• Journal of Institute of Control, Robotics and Systems
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• v.21 no.8
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• pp.758-765
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• 2015

This paper proposes an attitude control system to keep the balance for a two-wheeled mobile manipulator which consists of a mobile platform and a three D.O.F. manipulator. In the conventional control scheme, complicated dynamics of the manipulator need to be derived for balancing control of a mobile manipulator. The method proposed in this paper, however, three links are considered as one body of mass and the dynamics are derived easily by using an inverted pendulum model. One of the best advantage of a sliding mode controller is low sensitivity to plant parameter variations and disturbances, which eliminates the necessity of exact modeling to control the system. Therefore the sliding mode control algorithm has been adopted in this research for the attitude control of mobile platform along the pitch axis. The center of gravity for the whole mobile manipulator is changing depending on the motion of the manipulator. And the orientation variation of center of gravity is used as reference input for the sliding mode controller of the pitch axis to maintain the center of gravity in the middle of robot to keep the balance for the robot. To confirm the performance of controller, MATLAB Simulink has been used and the resulting algorithms are applied to a real robot to demonstrate the superiority of the proposed attitude control.

• International Journal of Computer Science & Network Security
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• v.23 no.1
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• pp.169-186
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• 2023

The research aimed to identify the effectiveness of an educational program using 3D glasses as a technological innovation on academic achievement and attitude towards elearning in science in the preparatory stage. The research relied on the analytical descriptive approach and the semi-experimental approach. The research tools were the achievement test and the scale of attitude towards e-learning. An educational program was designed and produced using 3D glasses. The study sample consisted of 60 students from the second grade in the preparatory stage at the Rural Jeddah School. The research concluded to the following results: There was a satistically sigificant difference at the level of sig. (0.05) among the -mean scores of the experiemtal and control group students in the post assessment atthe level of achievement in favor of the experiemental group and therewas a satistically sigificant difference at the level of sig. (0.05) among mean scores of the experiemtal and control group students in the post assessment at the level of attitude towards e-learning in favor of the experiemental group. And it was found that the positive effect of the 3D educational program for improving the level of achievement and the attitude towards e-learning for the students. The program allowed the experimental group students to practice self-learning, interaction, and achievement according to the individual differences among them.

• The Journal of Information Systems
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• v.5
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• pp.345-371
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• 1996

Previous studies on user training have largely focused on assessing models which describe the determinants of information technology usage or examined the effects of training on user satisfaction, productivity, performance, and so on. Scant research efforts have been made, however, to examine those effects of training by using theoretical models. This study presented a conceptual models to predict intention to use information technology and conducted an experiment to understand how training for computer skill acquisition affects primary variables of the model. The data were obtained from 32 student subjects of an experimental group and 31 students of a control group, and the information technology employed for this study was a university electronic mail system. The study results revealed that attitude toward usage and perceived behavioral control helped to predict user intentions ;; outcome expectations were positively related to attitude toward usage ; and self-efficacy was positively related to perceived behavioral control. The hands-on training for the experimental group led to increases in perceived ease of use, self-efficacy and perceived behavioral control. The changes in those variables suggest more causal effects of user training than other survey studies.

• Proceedings of the Korea Society for Industrial Systems Conference
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• 1996.10a
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• pp.29-48
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• 1996

Previous studies on user training have largely focused on assessing models which describe the determinants of information technology usage or examined theeffects of training, on user satisfaction, productivity, performance and so on. Scant research efforts have been made, however, to examine those effects of training by using theoretical models. This study presented a conceptural model to predict intention to use information technology and conducted an experimentto understand how training for computer skill acquisition affects primary variables of the model. The data were obtained from 32 student subjects of an experimental group and 31 students of a control group, and the information technology employed for this study was a university's electronic mail system. The study results revealed that attitude toward usage and perceived behavioral control helped to predict user intentions ; outcome expectations were positively related to attitude toward usage ; and self-efficacy was positively related to perceived behavioral control. Thd hands-on training for the experimental group led to increases in perceived ease of use, self-efficacy and perceived behaviroal control. The changes in those variables suggest more causal effects of user training than other survey studies.

