• Journal of Institute of Control, Robotics and Systems
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• v.7 no.7
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• pp.559-566
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• 2001

The sway control problem of the pendulum motion of a container hanging on the trolly, which transports containers from a container ship to trucks, is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, the trolley motion control strategy is introduced and applied. In this paper, we introduce and synthesize a new type of swing motion control system in which a small auxiliary mass is installed on the spreader. The actuator reacting against the auxiliary mall applies inertial control forces to the container to reduce the swing motion in the desired manner. In this paper, we apply the $H^{\infty}$ based gain-scheduling control technique to the anti-swing motion control system design problem of the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful for the case of time-varying system and, robust to disturbances such as winds and initial sway motion.

• Journal of Auto-vehicle Safety Association
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• v.16 no.1
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• pp.6-11
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• 2024

This paper presents a motion planning algorithm of autonomous racing vehicles for mimicking the characteristics of a human driver. Time optimal maneuver of a race car has been actively studied as a major research area over the past decades. Although the time optimization problem yields a single time series solution of minimum time maneuver inputs for the vehicle, human drivers achieve similar lap times while taking various racing lines and velocity profiles. In order to model the characteristics of a specific driver and reproduce the motion, a stochastic motion planning framework based on kernelized motion primitive is introduced. The proposed framework imitates the behavior of the generated reference motion, which is based on a small number of human demonstration laps along the racetrack using Gaussian mixture model and Gaussian mixture regression. The mean and covariance of the racing line and velocity profile mimicking the driver are obtained by accumulating the outputs tested at equidistantly sampled input points. The results confirmed that the obtained lateral and longitudinal motion simulates the driver's driving characteristics, which are feasible for actual vehicle test environments.

• Tribology and Lubricants
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• v.36 no.3
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• pp.168-192
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• 2020

In recently designed diesel engines, the running conditions for piston-pin bearings have become severe because of the higher combustion pressure and increased temperature. Moreover, the metal removal from the bushing material has strongly reduced the ability of the antifriction material to accept asperity contacts. Therefore, it is necessary to find ways of reducing wear scar on the connecting-rod small-end bushing and piston-pin boss bearing related to the higher combustion pressure on the power cell of an engine. In this work, the position and level of material removal from the surfaces of the bushing and bearing under such severe operating conditions - for example, maximum power and torque conditions of a passenger car diesel engine - are estimated for several combinations of surface roughness. First, piston-pin rotating motion is investigated by calculating the friction coefficient at piston-pin bearings, the oil film thickness, and the frictional torques induced by hydrodynamic shear stress. Subsequently, the wear scarring on the surfaces of a connecting-rod small-end bushing and two piston-pin boss bearings related to piston-pin rotational motion is numerically calculated under the maximum power and torque operating conditions. This work is helpful to determine the reasonable surface roughness of the bushing and bearing for reducing wear volume occurring at the interface between a bearing and a shaft.

• Journal of Power System Engineering
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• v.8 no.3
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• pp.58-66
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• 2004

The sway motion control problem of a container hanging on the trolly is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, many trolley motion control strategies are introduced and applied. In this paper, we introduce and synthesize a swing motion control system in which a small auxiliary mass is installed on the spreader made by ourselves. In this control system, the actuator reacting against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. Especially, we apply the $H_{\infty}$ based gain-scheduling control technique the anti-sway control system design problem of the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the simulation result shows that the proposed control strategy is shown to be useful to the case of time-varying system and, robust to disturbances like winds and initial sway motion.

• Proceedings of the KSME Conference
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• 2004.11a
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• pp.631-636
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• 2004

The sway motion control problem of a container hanging on the trolly is considered in the paper. In the container crane control problem, suppressing the residual swing motion of the container at the end of acceleration, deceleration or the case of that the unexpected disturbance input exists is main issue. For this problem, in general, many trolley motion control strategies are introduced and applied. In this paper, we introduce and synthesize a swing motion control system in which a small auxiliary mass is installed on the spreader made by ourselves. In this control system, the actuator reacting against the auxiliary mass applies inertial control forces to the container to reduce the swing motion in the desired manner. Especially, we apply the $H_{\infty}$ based gain-scheduling control technique the anti-sway control system design problem of the controlled plant. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. And the experiment result shows that the proposed control strategy is shown to be useful to the case of time-varying system and, robust to disturbances like winds and initial sway motion.

