• International Journal of Naval Architecture and Ocean Engineering
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• v.13 no.1
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• pp.758-771
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• 2021

This paper presents a novel control scheme for the three-dimensional (3D) path following of underactuated Autonomous Underwater Vehicle (AUVs) subject to unknown internal and external disturbances, in term of the time scale decomposition method. As illustration, two-time scale motions are first artificially forced into the closed-loop control system, by appropriately selecting the control gain of the integrator. Using the singular perturbation theory, the integrator is considered as a fast dynamical control law that designed to shape the space configuration of fast variable. And then the stabilizing controller is designed in the reduced model independently, based on the time scale decomposition method, leading to a relatively simple control law. The stability of the resultant closed-loop system is demonstrated by constructing a composite Lyapunov function. Finally, simulation results are provided to prove the efficacy of the proposed controller for path following of underactuated AUVs under internal and external disturbances.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.3
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• pp.265-272
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• 2009

In this paper, a simple optical method that uses an infrared(IR) cut filter is proposed to minimize variation of eye image by external infrared(IR) sources in a video based head mounted eye tracking system that is used in the field of sports. For this, the IR cut filter is attached to a head mount of the eye tracking system, and the camera with an IR LED is located between the IR cut filter and eye. In this structure, external IR is blocked by the IR cut filter, and the IR intensity on the eye can be controlled by the IR LED. Therefore, the illumination condition of the camera to capture the eye can be stable without being affected by external IR illuminations. To verify the proposed idea, variation of the eye image and intensity of the IR with/without the IR cut filter is measured under various illumination conditions. The measured data show that the IR cut filter method can block external IR effectively, and complex pupil detection algorithms can be replaced by a simple binarized method.

• Journal of Powder Materials
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• v.10 no.5
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• pp.349-352
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• 2003

This study examined the correlation of various operational factors including reaction temperature and the quantity of reductant and diluent with the characteristics of powder using $K_2$ TaF$_{7}$ as feed materials, Na as a reductant and KCl/KF as a diluent. Also to control the particle size and shape, external supply system developed, it can provide a feed material and a reductant at a fixed quantity and evaluated the characteristics of tantalum powder. When the external supply system was applied instead of the batch type process that charges feed material, reductant and diluent at the same time, it was possible to induce regular reduction reaction between feed material and reductant, which increased the recovery rate and reduced the mixture of impurities. In particular, the application of the external supply system enabled the control of reaction temperature and reaction speed according to the feeding rate of feed material during reduced reaction, and resultantly it enabled the manufacturing of granular-shaped powder with a regular granularity of 2∼3 ${\mu}{\textrm}{m}$ and purity of 99.5%.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.81-81
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• 2000

We use camera to apply human vision system in measurement. To do that, we need to know about camera parameters. The camera parameters are consisted of internal parameters and external parameters. we can fix scale factor&focal length in internal parameters, we can acquire external parameters. And we want to use these parameters in automatically driven vehicle by using camera. When we observe an camera parameters in respect with that the external parameters are important parameters. We can acquire external parameter as fixing focal length&scale factor. To get lane coordinate in image, we propose a lane detection filter. After searching lanes, we can seek vanishing point. And then y-axis seek y-sxis rotation component(${\beta}$). By using these parameter, we can find x-axis translation component(Xo). Before we make stepping motor rotate to be y-axis rotation component(${\beta}$), '0', we estimate image coordinates of lane at (t+1). Using this point, we apply this system to Kalman filter. And then we calculate to new parameters whick make minimum error.

• Journal of Korean Association for Spatial Structures
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• v.15 no.1
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• pp.57-64
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• 2015

This paper shows the test results of continuous reinforced concrete beams with external post-tensioning rods. Six three-span beams were prepared and tested to fail. Three beams were designed to have flexure-dominating behavior and the others to have shear-critical behavior. In each group, one beam without external post-tensioning rods was designated as a control beam and two beams had the external post-tensioning rods of 18 mm or 22 mm diameter. External post-tensioning rods were installed within an interior span of 6000 mm. They show V-shaped configuration because two anchorages were located at the top of interior supports and a saddle pin at mid-span was installed at the bottom of the beam. Test results show that the load and shear capacities of strengthened beams were increased when compared with the control beam. Additionally, the measured shear strength was compared with the strength predicted by ACI 318-11 code equations. The detailed ACI 318-11 equation predicted the measured shear strength and failure location of the continuous beam reasonably well.

• The Journal of Korea Robotics Society
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• v.14 no.2
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• pp.131-138
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• 2019

In this study, we developed an FSEA(Force-sensing Series Elastic Actuator) composed of a spring and an actuator has been developed to compensate for external disturbance forced. The FSEA has a simple structure in which the spring and the actuator are connected in series, and the external force can be easily measured through the displacement of the spring. And the characteristic of the spring absorbs the shock to the small disturbance and increases the sense of stability. It is designed and constructed to control the stiffness of such springs more flexibly according to the situation. The conventional FSEA uses a fixed stiffness spring and the actuator is not compensated properly when it receives large or small external force. Through this experiment, it is confirmed that FSEA compensates the external force through the proposed algorithm that the variable stiffness compensates well for large and small external forces.

