• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.948-951
• /
• 1996

High-speed/high-accuracy control of robot manipulator becomes more and more stringent because of the external disturbance and nonlinear characteristics. To meet this ends, lots of control strategies were proposed in the past such as the computed torque control, the nonlinear decoupled feedback control, and adaptive control. These control methods need computations of the inverse dynamics and require much computational effort. Recently, a disturbance observer with unmodeled robot dynamics and simple algorithms to motion control have been widely studied. This paper proposes a motor control strategy based on the disturbance observer which estimate the disturbance of each joint from input-output relationship of the actuator and eliminate the estimated disturbance including the torque due to modeling errors, coupling force, nonlinear friction, and so on. To apply the disturbance observer to closedloop system like velocity servo pack, the modified control structure was constructed and shown that it is equivalent to a disturbance observer in open-loop system. Finally, using the proposed approach, simulation and experiments were carried out for a two-degree-of-freedom SCARA type direct drive robot, and show some results to verify the effectiveness of the proposed algorithms.

• Journal of Drive and Control
• /
• v.16 no.4
• /
• pp.56-64
• /
• 2019

Recently, as the environmental regulation for earth moving equipment has been tightened, advanced systems using electronic control have been introduced for energy savings. An IMV(Independent Metering Valve), which consists of four 2-way valves, is one of the electro-hydraulic control systems that provides more flexible controllability and potential for energy savings in excavators, when compared to the conventional 4-way spool valve system. To fully realize an IMV, a two-stage bi-directional flow control valve which can regulate the large amount of flow in both directions, should be developed in advance. A simple design that allows proportional flow control to apply the pilot pressure from the current-controlled solenoid to the spring loaded flow control spool and thus valve displacement, is proportional to the solenoid current. However, this open-loop type valve is vulnerable to flow force which directly affects the valve displacement. Force feedback servo of which the position loop is closed by the feedback spring which interconnects the solenoid valve and flow control spool, could compensate for the flow force. In this study, linearity for the solenoid current input and robustness against load pressure disturbance is investigated by linear analysis of the static nonlinear equations for the IMV proportional flow control valve with feedback spring. Gains of the linear system confirm the performance improvement with the feedback spring design.

• JSTS:Journal of Semiconductor Technology and Science
• /
• v.14 no.4
• /
• pp.391-406
• /
• 2014

The performance of General-Purpose computation on Graphics Processing Units (GPGPU) is heavily dependent on the memory access behavior. This sensitivity is due to a combination of the underlying Massively Parallel Processing (MPP) execution model present on GPUs and the lack of architectural support to handle irregular memory access patterns. Application performance can be significantly improved by applying memory-access-pattern-aware optimizations that can exploit knowledge of the characteristics of each access pattern. In this paper, we present an algorithmic methodology to semi-automatically find the best mapping of memory accesses present in serial loop nest to underlying data-parallel architectures based on a comprehensive static memory access pattern analysis. To that end we present a simple, yet powerful, mathematical model that captures all memory access pattern information present in serial data-parallel loop nests. We then show how this model is used in practice to select the most appropriate memory space for data and to search for an appropriate thread mapping and work group size from a large design space. To evaluate the effectiveness of our methodology, we report on execution speedup using selected benchmark kernels that cover a wide range of memory access patterns commonly found in GPGPU workloads. Our experimental results are reported using the industry standard heterogeneous programming language, OpenCL, targeting the NVIDIA GT200 architecture.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.28 no.3
• /
• pp.441-450
• /
• 2022

The introduction of autonomous underwater gliders (AUGs) specifically addresses the reduction of operational costs that were previously prohibited with conventional autonomous underwater vehicles (AUVs) using a "scaling-down" design philosophy by utilizing the characteristics of autonomous drifters to far extend operation duration and coverage. Long-duration, wide-area missions raise the cost and complexity of in-water testing for novel approaches to autonomous mission planning. As a result, a simulator that supports the rapid design, development, and testing of autonomy solutions across a wide range using software-in-the-loop simulation at faster-than-real-time speeds becomes critical. This paper describes a faster-than-real-time AUG simulator that can support high-resolution bathymetry for a wide variety of ocean environments, including ocean currents, various sensors, and vehicle dynamics. On top of the de facto standard ROS-Gazebo framework and open-sourced underwater vehicle simulation packages, features specific to AUGs for ocean mapping are developed. For vehicle dynamics, the next-generation hybrid autonomous underwater gliders (Hybrid-AUGs) operate with both the buoyancy engine and the thrusters to improve navigation for bathymetry mappings, e.g., line trajectory, are is implemented since because it can also describe conventional AUGs without the thrusters. The simulation results are validated with experiments while operating at 120 times faster than the real-time.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.4 no.4
• /
• pp.87-96
• /
• 1996

The proportional pressure control valve(PCV) is an essential component in the open loop controlled rear wheel steering gear of the four wheel steering(4WS) system on the passenger car. The valve should have versatile functions and higher performance. But, it is hard to find the proportional pressure control valve suitable for the 4WS system. In this paper, the determination of the valve parameters was studied by the stability discrimination and the characteristic analysis for the purpose of the development of a new PCV for the 4WS. The mathematical model of the valve was derived from the valve-cylinder system and the programme for numerical computation was developed. The transfer function of the system was obtained from the mathematical model. The characteristics of the valve were inspected through the experiment and compared to those obtained by numerical method. And then the stability discrimination of the system was done by root locus and the analysis of characteristics was done by the developed programme. From the experiment and the analysis of characteristics was done by the developed programme. From the experiment and the inspection, the appropriation of mathematical model and the usefulness of the programme were confirmed. And the parameters which might affect the performance of the valve can be determined by considering the stability discrimination, the characteristics analysis and required functions.

