• Title/Summary/Keyword: position control system

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A Study on the Construction of Coastal VTS in Mokpo Coastal Waters (목포연안에서의 연안VTS설치에 관한 연구)

  • Moon, Beom-Sik;Jong, Jae-Yong;Gug, Seung-Gi;Kim, Se-Won;Park, Jin-Soo
    • Journal of Navigation and Port Research
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    • v.26 no.3
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    • pp.261-268
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    • 2002
  • At recently, Oil spill accident of large size oiler that happen domestic and outside the country is occured to social impact us as well as economical damage in sea environment. Also, because spread extent of pollution accident is reaching harbor, bay and close water areas, as necessity that traffic control ships are sea place. VTS is changing to concept that control space is magnified gradually. Our country is operated to 14 harbors which is control center. But abroad is operating coastal VTS that do main waterway and coastals to authority dimension. Therefore, necessity that traffic density of ship manages high coastals and ship traffic of waterway to our country is risen. This paper is execute sea traffic survey at Mokop sea areas and sea casualty occurs. It proposal that coastal VTS center field of most suitable and position of radar site.

Timber Loading Productivity of Remote Controlled Forestry Equipment Through Image of Monitor (모니터 영상을 통한 원격제어 임업용 장비의 원목상차작업 생산성)

  • Choi, Yun-Sung;Cho, Min-Jae;Oh, Jae-Heun
    • Journal of the Korean Society of Industry Convergence
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    • v.24 no.3
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    • pp.363-371
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    • 2021
  • Forest operations like timber harvesting have already been mechanized to reduce hazards to the worker and increase productivity. However, timber harvesting operations have still been considered potentially dangerous and expensive on steep terrain. Teleoperation, to control the timber harvesting machine at a distance, has the potential to improve the safety, productivity and efficiency of harvesting operations on steep terrain. To verify the effects of teleoperation, an experimental prototype system of a monitor image-based teleoperation was constructed using a real forestry machine. In this study, the productivity of excavator based grapple loader, which is one of the most used mechanized harvesting equipment in the timber production, was analyzed using time-study method. Factors like skill and age of operators, influencing loader productivity in timber loading operation were also evaluated by statistical analysis. Productivity analysis results showed that less experienced operators were more productive than experienced operators for teleoperation through image of monitors in the operator cabin. These results are shown to be unfamiliar to the monitor image and different loading operation pattern by operators. According to the results, the monitor image-based teleoperation system of forestry machine need to improve the resolution and installation position of camera. It was expected that additional studies will be needed for real-time remote control of forestry machine in the future.

Square Wave Voltage Injection Starting Method of SP-PMSM Considering Nonlinearity of Full-bridge Inverter (풀 브릿지 인버터의 비선형성을 고려한 단상 영구자석 동기 전동기의 구형파 전압 주입 기동 기법)

  • Yoo, Sang-Min;Hwang, Seon-Hwan;Lee, Ki-Chang
    • Journal of Aerospace System Engineering
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    • v.16 no.3
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    • pp.93-98
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    • 2022
  • The purpose of this paper was to propose a method for improving the performance of the open-loop control of single-phase permanent magnet synchronous motor (SP-PMSM), based on a square wave voltage injection. Generally, the SP-PMSM driving systems cmprise a full-bridge inverter and asymmetric air-gap structure of magnetic circuit, because a zero torque occurs on the symmetrical air-gap. As a result, it cannot be started at a specific rotor position. Thus, it is possible to cause the start-up failure at an open-loop control for sensorless operation of SP-PMSM. In this paper, the method with square wave voltage injection considering the nonlinearity of the inverter is presented to resolve the problem. The effectiveness of the proposed algorithm is verified through several experiments.

