• Transactions of the Korean Society of Automotive Engineers
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• v.10 no.6
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• pp.227-233
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• 2002

A vehicle longitudinal control strategy with guaranteed string stability for vehicle stop-and-go(SG) cruise control is presented in this paper. The SG cruise control systems should be designed such that string stability can be guaranteed in addition to that every vehicle in a string of SG cruise control vehicles must track any bounded acceleration and velocity profile of its preceding vehicle with a bounded spacing and velocity error. An optimal vehicle following control law based on the information of the 1311owing distance (clearance) and its velocity relative to the vehicle ahead (relative velocity) has been used and string stability analysis has been done based on the control law and constant time gap spacing policy, A validated multi-vehicle simulation package has been shown that the string stability analysis using the approximate model of the vehicle servo-loop which includes vehicle powertrain and brake control system dynamics is valid in the design of the SG cruise control law with guaranteed string stability.

• The Journal of Engineering Research
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• v.2 no.1
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• pp.5-11
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• 1997

The flow of granular materials is common to many industrial processes. This paper discusses a methodology which utilizes high speed digital imaging to measure velocity of dry granular solids flowing down an inclined chute under the action of gravity. Glass particles have been used as granular solids in our experiment. The proposed technique utilizes block matching for spatially averaged velocity measurements of the glass particles. The velocity measurements are refined to the subpixel resolution by the variance normalized correlation with interpolation.

• Journal of the Korean Society of Combustion
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• v.14 no.4
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• pp.48-53
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• 2009

This paper describes the forced flame response in a turbulent premixed gas turbine combustor. The fuel was premixed with the air upstream of a choked inlet to avoid equivalence ratio fluctuations. To impose the inlet flow velocity, a siren type modulation device was developed using an AC motor, rotating and static plates. Measurements were made of the velocity fluctuation in the nozzle using hot wire anemometry and of the heat release fluctuation in the combustor using chemiluminescence emission. The test results showed that flame length as well as geometry was strongly dependent upon modulation frequency in addition to operating conditions such as inlet velocity. Convection delay time between the velocity perturbation and heat release fluctuations was calculated using phase information of the transfer function, which agreed well with the results of flame length measurements. Also, basic characteristics of the flame nonlinear response shown in the current test conditions were introduced.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.8
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• pp.739-745
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• 2006

This paper presents performance improvement of the INS velocity-adided GPS carier tracking loop. To this end, INS velocity-aided GPS carrier tracking loop was modeled as a feedfoward and a feedback loop system. In the phase tracking loop, it was shown that the tracking error caused by the dynamic motion of the vehicle can be compensated with the aiding of the INS information irrespective of the loop order and bandwidth. However, the signal trcking error increases as the INS error increases. It was also shown that in order to remove the tracking error caused by INS bias error, more than or equal to 2nd order PLL should be used. Experiments were carried out and the experimental results were compared with the analysis results.

• Proceedings of the IEEK Conference
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• 2001.06e
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• pp.131-134
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• 2001

This paper proposes a stable control rule for nonlinear unicycle-type mobile robot. The control method uses a local error coordinate system, velocity and distance constants $\kappa$$\_$x/, $\kappa$$\_$y/, and he. Stability of control rule is proved Liapunov function. System input to the mobile robot is reference posture ($\chi$$\_$r/, y$\_$r/, $\theta$$\_$r/)/sup/ $\tau$/ and reference e velocity (ν$\_$r/,$\omega$$\_$r/)$\^$$\tau$/. System output of the mobi-le robot is velocity of driving wheels. We introduce limit velocity for preventing high initial speed. From simulation results, we can see the proposed control rule is stable.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.48 no.3
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• pp.313-320
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• 1999

The Lane-Curvature Method(LCM) presented in this paper is a new local obstacle avoidance method for indoor mobile robots. The method combines Curvature-Velocith Method(CVM) with a new directional method called the Lane Method. The Lane Method divides the environment into lanes taking the information on obstacles and desired heading of the robot into account ; then it chooses the best lane to follow to optimize travel along a desired heading. A local heading is then calculated for entering and following the best lane, and CVM uses this heading to determine the optimal translational and rotational velocity space methods, LCM yields safe collision-free motion as well as smooth motion taking the dynamics of the robot Xavier, show the efficiency of the proposed method.

