• Journal of the Semiconductor & Display Technology
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• v.18 no.2
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• pp.87-91
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• 2019

In this paper, we have development of horizontal attitude monitoring system for agricultural robots. A two-axis gyro sensor and a two-axis accelerometer sensor are used to measure the horizontal attitude angle. The roll angle and pitch angle were measured through the fusion of the gyro sensor signal and the acceleration sensor signal for the horizontal attitude monitoring of the robot. This attitude monitoring system includes GPS and Bluetooth communication module for remote monitoring. The roll angle and pitch angle can be measured by the error of less than 1 degree and the linearity and the reproducibility of the output signal are excellent.

• Journal of Astronomy and Space Sciences
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• v.17 no.2
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• pp.309-316
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• 2000

KOMPSAT-2 will carry MSC(Multi-Spectral Camera) which provides 1m resolution panchromatic and 4m resolution multi-spectral images at the altitude of 685km sun-synchronous mission orbit. The mission operation of KOMSPAT-2 is to provide the earth observation using MSC with nadir pointing. KOMPSAT-2 will also have the capability of roll/pitch tilt maneuver using reaction wheel of satellite as required. In order to protect MSC from thermal distortion as well as direct sunlight, MSC shall be operated within the constraint of sun incidence angle. It is expected that the sunlight will not violate the constraint of sun incidence angle for normal mission operations without roll/pitch maneuver. However, during roll/pitch tilt operations, optical module of MSC may be damaged by the sunlight. This study analyzed sun incidence angle of payload using KOMPSAT-2 AOCS (Attitude and Orbit Control Subsystem) Design and Performance Analysis Soft ware for KOMPSAT-2 normal mission operations.

• International Journal of Aeronautical and Space Sciences
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• v.9 no.1
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• pp.66-75
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• 2008

In this work, we explore the feasibility of roll-pitch-yaw integrated autopilots for high angle-of-attack missiles. An investigation of the aerodynamic characteristics of a surface-to-air missile is presented, which reveals the strong effects of cross coupling between the longitudinal and lateral dynamics. Robust control techniques based on $H_{\infty}$ synthesis are employed to design roll-pitch-yaw integrated autopilots. The performance of the proposed roll-pitch-yaw integrated controller is tested in high-fidelity nonlinear five-degree-of-freedom simulations accounting for kinematic cross-coupling effects between the lateral and longitudinal channels. Against nonlinearity and cross-coupling effects of the missile dynamics, the integrated controller demonstrates superior performance when compared with the controller designed in a decoupled manner.

• The Journal of Korean Society for Radiation Therapy
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• v.26 no.2
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• pp.239-245
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• 2014

Purpose : The purpose of this study is to verify the accuracy of dose delivery according to the pitch and roll rotational setup error with 6D robotic couch in Intensity Modulated Radiation Therapy (IMRT) for pelvic region in patients. Materials and Methods : Trilogy(Varian, USA) and 6D robotic couch(ProturaTM 1.4, CIVCO, USA) were used to measure and analyze the rotational setup error of 14 patients (157 setup cases) for pelvic region. The total 157 Images(CBCT 78, Radiography 79) were used to calculate the mean value and the incidence of pitch and roll rotational setup error with Microsoft Office Excel 2007. The measured data (3 mm, 3%) at the reference angle ($0^{\circ}$) without couch rotation of pitch and roll direction was compared to the others at different pitch and roll angles ($1^{\circ}$, $1.5^{\circ}$, $2^{\circ}$, $2.5^{\circ}$) to verify the accuracy of dose delivery by using 2D array ionization chamber (I'mRT Matrixx, IBA Dosimetry, Germany) and MultiCube Phantom(IBA Dosimetry, Germany). Result from the data, gamma index was evaluated. Results : The mean values of pitch and roll rotational setup error were $0.9^{\circ}{\pm}0.7$, $0.5^{\circ}{\pm}0.6$. The maximum values of them were $2.8^{\circ}$, $2.0^{\circ}$. All of the minimum values were zero. The mean values of gamma pass rate at four different pitch angles ($1^{\circ}$, $1.5^{\circ}$, $2^{\circ}$, $2.5^{\circ}$) were 97.75%, 96.65%, 94.38% and 90.91%. The mean values of gamma pass rate at four different roll angles ($1^{\circ}$, $1.5^{\circ}$, $2^{\circ}$, $2.5^{\circ}$) were 93.68%, 93.05%, 87.77% and 84.96%. when the same angles ($1^{\circ}$, $1.5^{\circ}$, $2^{\circ}$) of pitch and roll were applied simultaneously, The mean values of each angle were 94.90%, 92.37% and 87.88%, respectively. Conclusion : As a result of this study, it was able to recognize that the accuracy of dose delivered is lowered gradually as pitch and roll increases. In order to increase the accuracy of delivered dose, therefore, it is recommended to perform IGRT or correct patient's position in the pitch and roll direction, to improve the quality of treatment.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.43 no.7
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• pp.648-656
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• 2015

Active SAR satellite's main maneuver is roll axis maneuver to change SAR antenna direction. In addition, yaw steering is required to minimize the doppler centroid variation. Thus, it is resonable to assign the torque/momentum capacity mostly to roll axis and then yaw axis. In this case, the pitch axis shows low agility performance. However, due to orbit maintenance, large angle maneuver about pitch axis is sometimes required. In this paper, we study the pitch axis maneuver time reduction through sequential rotation about roll and yaw axis. Since these two axes have high agility performance than pitch axis, maneuver time reduction is possible when large angle rotation about pitch axis is required.