Study on Traveling Characteristics of Straight Automatic Steering Devices for Drivable Agricultural Machinery (승용형 농기계용 직진 자동조향장치 주행특성 연구)

  • Won, Jin-ho;Jeon, Jintack;Hong, Youngki;Yang, Changju;Kim, Kyoung-chul;Kwon, Kyung-do;Kim, Gookhwan
    • Journal of Drive and Control
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    • v.19 no.4
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    • pp.19-28
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    • 2022
  • This paper introduces an automatic steering system for straight traveling capable of being mounted on drivable agricultural machinery which user can handle it such as a tractor, a transplant, etc. The modular automatic steering device proposed in the paper is composed of RTK GNSS, IMU, HMI, hydraulic valve, and wheel sensor. The path generation method of the automatic steering system is obtained from two location information(latitude and longitude on each point) measured by GNSS in advance. From HMI, a straight path(AB line) can be created by connecting latitude and longitude on each point and the device makes the machine able to follow the path. During traveling along the reference path, it acquires the real time position data every sample time(0.1s), compares the reference with them and calculates the lateral deviation. The values of deviation are used to control the steering angle of the machine using hydraulic valve mounted on the axle of front wheel. In this paper, Pure Pursuit algorithm is applied used in autonomous vehicles frequently. For the analysis of traveling characteristics, field tests were executed about these conditions: velocity of 2, 3, 4km/h which is applied to general agricultural work and ground surface of solid(asphalt) and weak condition(soil) such as farmland. In the case of weak ground state, two experiments were executed about no-load(without work) and load(with work such as plowing). The maximum average deviations were presented 2.44cm, 7.32cm, and 11.34cm during traveling on three ground conditions : asphalt, soil without load and with load(plowing).

Distributors' Preference for the Flextime System (유통업체 종사자의 유동근무제에 대한 선호성향에 대한 연구)

  • Lee, Won-Haeng
    • Journal of Distribution Science
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    • v.10 no.4
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    • pp.13-20
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    • 2012
  • The "flextime" system, which was initially designed to maintain a balance between work and personal life, has recently received much attention as an alternative form of work, enabling employees to fully exert their creativity. Most studies show that the effects of flextime on performance, productivity, attitude toward the organization, absenteeism, and turnover differ between managerial and non-managerial workers. This suggests that workers' personal characteristics affect their preference for flextime by directly or indirectly influencing its result variables. As most Korean companies have not adopted the flextime system, little research has been conducted on it in Korea. Recently, Korean companies have been discussing flextime as one of several measures for enhancing international competitiveness. Therefore, this study aims to offer a theoretical framework for the introduction of the system by analyzing the effects of the precedent factors on the preference for flextime. Though not statistically significant, a higher preference for flextime is noted among workers over the age of 36. Older workers usually are more conservative and less adaptable to change but here the older Korean workers may be anxious and resistant. Additional research on workers in different types of businesses using improved research methods will lead to more meaningful results. Married workers display a lower preference to flextime than single workers. In Korea, the current atmosphere focused on a happy home encourages married workers to prefer regular work hours, enabling them to go to and from work on a regular schedule. This means that normal working hours, from morning to evening, are preferred as it is the most suitable system for families. However, this is not so in the case of single workers. Unmarried singles tend to prefer flextime for investing in self-development toward future prosperity, over the benefits of regular working-hours. Flextime is designed to meet their needs to some extent as it is helpful in maintaining a balance between work life and self-development. If flextime is selected, workers can spend mornings on self-development and work in the afternoons. Therefore, when flextime is introduced in Korea, it would be desirable to start with unmarried workers, to increase corporate creativity and productivity and develop individual potential. In particular, when the five-day workweek, the main concern for companies and labor unions, is adopted, synergy with flextime could be expected and a gradual implementation of flextime will be effective. Gender difference shows similar results to marital status with male workers displaying a higher preference for flextime. It is inferred that male workers' attitudes toward flextime are more favorable than female workers' because flextime enables self-development and work life to coexist. A relatively weak, though statistically significant, correlation exists between control position and flextime preference with inner-control-oriented workers displaying favorable attitudes toward flextime. Generally, inner-control-oriented workers tend to attribute the consequences caused by any person or partner relationship to themselves. Thus, when a new system is introduced they are likely to have less reluctance and fear than outer-control-oriented workers, because they think it is important to deal with the new system. A weak but slight correlation exists between the desire for achievement and flextime preference. People who have a higher desire for achievement are willing to consider the new system, especially if significant success is reasonably expected. This result is derived from a reasonable judgment that flextime offers an individual the time for self-development while the organization benefits from the resulting creativity and performance enhancements. Although not the primary analysis, a high correlation is found between control position and the desire for achievement, which is consistent with the results of previous research. The regression analysis not only supports the preceding ANOVA and correlation analysis but also shows the existence of a causal relationship. Married workers have a weak preference for flextime, which is consistent with the results of the preceding ANOVA. Relative to men, women have a weak preference for flextime. No statistically significant correlation was noticed for age. Inner-control-oriented workers prefer flextime more than outer-control-oriented workers as the former view the consequences of change to be their own responsibility. However, the preference for flextime seems to be weak. As expected, people with a higher desire for achievement have a stronger preference for flextime, presumably because the greater the desire for achievement, the stronger the spirit of challenging an uncertain future. No significant correlation exists between job satisfaction and flextime preference.