• Journal of the Korean Society for Precision Engineering
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• v.17 no.1
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• pp.110-119
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• 2000

This paper presents simple and effective nonlinear friction compensation methods. When the direction of position command reverses, the integrator output of the PID controller does not change the sign of its output instantaneously, due to friction at zero velocity, i.e. stiction resulting tracking errors, that results in continuous push even though the command direction has been changed. To overcome this problem, we attempt to reverse the sign of the integrator output as the sign of velocity changes. The effectiveness of this approach is demonstrated by experiments on a 3-PRPS (Prismatic-Revolute-Prismatic-Shperical joints) in-parallel 6-D.O.F manipulator. The control strategy has been analyzed for stability. Also discussed are disturbance observer and velocity observer approaches for friction compensation.

• Journal of the Institute of Electronics and Information Engineers
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• v.54 no.7
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• pp.127-132
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• 2017

In this paper, we propose a controller gain based on model based design and implement the two-wheel inverted pendulum type robot using NXT Lego and RobotC language. Two-wheel inverted pendulum robot consists of NXT mindstorm, servo DC motor with encoder, gyro sensor, and accelerometer sensor. We measurement wheel angle using bulit-in encoder and calculate wheel angle speed using moving average method. Gyro measures body angular velocity and accelerometer measures body pitch angle. We calculate body angle with complementary filter using gyro and accelerometer sensor. The control gain is a weighted value for wheel angle, wheel angular velocity, body pitch angle, and body pich angular velocity, respectively. We experiment and observe the effect of two-wheel inverted pendulum with respect to change of control gains.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.12
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• pp.1145-1151
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• 2013

Kinematic modeling is a prerequisite for motion planning and the control of mobile robots. In this paper, we proposed a new method of kinematic modeling for a type of mobile robot based on differential motion transformation. The differential motion implies a small translation and rotation in three-dimensional space in a small time interval. Thus, transformation of the differential motion gives the velocity relationship, i.e., Jacobian between two coordinate frames. Since the theory of the differential motion transformation is well-developed, it is useful for the systematic velocity kinematic modeling of mobile robots. In order to show the validity for application of the differential motion transformation, we obtained velocity kinematic models for a type of exemplar mobile robot including spherical ballbots.

• Journal of Wetlands Research
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• v.18 no.1
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• pp.100-112
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• 2016

In recent, the direction of water resources policy is changing from the typical plan for water use and flood control to the sustainable water resources management to improve the quality of life. This change makes the information related to water resources such as data collection, management, and supply is becoming an important concern for decision making of water resources policy. We had analyzed the structured data according to the purpose of providing information on water resources. However, the recent trend is big data and cloud computing which can create new values by linking unstructured data with structured data. Therefore, the trend for the management of water resources information is also changing. According to the paradigm change of information management, this study tried to suggest an application of big data and cloud computing in water resources field for efficient management and use of water. We examined the current state and direction of policy related to water resources information in Korea and an other country. Then we connected volume, velocity and variety which are the three basic components of big data with veracity and value which are additionally mentioned recently. And we discussed the rapid and flexible countermeasures about changes of consumer and increasing big data related to water resources via cloud computing. In the future, the management of water resources information should go to the direction which can enhance the value(Value) of water resources information by big data and cloud computing based on the amount of data(Volume), the speed of data processing(Velocity), the number of types of data(Variety). Also it should enhance the value(Value) of water resources information by the fusion of water and other areas and by the production of accurate information(Veracity) required for water management and prevention of disaster and for protection of life and property.