• Advances in Automotive Engineering
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• v.1 no.1
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• pp.1-20
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• 2018

The aim of this study is the optimization of the parameters of interconnected Hydro-Pneumatic (HP) suspension system of a three-axle vehicle for ride comfort and handling. For HP suspension systems of equivalent vertical stiffness and damping characteristics, interconnected HP suspension systems increase roll and pitch stiffness and damping characteristics of the vehicle as compared to unconnected HP suspension systems. Thus, they result in improved handling and braking/acceleration performances of the vehicle. However, increased roll and pitch stiffness and damping characteristics also increase roll and pitch accelerations, which in turn result in degraded ride comfort performance. Therefore, in order to improve both ride comfort and vehicle handling performances simultaneously, an optimum parameter set of an interconnected HP suspension system is obtained through an optimization procedure. The objective function is formed as the sum of the weighted vertical accelerations according to ISO 2631. The roll angle, one of the important measures of vehicle handling and driving safety, is imposed as a constraint in the optimization study. Upper and lower parameter bounds are used in the optimization in order to get a physically realizable parameter set. Optimization procedure is implemented for a three-axle vehicle with unconnected and interconnected suspension systems separately. Optimization results show that interconnected HP suspension system results in improvements in both ride comfort and vehicle handling performance, as compared to the unconnected suspension system. As a result, interconnected HP suspension systems present a solution to the conflict between ride comfort and vehicle handling which is present in unconnected suspension systems.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.856-859
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• 1996

In this paper, a coarse alignment algorithm for strapdown inertial navigation system is proposed and evaluated analytically. The algorithm computes roll and pitch angles of the vehicle using accelerometer outputs, and then determines yaw angle with gyro outputs. It is referred, as two-step coarse alignment in this work. With the geometric relation between sensor outputs and roll, pitch and yaw angles, the algorithm error is analytically derived and compared with the previous coarse alignment algorithm introduced by Britting. The results show that the proposed two-step coarse alignment algorithm has better performance for pitch angle computation.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.793-798
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• 1993

In this study the attitude control of the KOREASAT is investigated. The KOREASAT is a geostationary satellite and its 3 attitude angles, namely, roll, pitch and yaw angles, are stabilized by using the 3-axis stabilization technique. In the pitch control loop, the pitch attitude angle received from the earth sensor is processed in the attitude processing electronics by using PI type control logic, and the control command is sent to the momentum wheel assembly to generate the control torque by varying the wheel rate. The roll/yaw attitude control is performed by activating a magnetic torquer or by firing appropriate thrusters. The magnetic torquer interacts with the earth magnetic field to produce the control torque, and the thrusters are used to control the larger roll attitude errors. In this study dynamic modelling of the satellite is performed. And the earth sensor, the momentum wheel, and the magnetic torquer are mathematically modelled. The 3-axis attitude control logic is implemented to make the closed-loop system and simulations are carried out to verify the implemented control laws.

• International Journal of Aeronautical and Space Sciences
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• v.18 no.4
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• pp.688-696
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• 2017

This paper presents an integrated roll-pitch-yaw autopilot using an equivalent based sliding mode control for skid-to-turn nonlinear time-varying missile system with lumped disturbances in its six-equations of motion. The considered missile model are developed to integrate the model uncertainties, external disturbances, and parameters perturbation as lumped disturbances. Moreover, it considers the coupling effect between channels, the variation of missile velocity and parameters, and the aerodynamics nonlinearity. The presented approach is employed to achieve a good tracking performance with robustness in all missile channels simultaneously during the entire flight envelope without demand of accurate modeling or output derivative to avoid the noise existence in the real missile system. The proposed autopilot consisting of a two-loop structure, controls pitch and yaw accelerations, and stabilizes the roll angle simultaneously. The Closed loop stability is studied. Numerical simulation is provided to evaluate performance of the suggested autopilot and to compare it with an existing autopilot in the literature concerning the robustness against the lumped disturbances, and the aforesaid considerations. Finally, the proposed autopilot is integrated in a six degree of freedom flight simulation model to evaluate it with several target scenarios, and the results are shown.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.275-284
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• 2012

This paper proposes an attitude and direction control of a single wheel balanced robot. A unicycle robot is controlled by two independent control laws: the mobile inverted pendulum control method for pitch axis and the reaction wheel pendulum control method for roll axis. It is assumed that both roll dynamics and pitch dynamics are decoupled. Therefore the roll and pitch dynamics are obtained independently considering the interaction as disturbances to each other. Each control law is implemented by a controller separately. The unicycle robot has two DC motors to drive the disk for roll and to drive the wheel for pitch. Since there is no force to change the yaw direction, the present paper proposes a method for changing the yaw direction. The angle data are obtained by a fusion of a gyro sensor and an accelerometer. Experimental results show the performance of the controller and verify the effectiveness of the proposed control algorithm.