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This paper derived a model for the superheated steam temperature based on the open-loop step response. A cascaded control structure based on disturbance observer (DOB) is proposed to accommodate the control difficulties. The simulation results show the great performance improvement compared with the conventional cascaded control structure. This paper is a preliminary research to the cascaded DOB control...
In this paper, we propose a numerically reliable algorithm for computing the transfer function matrix of a descriptor system. Descriptor system has widely been used. The system often arises when modelling a linear system. Linear systems such as inversion are often represented in terms of descriptor systems. Although the representation is useful, it is not appropriate for simulation and experiment...
Under GPS-denied conditions, an inertial navigation diverges easily due to integration drift in the measurement of acceleration and angular velocity. Therefore, a terrain relative navigation (TRN) is applied to correct the drift error for precise lunar landing mission. Diverse sensors are used for the TRN in these days, such as a Light and Detection and Ranging (LIDAR), laser altimeter, and optical...
The wings of loitering unit could be unfolded in flight. In view of the model parameters uncertainty caused by the structural change, based on the vehicle's longitudinal and lateral motion equations, combined with the characteristics of ADRC, active disturbance rejection attitude controller is designed. Six degrees of freedom nonlinear simulation model is operated with Simulink and aerodynamic parameters...
This paper considers multiple mobile robots for hospital logistics application. To increase the efficiency of using multiple robots, more than one delivery tasks can be assigned to a robot instead of delivering one package at a time. Since a robot can accept more than one task while delivering, a real-time routing method for visiting multiple pickup and delivery positions is required. This paper proposes...
For the production of strain gage transducers, hot curing adhesives are generally used to ensure complete transfer of the strain from the measurement object surface into the strain gages. Optimum temperature curves for hot curing and postcuring of strain gage installation are different according to adhesive models and manufactures. Commercial curing ovens with temperature control functions are expensive...
About 20% of maritime accidents involving small boats are caused by engine trouble. If the main engine stops under stormy conditions, then the operator might lose control of the boat, which might then overturn. In the worst case, such accidents can lead to injury and death. A main reason for sudden engine stoppage is that air bubbles form in the fuel line. That hazard has persisted as an important...
In this paper, a bit error rate testing system has been developed and the transmission quality of visible light communication was studied. An optimization of reference voltage of the comparator was performed. A measured bit error rate was less than 10−7 without a disturbance light. This result indicates that the developed system is applicable in indoor communication. A bit error rate clearly became...
In this paper we present a model of single-hop type wireless sensor network with random access and oneway transmission. In the paper, we analyze the WSN single-hop network using one single radio frequency, such that all nodes are divided into several groups depending on the average time between the transmissions. We replaced deterministic number of nodes in groups by random variables. We apply the...
Electronic stability control (ESC) system is well known as a method to assist the driver in recovering from unintended situations, such as understeering and oversteering behaviors. One of issues of this ESC is precise distribution of the brake force for generation of the vehicle yaw moment. In this paper, a new design of ESC systems is proposed. First, the model based controller with vehicle bicycle...
Compressed sensing is one of the most effective signal processing methods through the sparse representation of inferred data, in which dictionary matrices play an essential role and they are learned by feature extraction methods such as K-SVD ones. Therefore, in general, it requires a considerable amount of computational cost to construct a dictionary matrix. In this paper, we analytically derive...
In this paper, we present an observer based nonlinear controller using barrier Lyapunov function (BLF) for position tracking of Sawyer motor under yaw constraint. The dynamics of Sawyer motor is modified to apply BLF-based backstepping control design. To relax the matching condition, torque and force modulations are proposed. The modulations enable decoupling forces and torque of the Sawyer motor,...
This paper discusses the mathematical modeling and residual vibration control problem of a quayside container crane, which is one of the automated handling equipment for containers at a seaport. The main purpose of the quayside crane is the safe loading and un-loading of the container ships in quick time. The residual vibrations of the transported containers cause operational delays and therefore...
In this paper, a nonlinear control method is proposed to improve the primary frequency control for doubly fed induction generator (DFIG) wind turbine system. Individual wind turbines in wind power plant are controlled in deloaded operation to provide the frequency support during depressed frequency conditions. By considering of nonlinearity of the system, input-output linearization method is applied...
The establishment of variety methods in the individual identification technology is desirable. In this study, it is considered that the method of individual identification from vibration data generated in gait. In the walking motion, the unique information such as the individual's body type and habit is contained. It is assumed that the unique information is reflected in the gait vibration data transmitted...
Nanopositioning proposes a high demand for its control system. However, hysteresis, a common nonlinear phenomenon existing in piezoelectric actuator, decreases precision of nanopositioning. In this paper, active disturbance rejection control (ADRC) is designed to estimate and cancel the influence of hysteresis, and integral time absolute error (ITAE) optimal index is chosen to determine the parameters...
This paper proposes a new localization method for the mobile robots which should move to other floors using the elevators. The mobile robots use the various maps to obtain the spatial information, e.g. the floor numbers, the locations of waypoints, the structure shape of the spaces, etc. so that they can estimate the accurate position in the multi-floor buildings. As the maps in this paper, there...
Recently, RGB-D camera has been used widely in indoor SLAM (Simultaneous Localization and Mapping) field. In this paper, we propose an efficient 3D mapping algorithm that considers appearance of dynamic objects. A full 3D mapping system estimates 6-DoF sensor pose and builds 3D voxel grid map simultaneously. In order to build a 3D map, effective method is proposed in terms of computation time. Depending...
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