• Radiation Oncology Journal
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• v.35 no.3
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• pp.274-280
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• 2017

Purpose: To see the gross tumor volume (GTV) dependency according to the phase selection and reconstruction methods, we measured and analyzed the changes of tumor volume and motion at each phase in 20 cases with lung cancer patients who underwent image-guided radiotherapy. Materials and Methods: We retrospectively analyzed four-dimensional computed tomography (4D-CT) images in 20 cases of 19 patients who underwent image-guided radiotherapy. The 4D-CT images were reconstructed by the maximum intensity projection (MIP) and the minimum intensity projection (Min-IP) method after sorting phase as 40%-60%, 30%-70%, and 0%-90%. We analyzed the relationship between the range of motion and the change of GTV according to the reconstruction method. Results: The motion ranges of GTVs are statistically significant only for the tumor motion in craniocaudal direction. The discrepancies of GTV volume and motion between MIP and Min-IP increased rapidly as the wider ranges of duty cycles are selected. Conclusion: As narrow as possible duty cycle such as 40%-60% and MIP reconstruction was suitable for lung cancer if the respiration was stable. Selecting the reconstruction methods and duty cycle is important for small size and for large motion range tumors.

• Journal of Korea Multimedia Society
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• v.6 no.7
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• pp.1189-1199
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• 2003

This paper presents a new method for the motion detection of vehicles using hierarchical motion estimation and parallel processing. It captures the road image by using a CMOS sensor. It divides the captured image into small blocks and detects the motion of each block by using a block-matching method which is based on a hierarchical motion estimation and parallel processing for the real-time processing. The parallelism is achieved by using tile pipeline and the data flow technique. The proposed method has been implemented by using an embedded system. The proposed block matching algorithm has been implemented on PLDs(Programmable Logic Device) and clustering algorithm has been implemented by ARM processor. Experimental results show that the proposed system detects the motion of vehicles in real-time.

• Journal of Navigation and Port Research
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• v.27 no.5
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• pp.451-458
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• 2003

A ship with small metacentric height or high speed vessel performs relatively large roll angles in her manoeuvring motion. Roll coupling effect should be taken into consideration for accurate prediction of manoeuvring motion of such a ship. This paper proposes a new mathematical model of ship manoeuvring motion taking coupling effect of roll into consideration. Some kinds of manoeuvring motion are simulated by computer, based upon the proposed model. The simualted results by proposed model here are compared with those by existing model. The proposed model is found to be practical and useful for prediction of manoeuvring motion with roll effect.

• Journal of Mechanical Science and Technology
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• v.17 no.1
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• pp.85-96
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• 2003

In the present investigation, the nonlinear dynamic buckling of a curved plate subjected to sinusoidal loading is examined. By the theoretical analyses, a highly nonlinear snap-through motion of a clamped-free-clamped-free plate and its effect on the overall vibration response are investigated. The problem is reduced to that of a single degree of freedom system with the Rayleigh-Ritz procedure. The resulting nonlinear governing equation is solved using Runge-Kutta (RK-4) numerical integration method. The snap-through boundaries, which vary with different damping coefficient and linear circular frequency of the flat plate are studied and given in terms of force and displacement. The relationships between static and dynamic responses at the start of a snap-through motion are also predicted. The analysis brings out various characteristic features of the phenomenon, i.e. 1) small oscillation about the buckled position-softening spring type motion, 2) chaotic motion of intermittent snap-through, and 3) large oscillation of continuous snap-through motion crossing the two buckled positions-hardening spring type. The responses of buckled plate were found to be greatly affected by the snap-through motion. Therefore, better understanding of the snap-through motion is needed to predict the full dynamic response of a curved plate.

• Journal of Power System Engineering
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• v.12 no.6
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• pp.50-55
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• 2008

In general, the swing motion of the crane is controlled and suppressed by activating the trolley motion. In many papers reported by us, we suggested a new type of anti-sway control system of the crane. In the proposed control system, a small auxiliary mass(moving-mass) is installed on the spreader and the swing motion is controlled by moving the auxiliary mass. The actuator reaction against the auxiliary mass applies inertial control forces to the container in order to reduce the swing motion in the desired manner. Futhermore the measuring systems based on image sensor have been proposed also. To obtain the robustness for our control system, $H_{\infty}$ based control techniques and other approach have been applied to suppress swing motion. As well known, the robust control technologies based on $H_{\infty}$ control need complicated and difficult process. In the result, the obtained closed-loop system becomes to high order system which may give us many difficulties to apply it to the real plants. Therefore, we introduce an easy approach which is based on LQ control theory. In this approach, we introduce the frequency dependent weighting matrices which give the system filters to shape frequency characteristics of the controlled system and guarantee the control performance.