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Evaluation of Waterway Dredging Work using Spud Control System (스퍼드제어시스템을 이용한 항로준설작업의 평가)

  • Lee, Joong-Woo;Jeong, Dae-Deuk;Cho, Jueng-Eon;Oh, Dong-Hoon;Keum, Dong-Ho
    • Proceedings of the Korean Institute of Navigation and Port Research Conference
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    • v.29 no.1
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    • pp.263-271
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    • 2005
  • The most important point when we engage on waterway dredging work is supplying safe navigational passage to the vessels underway by narrowing dredge work area and removing submerged dangers. In order to meet this end it is neccessary to use auxiliary equipment for shifting actively and mooring and adopt automation of dredging work by integrating information on real time position, dredging depth, and work information. The danger with a spud control system in this study, by the way, is able to employed on continuous dredging work with the narrowest working area allowing wide and safe passages to vessels underway, by moving the dredger to the working zone with the spud controlled automatically. Furthermore, it has been improved definitely compared with the existing dredging proccess management system such that it shows the track of spud and working depth on the electronic navigation chart of window, together with the final outcome of dredging work. The test dredging work at the entrance of Busan North Port for system evaluation showed that actual working time available was twice of the one by the existing anchor system, and that it reduced 38% of time for preparation work and one man power.

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A Study of GDI+MPI Engine Operation Strategy Focusing on Fuel Economy and Full Load Performance using DOE (실험계획법에 의한 가솔린 GDI+MPI 엔진의 연비 및 성능향상 관점에서의 운전영역별 연료분사 전략에 관한 연구)

  • Kim, Dowan;Lee, Sunghwan;Lim, Jongsuk
    • Transactions of the Korean Society of Automotive Engineers
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    • v.22 no.3
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    • pp.42-49
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    • 2014
  • The gasoline direct injection (GDI) system is considerably spreading in automotive market due to its advantages. Nevertheless, since GDI system emit higher particle matter (PM) due to its combustion characteristics, it is difficult to meet strengthened emission regulation in near future. For this reason, a combined GDI with MPI system, so-called, dual injection (DUI) system is being investigated as a supplemental measure for the GDI system. This paper focused on power and fuel consumption effect by injection mode strategy of DUI system in part load and idle engine operating condition. In this study, port fuel injectors are installed on 2.4 liters GDI production engine in order to realize DUI system. And, at each injection mode, DOE (design of experiment) method is used to optimize engine control parameters such as dual injection ratio, start of injection timing, end of injection timing, CAM position and so on. As a consequence, DUI mode shows slightly better or equivalent fuel efficiency compared to conventional GDI engine on 9 points fuel economy mode as well as MPI mode shows less fuel consumption than GDI mode during idle operation. Furthermore, DUI system shows improvement potential of maximum 2.0% fuel consumption and 1.1% performance compared to GDI system in WOT operating condition.