• Journal of Mechanical Science and Technology
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• v.19 no.8
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• pp.1529-1543
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• 2005

Recently an unmanned aerial vehicle (UAV) has been widely used for military and civil applications. The role of a navigation system in the UAV is to provide navigation data to the flight control computer (FCC) for guidance and control. Since performance of the FCC is highly reliant on the navigation data, a fault in the navigation system may lead to a disastrous failure of the whole UAV. Therefore, the navigation system should possess a fault detection and isolation (FDI) algorithm. This paper proposes an attitude determination GPS/INS integrated navigation system with an FDI algorithm for a UAV. Hardware for the proposed navigation system has been developed. The developed hardware comprises a commercial inertial measurement unit (IMU) and the integrated navigation package (INP) which includes an attitude determination GPS (ADGPS) receiver and a navigation computer unit (NCU). The navigation algorithm was implemented in a real-time operating system with a multi-tasking structure. To evaluate performance of the proposed navigation system, a flight test has been performed using a small aircraft. The test results show that the proposed navigation system can give accurate navigation results even in a high dynamic environment.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.7
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• pp.703-710
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• 2007

This paper presents an attitude determination scheme for the Science and Technology Satellite-2(STSAT-2) using Fine Digital Sun Sensor(FDSS). The FDSS has been developed for STSAT-2, and exhibits the accuracy of 0.032degree in $1{\sigma}$. To be specific, the attitude information from the sensor is exploited to compensate for Fiber Optic Gyro(FOG) mounted on STSAT-2, and Kalman filter model is derived and implemented. To show the effectiveness of the present compensation scheme, computer simulations have been carried out resulting in the attitude errors within a bound.

• Journal of The Korean Association For Science Education
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• v.18 no.3
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• pp.303-312
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• 1998

In this study, the multimedia CAl program for chemical equilibrium in high school grade 3 was developed and the effect of CAl on achievement and attitude toward chemistry instruction and computer was investigated. Before instruction, the test of attitudes toward chemistry instruction and computer were administered, and the grade in the mid-term examination was obtained. These scores were used as covariates. Mid-term science score was used as blocking variable. For chemical equilibrium instruction, traditional and computer assisted instruction were used. After instruction, the achievement test and the test of attitudes toward science instruction and computer were administered. The results indicated that students in the treatment group achieved significantly better than those in the control group, but did not show improvement of attitude to chemistry instruction and computer compared to those in the control group. No significant interaction between the treatment and the level of students' prior achievement was found. Female achieved significantly better under CAl than under traditional instruction. In two subtests(understanding and application), treatment group achieved better in the subtest of application than control group. CAl had an effect on chemical equilibrium state (about reversibility) significantly. While female of the treatment group did not show more positive attitude toward both chemistry instruction and computer significantly than that of the control group, male showed more positive attitude significantly. Educational implications are discussed.

• Proceedings of the Korea Association of Information Systems Conference
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• 1996.11a
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• pp.29-48
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• 1996

Previous studies on user training have largely focused on assessing models which describe the determinants of information technology usage or examined the effects of training on user satisfaction, productivity, performance, and so on. Scant research efforts have been made, however, to examine those effects of training by using theoretical models. This study presented a conceptual model to predict intention to use information technology and conducted an experiment to understand how training for computer skill acquisition affects primary variables of the model. The data were obtained from 32 student subjects of an experimental group and 31 students of a control group, and the information technology employed for this study was a university's electronic mail system. The study results revealed that attitude toward usage and perceived behavioral control helped to predict user intentions; outcome expectations were positively related to attitude toward usage; and self - efficacy and perceived behavioral control. The changes in those variables suggest more causal effects of user training than other survey studies.

• Journal of Aerospace System Engineering
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• v.2 no.1
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• pp.17-21
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• 2008

A compact, light-weight, integrated flight control computer(IFCC) for small unmanned autonomous vehicles is developed. Its design objective is to produce an all in one avionics system which includes the navigation sensor, data link, attitude sensors and air data sensors. The initial phase of ground and flight tests are performed to verify the prototype IFCC, showing promising results. The high potential of its application is expected.

• Journal of IKEEE
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• v.18 no.3
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• pp.376-382
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• 2014

In this paper, we propose a advanced attitude PID controller and sensor fusion method robust to the vibration of the quadcopter unmanned air vehicle using four BLDC motors. When the gyro sensor and acceleration sensor are fused, a complementary filter is designed to ignore the vibrations generated by the motors and to complement the drawbacks. As a result, we obtain accurate results than using each sensor. Also, it is possible to obtain a low delay results in robust to vibration than the low-pass filter or moving average filter, which is generally used for quadcopter. And we improved D controller, which have being used for attitude control of quadcopter, to quadcopter using gyro sensor. it was confirmed that the attitude is stabilized and error is reduced By using gyro sensor output instead of variation of estimated angle in D control.