• Proceedings of the Korea Society for Industrial Systems Conference
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• 2002.06a
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• pp.161-165
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• 2002

This paper describe a trajectory generation method for a soccer robot using cubic Bezier curve. It is proposed that the method to determine the location of control points. The control points are determined by the distance and the velocity parameters of start and target positions. Simulation results show its traceability of the trajectory of mobile robot.

• Journal of International Academy of Physical Therapy Research
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• v.2 no.2
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• pp.288-293
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• 2011

The purpose of this study is to examine the effects of gait training using functional electrical stimulation on the improvement of hemiplegic patients' functions for balance and gait velocity. The subjects of the experiment were determined to be 10 each hemiplegic patients who had been diagnosed with stroke or brain damage six months or longer earlier assigned to an experimental group and a control group respectively. The subjects were evaluated before the experiment using Tetrax and 10M gait tests, received gait training five times a week for four weeks using functional electrical stimulation and were evaluated after the experiment in the same method as used in the evaluation before the experiment. In order to examine differences between the experimental group that received gait training using functional electrical stimulation and the control group that was treated by functional electrical stimulation and received gait training thereafter, differences between before and after the experiment were analyzed using paired sample t-tests and differences in changes after the experiment between the experimental group and the control group were analyzed using independent sample t-tests in order to compare the two groups with each other. Experimental results showed significant differences in weight bearing, balance and gait velocity between before and after the experiment in the experimental group(p<.05). In the control group, whereas weight bearing and gait velocity did not show any significant difference between before and after the experiment(p>.05), balance showed significant differences(p<.05). Weight bearing, balance and gait velocity change rates showed significant differences between the experimental group and the control group(p<.05). In conclusion, it was indicated that gait training using functional electrical stimulation is effective for enhancing stroke patients' weight bearing rates, balance abilities and gait velocity.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.1
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• pp.88-94
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• 1999

This paper presents an accuracy evaluation method for muzzle velocity measurement systems. Among various measuring techniques, the solenoid coil scheme and the doppler radar scheme are considered due to their popularity in applications. The error sources are first identified and their effects on the accuracy of the measuring systems are quantified using mathmatical equations. The theoritic accuracy limits are then verified through comparison with experimental results. From the accuracy point of view, they turn out to be standard velocity measuring systems.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.251-257
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• 2012

Unmanned ground vehicles have important military, reconnaissance, and materials handling application. Many of these applications require the UGVs to move at high speeds through uneven, natural terrain with various compositions and physical parameters. This paper presents a framework for high speed autonomous navigation based on the integrated real time traversability. Specifically, the proposed system performs real-time dynamic simulation and calculate maximum traversing velocity guaranteeing safe motion over rough terrain. The architecture of autonomous navigation is firstly presented for high-speed autonomous navigation. Then, the integrated real time traversability, which is composed of initial velocity profiling step, dynamic analysis step, road classification step and stable velocity profiling step, is introduced. Experimental results are presented that demonstrate the method for a $6{\times}6$ autonomous vehicle moving on flat terrain with bump.

• Journal of Advanced Marine Engineering and Technology
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• v.29 no.8
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• pp.842-848
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• 2005

The decoupling control using state feedback was once intensively studied during 1960's by many researchers. However, this control scheme was sensitive to the disturbance and Parameter variations. SMC(sliding mode control) is known as a robust control methodology to overcome such a disturbance. In this paper. the decoupling control by means of SM(sliding mode) for a trajectory control of a two-degrees-of- freedom manipulator was discussed. The position and velocity of manipulator tip were adopted to compose a nonlinear error functions. The reference inputs of the controller can be decided by switching function combined with the desired position and velocity. Simulation result is provided to verify the effectiveness of the proposed control scheme.

• Explosives and Blasting
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• v.28 no.2
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• pp.50-58
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• 2010

This study explores the slot-drilling method that has not yet enough been studied in Korea and intends to provide a theoretical framework for putting the method into practice in a construction site. The possible reduction of ground vibration by implementing slot-drilling methods is addressed. Two main subjects dealt with include the variation of vibration velocity that is based on the distance between the slot-drilling and the epicenter of blasting and the analysis of appropriate effective dimension of slot-drilling width and height to control blasting vibration. This study shows that effect of vibration reduction decreases when distance of the slot-drilling and the epicenter of blasting is getting larger and also reveals that there is a correlation between the slot size and the vibration velocity at any point.

• Proceedings of the KIEE Conference
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• 1999.07g
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• pp.2962-2964
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• 1999

We know the traffic information about the velocity and position of vehicle by extraction and tracking vehicle from continuosly obtained road image of camera. The conventional method of vehicle detection indicate increment of error due to headlight and taillight in night road image. This paper show such as vehicle detection of binary, Edge detection. amalgamation of image are applied to extract the vehicle, and Kalman filter is adaptive methods for tracking position and velocity of vehicle.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.8
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• pp.3360-3365
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• 2011

This paper deals with method to measure the user's driving-will force and to control the power-assisted wheelchair. To solve this problem, we extract the user's driving-will by using the mathematical motor model. And then, we get the linear and angular velocity at the center of the vehicle. Wheel velocities are also measured from center velocity. Finally, power-assisted electric wheelchairs are controlled by these data. Here all processes are verified by simulation.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.11 no.3
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• pp.93-101
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• 2002

The effect of nonlinear friction in the low velocity is dominant in precise controlled mechanisms and it is difficult to identify the friction effect. The friction model which Canudas suggested so called, LuGre model is well expressed the friction effect as Streibeck in the law velocity. But it\`s model parameters were estimated continuously in operation for precise control. This paper suggests the sliding mode controller and observer for compensating the friction effect. Experimental results for a ball-screw system show that the proposed method has a good performance especially in the low velocity.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.9
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• pp.520-525
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• 2003

A robust controller for large space structures(LSS) is studied from passivity point of view. While velocity sensors are commonly used for proportional-derivative (PD) control law to stabilize large space structures, if the structure can be controlled without velocity measurements, it is desirable against the failure of velocity sensors and for the cost reduction of the sensing system. In a recent result a dynamic output feedback control law has been provided using only displacement measurements. This paper presents a passivity-based controller design method and provides an alternative stability analysis tool for the previous displacement feedback robust control law. The closed-loop system can be viewed as a feedback interconnection of a passivated large space structure (LSS) and a strictly positive real (SPR) system.