• International Journal of Naval Architecture and Ocean Engineering
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• v.12 no.1
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• pp.48-59
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• 2020

A traditional propeller can easily become entangled with floating objects while operating. In this paper, we present a newly developed Electromagnetic-valve-control-based Water-jet Propulsion System (ECWPS) for an unmanned surface cleaning vessel that can be flexibly controlled via a Micro Control Unit (MCU). The double-structure was adapted to the unmanned surface cleaning vessel for floating-collection missions. Computational Fluid Dynamics (CFD) software for operating effect simulation was also used to reveal the working principle of the ECWPS under different conditions. Neglecting the assembly technique, the design level, controlling strategy, and maneuvering performance of the ECWPS reached unprecedented levels. The ECWPS mainly consists of an Electromagnetic-valve Array (EA), pipeline network, control system, and water-jet source. Both CFD analyses and experimental results show that the hydraulic characteristic of the ECWPS was predicted reasonably, which has enormous practical value and development prospects.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.1
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• pp.78-83
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• 2002

In this paper, we propose a sliding mode controller for a robot manipulator with passive joints. A robot manipulator with passive joints which are not equipped with any actuators is a kind of underactuated system. Underactuated systems have some advantages compared to fully-actuated ones. For example, they weigh less and consume less energy because they have smaller number of components than fully-actuated ones. However the control of an underactuated manipulator is much more difficult than that of fully- actuated robot manipulator. In this paper a complex dynamic model of a manipulator with passive joints is manipulated for sliding mode control. Sliding mode controllers are designed for this complex system and the stability of the controllers is proved mathematically. Finally a simulation for this control system is executed for evaluating the effectiveness of the designed sliding mode controller.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2000.11c
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• pp.684-689
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• 2000

In harvesting rice and barley using combine, the inclination of the body caused by the irregular surface condition of the field and the soil sinking from the unbalanced weight during the grain collection used to make harvesting operation difficult and even impossible. To overcome such a problem, automatic leveling control system for a combine has been developed and tested. The system was composed of the sensor for measuring left and right inclination of the combine chassis and the hydraulic control system. The adaptability of the control system was investigated by analyzing system response in time domain. And the limit angle of the leveling control was set up to be +/- 7$^{\circ}$. The proposed control and hydraulic power system was implemented to the prototype combine. The prototype combine was designed and built as a separable structure with chassis and track. This paper shows results of the leveling performance tested in the laboratory and the grain field.

• Journal of Institute of Control, Robotics and Systems
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• v.10 no.10
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• pp.940-946
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• 2004

In this paper, an efficient real-time control architecture for autonomous navigation of powered wheelchair is developed. Since an advanced intelligent wheelchair requires real-time performance, the control software architecture of powered wheelchair is developed under Linux real-time extension Real-time Application Interface (RTAI). A hierarchical control structure for autonomous navigation is designed and implemented using real-time processe and interrupts handling of sensory perception based on slanted surface LRF, emergency handling capability, and motor control with 0.1 msec sampling time. The performance of our powered wheelchair system with the implemented control architecture for autonomous navigation is verified via experiments in a corridor.

• Journal of the Ergonomics Society of Korea
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• v.11 no.2
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• pp.23-33
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• 1992

The distribution of the pressure between the sole of a feet and a supporting surface can reveal the information about the structure and fonction of the foot and the posural control of the whole body. In particular, the measurement of the vertical contact forces between the plantar surface of the foot and the shoe insole is of great importance to reveal the loading distributio patterns incurred from a particular shoe midsole design. In order to investigate the plantar surface pressure distribution, an insole-type sensor with a piezoelectric material is developed and tested. The present paper describes a new method to completely reduce both the shear force and pyroelectric effects that are normally caused from piezoelectric materials.

• Composites Research
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• v.16 no.1
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• pp.34-41
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• 2003

A cure process control model was proposed to optimize the curing process of thick filament wound structure. There are two types of smart cure, one is that the boundary conditions of the hollow cylinder are same between inner surface and outer surface, and the other is that inner surface temperature is slightly higher than outer surface to initiate cure reaction from the inner side to the outer side to reduce residual stress.

• Biotechnology and Bioprocess Engineering:BBE
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• v.3 no.1
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• pp.19-23
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• 1998

We enhanced the sensitivity of surface plasmon resonance biosensor by the conversion of the real-time direct binding immunoassay into the sandwich immunoassay, in which colloidal gold particles coated with anti-mouse IgG was used. By the immobilization of anti-mouse IgG onto the carboxymethyl dextran surface of thin gold film, the direct binding of analyte(mouse IgG) onto the sensor chip, and the injection of colloidal gold particles coated with anti-mouse IgG, about 100 times of sensitivity enhancement was obtained. This result suggests that nanoparticles, which has a high refractive index, homogeneous ultrafine structure and capability of size control, would be applicable for the detection of very small quantity of biomaterial.

• Bulletin of the Korean Chemical Society
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• v.20 no.9
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• pp.999-1004
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• 1999

Two compact sized globular proteins, β-lactoglobulin and α-lactalbumin were kinetically characterized at the aqueous solution surface with the measurement of surface pressure (π) and surface concentration (Γ) via a radiotracer method. The adsorption kinetics was of diffusion control at early times, the rates of increase of πand Γ being lower at longer times due to growing energy barrier. At low concentrations, an apparent time lag was observed in the evolution of π for β-lactoglobulin but not for α-lactalbumin which was shown to be due to the non-linear nature of the p- G relationship for the former. The area per molecule of an adsorbed β-lactoglobulin during adsorption was smaller than that for spread monolayer since β-lactoglobulin was not fully unfolded during the adsorption. For α-lactalbumin, however, no such difference in the molecular areas for adsorbed and spread monolayer was observed indicating thereby that α-lactalbumin unfolded much more rapidly (has looser tertiary structure) than β-lactoglobulin. Surface excess concentrations of α-lactalbumin was found to evolve in two steps possibly due to the change in the orientation of the adsorbed protein from a side-on to an end-on orientation.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.3
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• pp.19-32
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• 2000

This paper suggests the variable structure controller with a new variable boundary layer for the accurate tracking control of the variable structure systems. Up to now, variable structure controller (VSC) applying the variable boundary layer did not remove chattering from an arbitrary initial state of the system trajectory because VSC has the limited initial state according to the fixed sliding surface. But, by using the linear time-varying sliding surfaces, the scheme has the robustness against chattering from all states. The suggested method can be applied to the second-order nonlinear systems with parameter uncertainty and extraneous disturbances, and has better tracking performance than the conventional method. To demonstrate the advantages of the proposed algorithm, it is applied to a two-link manipulator.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.04a
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• pp.608-613
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• 2002

In this paper we developed the MPC sensor for steering control and steering control of the AGVDS(Autonomous Guided Vehicle Driving System) for Durability test. Among durability tests, the accelerated durability test has been widely used to evaluate the durability of vehicle structure and chassis parts in a short period of time on the designed road that has severe surface conditions. However it increased the drivers fatigue mainly caused by the severe driving conditions. The driver's difficulty to maintain the constant speed and control the steering wheel reduces the reliability of test results. In addition to the general detecting sensor for steering control was restricted by surrounding condition. So we need to develop steering control sensor was robust in the bad driving condition. In this paper we developed steering control sensor using magnetic induction which is robust in the bad driving condition and implemented the AGVDS.