• Journal of the Korean Society for Geothermal and Hydrothermal Energy
• /
• v.10 no.2
• /
• pp.13-18
• /
• 2014

This paper proposes an optimum pipe material (PVC vs. PE) design & selection for open loop ground heat exchangers. Heat exchange efficiency and/or workability, and the need for trench insulation were investigated by comparing EWT (cooling mode) of each system. CFD simulations for the PVC and PE pipe with the same inner diameter show similar EWT. This is because the PVC pipe has a small thickness but a low thermal conductivity as compared to the PE pipe, and thus these two properties tend to offset each other. However, a hypothetically insulated pipe led to a meaningful drop of EWT. This means pipe insulation is of importance in performance of ground heat exchangers. From analyzing climate data and system operation, it is not advantageous to insulate trench pipes due to construction difficulties and ground temperature characteristics that are seasonally varied.

• KSCE Journal of Civil and Environmental Engineering Research
• /
• v.29 no.1B
• /
• pp.1-9
• /
• 2009

This study is focused on the analysis of loop characteristics of stage-discharge relation which is widely used for the production of discharge data and the simulation of loop stage-discharge relation using the numerical model. Analysis of consecutive stage and discharge data at 3 points revealed that loop of stage-discharge relationship is very strong. This means that the existing single stage-discharge relation may include large amount of error. Various flood events are simulated in mainstream of Han river with one-dimensional numerical model. The calculated stage data are compared with measured data. Especially continuous field-flow measurements concurrently collected with an Acoustic Doppler Velocity Meter (ADVM) on Hangang bridge in the case of 2007 flood event are used to verify the model applicability of estimating flows in open channels. This comparison shows that numerical model is an accurate and reliable alternative for making the real stage-discharge relation. Simulation of stage-discharge relation by a numerical model at Paldang and Hangang bridge showed good agreements with measured one, so it may be possible to generate real loop stage-discharge relation with properly calibrated and verified numerical model. It can be concluded that results of this study can contribute to error analysis of conventional single stage-discharge relation and development of loop stage-discharge relation with numerical model.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.36 no.1
• /
• pp.12-24
• /
• 2000

The electro-hydraulic servo winch system built in a automatic tension control equipment was designed with a latent need for an advanced system in fishing operations of the inshore and coastal fishing vessels. In order to keep the constant tension condition of warp under loading, a tension control circuit was added to the servo winch system.The dynamic performance in the open loop behaviour of the designed winch system was investigated and its applicability was tested for various possibilities of load using a load generator especially developed in order to this study.The mechanical characteristics of this system is different from that of a conventional type, that is, the tension, length, line speed and drum revolution can be automatically controlled by the information from various sensors, such as torque, rpm and pressure transducers. from the experiment results, it was verified that the servo winch system has very good output and tracking behaviour for the control input signals in different operating conditions though overshoot of out 8% in the transient characteristics of torque under the load though a overshoot of about 8% in the transient characteristics of torque under the load condition can be observed when the opening of servo valve, adjustable by the input voltage between - 10 V up to 10 V, changed suddenly.Consequently, the improved fishing winch system can be effectively used as the automatic shooting and hauling equipment of low cost for small inshore and coastal fishing vessels which engage in net fishing.

• Proceedings of the KIEE Conference
• /
• 2001.10a
• /
• pp.91-93
• /
• 2001

Linear pulse Motors(LPM) are widely used in fields where smooth linear motion is required, and their position accuracy is higher than other motors. Hybrid linear pulse motors(HLPM) are regarded as an excellent solution to positioning problems that require high accuracy, rapid acceleration and high-speed. The LPM has low mechanical complexity, high reliability, precise open-loop operation and low inertia etc. In many application areas such as factory automation speed positioning, computer peripherals and numerically controlled machine tools, LPM can be used. This motor drive system is especially suitable for machine tools the high position accuracy and repeatability. This paper describes about that need of the embroider machine, we want to design position-scanning device for the embroidery machine. At first, to be analysed characteristics of the machine and next designed the LPM, we used the field analysis program. The finite element method(FEM) program tool is employed for calculation the force. The reluctance models will be used the magnetic permeance of air gap by static-conditions. The forces between forcer and platen have been calculated using the virtual work method. And we used the simulink to know the dynamic characteristics of LPM.

• Journal of IKEEE
• /
• v.27 no.4
• /
• pp.386-390
• /
• 2023

In this study, we examined the quasi-nonvolatile memory characteristics of silicon nanosheet (SiNS) feedback field-effect transistors (FBFETs) fabricated using a complementary metal-oxide-semiconductor process. The SiNS channel layers fabricated by photoresist overexposure method had a width of approximately 180 nm and a height of 70 nm. The SiNS FBFETs operated in a positive feedback loop mechanism and exhibited an extremely low subthreshold swing of 1.1 mV/dec and a high ON/OFF current ratio of 2.4×10⁷. Moreover, SiNS FBFETs represented long retention time of 50 seconds, indicating the quasi-nonvolatile memory characteristics.