effects into live-action photography. These surfaces are required for choreography of a scene, casting physically accurate shadows of CG elements, and occlusions. We present a novel framework for generating the geometry of landscapes from extremely noisy point cloud datasets obtained via limited resolution techniques, particularly optical flow based vision algorithms applied to live-action video plates. Our contribution is a new statistical approach to remove erroneous tracks ('outliers') by employing a unique combination of well established techniques-including Gaussian Mixture Models (GMMs) for robust parameter estimation and Radial Basis Functions (REFs) for scattered data interpolation-to exploit the natural constraints of this problem. Our algorithm offsets the tremendously laborious task of modeling these landscapes by hand, automatically generating a visually consistent, camera position dependent, thin-shell surface mesh within seconds for a typical tracking shot.

• 제어로봇시스템학회논문지
• /
• 제17권11호
• /
• pp.1067-1073
• /
• 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.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.1810-1815
• /
• 2003

Sliding mode control with nonlinear interpolation in the boundary layer is proposed. A modified sigmoid function is used for nonlinear interpolation in the boundary layer and its parameter is tuned by a fuzzy logic controller. The fuzzy logic controller that takes the distance between the system state and the sliding surface as its input guides the choice of parameter of the modified sigmoid function and the parameter is on-line tuned. Owing to the decreased thickness, the proposed method has better tracking performance than the conventional linear interpolation method. To demonstrate its performance, the proposed control algorithm is applied to a simple nonlinear system model.

• 전자공학회논문지B
• /
• 제33B권11호
• /
• pp.1-10
• /
• 1996

In this paper, we suggest a new identification method based on the takagi-sugeno fuzzy model which prepresents an envrionmental stiffness and propose a method to decide PD gains of the PD controller. It is difficult to perform a compliance task due to characteristics of robot itself and uncertain work envronment. Therefore, in this paper, we identify the fuzzy rule by dividing the relationship of input-output data into several piecewise-linear equations using the hough transform which is the one this fuzzy model, we propose a method to design the pD gain. We show the validity of this method by the experiment of tracking the surface of the paper box as an example of variable environment using robot manipulator and force sensing system. As a performance index, we use the settling time, and perform an analysis between conventional PD contorllers and this controller.

• 드라이브 ㆍ 컨트롤
• /
• 제17권1호
• /
• pp.13-20
• /
• 2020

Adaptive neural networks based lateral controller is presented to guarantee path following performance for vehicle lane keeping in the presence of parameter time-varying characteristics of the vehicle lateral dynamics due to the road surface condition, load distribution, tire pressure and so on. The proposed adaptive controller could compensate vehicle lateral dynamics deviated from nominal dynamics resulting from parameter variations by incorporating it with neural networks that have the ability to approximate any given nonlinear function by adjusting weighting matrices. The controller is derived by using Lyapunov-based approach, which provides adaptive update rules for weighting matrices of neural networks. To show the superiority of the presented adaptive neural networks controller, the simulation results are given while comparing with backstepping controller chosen as the baseline controller. According to the simulation results, it is shown that the proposed controller can effectively keep the vehicle tracking the pre-given trajectory in high velocity and curvature with much accuracy under parameter variations.

• 대한기계학회논문집
• /
• 제19권6호
• /
• pp.1371-1381
• /
• 1995

A novel hybrid control scheme to actively control the endpoint position of a very flexible single-link manipulator is proposed. The control scheme consists of a motor mounted at the beam hub and a piezofilm actuator bonded to the surface of the flexible link. The control torque of the motor to produce a desired motion is firstly determined by employing the sliding mode control theory on the equation of motion of the rigid link having the same mass as that of the proposed flexible link. The torque is then applied to the flexible manipulator in order to activate the commanded motion. During the motion, undesirable oscillation is actively suppressed by applying a feedback control voltage to the piezofilm actuator. Consequently, the imposed desired position is accomplished. In order to demonstrate high control performances accrued from the proposed method, computer simulations are undertaken by treating both regulating and tracking control problems.

• 한국전산유체공학회:학술대회논문집
• /
• 한국전산유체공학회 2009년 추계학술대회논문집
• /
• pp.218-222
• /
• 2009

A level-set (LS) method is presented for computation of boiling phenomena which involve liquid-vapor interfaces that evolve, merge and break up in time, the flow and temperature fields influenced by the interfacial motion, and the microlayer that forms between the solid and the vapor phase near the wall. The LS formulation for tracking the phase interfaces is modified to include the effects of phase change on the liquid-vapor interface and contact angle on the liquid-vapor-solid interline. The LS method can calculate an interface curvature accurately by using a smooth distance function. Also, it is straightforward to implement for two-phase flows in complex geometries. The numerical method is applied for analysis of nucleate boiling on a horizontal surface and film boiling on a horizontal cylinder.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
• /
• pp.406-411
• /
• 1993

A variable structure control scheme that can be applied to the process with input/output delays are proposed and its control performances are evaluated. The proposed VSCS, which is an output fedback scheme, comprises an integrator for tracking the setpoint and the Smith predictor for compensating the effects of time delay. With The VSCS, the robustness against the parameter variations and external disturbances can be achieved even when the controlled process includes I/O delays. And the desired transient response is obtained by simple adjustment of the coefficients of the switching surface equation.