Speed Sensorless Vector Control of Wound Induction Motor Using a MRAS Method (MRAS 기법을 이용한 권선형 유도전동기의 속도센서리스 벡터제어)

  • Choi, Hyun-Sik;Lee, Jae-Hak;Um, Tae-Wook
    • Journal of the Institute of Electronics Engineers of Korea TE
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    • v.42 no.1
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    • pp.29-34
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    • 2005
  • The wound induction motor can provide high starting torque and reduced starting current simultaneously by inserting large resistor externally when starting. And this technique is one of the well known methods among the induction motor starting methods and generally used for heavy load starting such as crane and cement factories. The conventional PI controller has been widely used in industrial application due to the simple control algorithm and is generally used for control of current torque, position, and speed for the wound induction motor drive system. However, the conventional control system for wound induction motor may result in poor performance because sensors have to be used but are often limited by the environmental condition. Recently, to overcome these problems, many sensorless vector control methods for the wound induction motor have been studied. This paper presents a MRAS method for sensorless vector control of the wound induction motor drive. In the conventional MRAS method, in low frequency, the stator resistance variation may result in poor performance. Therefore, this paper presents a MRAS method with stator and rotor resistance tuning for sensorless vector control of the wound induction motor to overcome several shortages of the conventional MRAS caused by parameter variation and to enhance the robustness of the sensorless vector control. The validity and effectiveness of the proposed method is verified through digital simulation.

Line Tracking Method of AGV using Sensor Fusion (센서융합을 이용한 AGV의 라인 트레킹 방법)

  • Jung, Kyung-Hoon;Kim, Jung-Min;Park, Jung-Je;Kim, Sung-Shin;Bae, Sun-Il
    • Journal of the Korean Institute of Intelligent Systems
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    • v.20 no.1
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    • pp.54-59
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    • 2010
  • This paper present to study the guidance system as localization technique using sensor fusion and line tracking technique using virtual line for AGV(autonomous guided vehicle). An existing AGV could drive on decided line only. And representative guidance systems of such guidance system are magnet-gyro guidance and wired guidance. However, those have had the high cost of installation and maintenance, and the difficulty of system change according to variation of working environment. To solve such problems, we make the localization system which is fused with a laser navigation and gyro, encoder. The system is robust against noise, and flexible according to working environment through sensor fusion. For line tracking of laser navigation without wire guidance, we set the virtual line in program, and design the driving controller based on difference of angle and distance between AGV's position and decided virtual line. To experiment, we use the AGV which is made by ourselves, and experiment the line tracking repeatedly on same experimental environment. In result, maximum distance error between decided virtual line and AGV's position was less than 49.93mm, and we verified that the proposed system is efficient for line tracking of actual AGV.

Effect of Partial Weight Supported Treadmill Training on Balance, Dysfunction and Pain in Patients With Chronic Low Back Pain (부분적 체중부하를 통한 트레드밀 훈련이 만성요통환자의 균형능력과 기능장애, 통증에 미치는 영향)

  • Kim, Dae-hyun;Kim, Suhn-yeop
    • Physical Therapy Korea
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    • v.23 no.1
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    • pp.1-10
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    • 2016
  • Background: Patients with chronic low back pain (CLBP) functionally adapt to decreased postural control due to impaired processing of sensory information. Standing postural control has been the focus of recent research in CLBP. Change in postural control may be a risk factor for CLBP, although available studies are not conclusive. Objects: This study aimed to identify the role of partial weight supported treadmill training (PWSTT) in improving balance, dysfunction, and pain in patients with chronic low back pain. Methods: The study included 22 patients with CLBP. Patients in the control group ($n_1=8$) performed three 20 min stabilization exercise sessions per week, for 4 weeks. Patients in the full weight treadmill training group ($n_2=7$) performed treadmill training for 30 min after stabilization exercise. Patients in the PWSTT group ($n_3=7$) performed PWSTT with 20% of their body weight unloaded after stabilization exercises. By using the Biodex balance system, the dynamic balance abilities of the patients in the three groups were assessed in the quiet standing position under combined conditions of visual feedback (eyes open and closed) and platform stability (level 8). The Korean version of the Oswestry Disability Index and visual analogue scale score were used as the main measure. Results: The results of this study showed that dysfunction and pain were significantly improved in all groups. Although dynamic postural stability with eyes closed was significantly improved only in the PWSTT group (p<.05), no significant difference was found in the other groups. Conclusion: The results of this study indicate that PWSTT improved balance, dysfunction and pain in the patients with CLBP. Thus, this intervention is necessary for patients with CLBP with decreased postural control.