• The Journal of Korean Physical Therapy
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• v.17 no.3
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• pp.311-327
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• 2005

The purpose of this study was to investigate the effects of diaphragmatic breathing on activation of trunk muscles of patients with low back pain. Diaphragmatic breathing may affect activation of trunk muscles. The assumptions are as follows: the crural diaphragm attatches to the lumbar vertebrae from L1 to L3, the voluntary downward pressurization of the diaphragm increases intra-abdominal pressure, and this increases the stiffness of the spine. Diaphragmatic breathing increases intra-abdominal pressure and the increased intra-abdominal pressure may contribute to the lumbar stability. Sixty patients with low back pain were randomly divided into two groups. Experimental group performed diaphragmatic breathing exercise with six breathing positions and control group performed only the breathing positions for five times per week during six weeks. % maximal voluntary contraction(% MVC) of trunk muscles on six breathing positions of experimental and control group was measured according to testing period of pre test, three weeks, and six weeks. The repeated measures of one-way ANOVA were used to analyze % MVC on trunk muscles of experimental and control group according to testing period. The results of this study were as follows: First, % MVC of right and left erector spinae in the right leg extension position indicated the statistically significant difference in experimental group which performed diaphragmatic breathing exercise rather than control group (p<0.05). Second, % MVC of right and left erector spinae in all-four positions indicated the statistically significant difference in experimental group which performed diaphragmatic breathing exercise rather than control group (p<0.05). Third, % MVC of right and left erector spinae, external oblique in the sitting position indicated the statistically significant difference in experimental group which performed diaphragmatic breathing exercise rather than control group (p<0.05). Fourth, % MVC of right and left erector spinae, external oblique in the standing position indicated the statistically significant difference in experimental group which performed diaphragmatic breathing exercise rather than control group (p<0.05). Fifth, % MVC of right and left erector spinae, external oblique in the supine position indicated the statistically significant difference in experimental group which performed diaphragmatic breathing exercise rather than control group (p<0.05). Sixth, % MVC of right and left erector spinae, external oblique in the lying on prone position indicated the statistically significant difference in experimental group which performed diaphragmatic breathing exercise rather than control group (p<0.05). In conclusion, as experimental group performed diaphragmatic breathing exercise according to the period of pre-test, post three weeks, and post six weeks, experimental group showed the greater significant effect on the activation of right, left erector spinae, and external oblique muscle. Diaphragmatic breathing exercise which resulted in activation of trunk muscles can be effective for managing the patients with back pain and should be utilized as the new therapeutic intervention.

• Journal of Power System Engineering
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• v.17 no.3
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• pp.82-88
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• 2013

For commercialized servo drives of the motion stage to include embedded controller, external terminal is provided for tracking command and encoder output, but internal terminal is not for control input. Thus, it is difficult to combine out signal of embedded controller with that of external compensator such as disturbance observer. In this study, for precise tracking control of motion stage without hardware change of the servo drive, tacking control system is composed of an inner loop of servo drive and an outer loop of disturbance observer. Then, the control system is designed so that the output response of actual plant corresponds with nominal model's in transient state as well as in steady state. Finally, the experiment results show that the designed control system is effective to reconcile actual plant behavior with nominal model under nonlinear friction and parameter perturbation.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.2
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• pp.106-110
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• 2001

The external force disturbance is the one of the main causes that deteriorate the performance of the magnetic suspension. Thus, this paper develops a fuzzy estimator for gain scheduling control of magnetic suspension system suffering from the unknown disturbance. The propose fuzzy estimator computes the disturbance injected to the plant the gain scheduled controller generates the corresponding stabilizing control input associated with estimated disturbance. In the simulation results we confirm the novelty of the proposed control scheme comparing with the other method using a feedback linearization.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.8
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• pp.86-93
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• 2003

The development of a fast, accurate, and inexpensive position-controlled pneumatic actuator that may be applied to a variety of practical positioning applications with various external loads is described in this paper. A novel modified pulse width modulation (MPWM) valve pulsing algorithm allows on/off solenoid valves to be used in place of costly servo valves. A comparison between the system response of standard PWM technique and that of the novel modified PWM technique shows that the control performance is significantly increased. A state feedback controller with position, velocity and acceleration feedback is successfully implemented as the continuous controller. Switching algorithm of control parameter using learning vector quantization neural network (LVQNN) is newly proposed, which estimates the external loads of the pneumatic actuator. The effectiveness of the proposed control algorithms are demonstrated through experiments with various loads.