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Sensitivity Control of a MR-Damper Semi-Active Suspension
Turnip, Arjon,Park, Seong-Hun,Hong, Keum-Shik 한국정밀공학회 2010 International Journal of Precision Engineering and Vol.11 No.2
In this paper, numerical aspects of a sensitivity control for the semi-active suspension system with a magnetorheological (MR) damper are investigated. A 2-dof quarter-car model together with a 6th order polynomial model for the MR damper are considered. For the purpose of suppressing the vertical acceleration of the sprung-mass, the square of the vertical acceleration is defined as a cost function and the current input to the MR damper is adjusted in the fashion that the current is updated in the negative gradient of the cost function. Also, for improving the ride comfort, a weighted absolute velocity of the sprung-mass is added to the control law. The implementation of the proposed algorithm requires only the measurement of the relative displacement of the suspension deflection. The local stability of the equilibrium point of the closed loop nonlinear system is proved by investigating the eigenvalues of the linearized one. Through simulations, the passive suspension, the skyhook control, and the proposed sensitivity control are compared.
EEG-SSVEP Signals Extraction with Nonlinear Adaptive Filter for Brain-Controlled Wheelchair
Arjon Turnip,Demi Soetraprawata,Tua Agustinus Tamba 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
In this paper, an application of nonlinear adaptive filter on EEG-SSVEP extraction for brain-controlled wheelchair is proposed. In the experiment, four subjects with age about 25±1 years were tested. The experimental results in this work show that the implementation of the proposed method achieves a very significant statistical improvement in extracting peak amplitude features. After a short time of practice, most participants could learn to extract the EEG-SSVEP wave with greater than 95% accuracy.
Detection of Critical Driving Situations Based on Wheel-Ground Contact Normal Forces
Arjon Turnip,Le Hoa Nguyen,Keum-Shik Hong 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
To develop an effective vehicle control system, it is needed to estimate vehicle motions accurately, and theestimation of reliable road frictions is one of the most important steps to achieve this goal. In the absence of commercially available transducers to measure the friction coefficient directly, various types of estimation methodshave been investigated in the past. Most models in the literature usually use low degrees of freedom. Also, these models have different values from the real vehicle motions and have a difficulty to adapt with new technologies. In this paper, a new estimation process is proposed to estimate tire forces and vehicle state histories, that is, longitudinal and lateral velocities, angular velocity and rolling radius of wheels, and side slip, pitch and roll angle based on extended Kalman filter, and road friction coefficient based on a recursive least squares method. These methods use the measurements from currently available standard sensors. For such estimation, a fourteen degree-of-freedom nonlinear vehicle model was developed. The estimated results are compared with the results obtained from CarSim using the same parameter values to verify the proposed model.
Adaptive Neural Network Classifier for EEG Signals of Six Mental Tasks
Arjon Turnip,Keum-Shik Hong 제어로봇시스템학회 2011 제어로봇시스템학회 국제학술대회 논문집 Vol.2011 No.10
In this paper, a new adaptive neural network classifier of six different mental tasks from EEG-based P300 signals is proposed. To overcome the classifier of overtraining caused by noisy and non-stationary data, the EEG signals are filtered and extracted using autoregressive model before passed to the adaptive neural network classifier. To test the improvement in the EEG classification performance with the proposed method, comparative experiments were conducted using Bayesian Linear Discriminant Analysis. All subjects achieved a classification accuracy of 100%.
Sensitivity Control of a MR-Damper Semi-Active Suspension
Arjon Turnip,박성훈,홍금식 한국정밀공학회 2010 International Journal of Precision Engineering and Vol. No.
In this paper, numerical aspects of a sensitivity control for the semi-active suspension system with a magnetorheological (MR) damper are investigated. A 2-dof quarter-car model together with a 6th order polynomial model for the MR damper are considered. For the purpose of suppressing the vertical acceleration of the sprung-mass,the square of the vertical acceleration is defined as a cost function and the current input to the MR damper is adjusted in the fashion that the current is updated in the negative gradient of the cost function. Also, for improving the ride comfort, a weighted absolute velocity of the sprung-mass is added to the control law. The implementation of the proposed algorithm requires only the measurement of the relative displacement of the suspension deflection. The local stability of the equilibrium point of the closed loop nonlinear system is proved by investigating the eigenvalues of the linearized one. Through simulations, the passive suspension, the skyhook control, and the proposed sensitivity control are compared.
Arjon Turnip,홍금식,박성훈 대한기계학회 2009 JOURNAL OF MECHANICAL SCIENCE AND TECHNOLOGY Vol.23 No.1
The attenuation of engine vibration transmitted to a chassis has been a major focus in the automotive community for the increase of comfort for the driver and passengers. A hydro-mount system is designed to reduce the transmission of engine vibration to the chassis. It is also used for supporting the static load by an engine weight. In this paper, we present a modeling and parameter estimation of hydro-mount systems. Nonlinear model aspects are developed and used with experimental data to validate the model response characteristics. These parameters will be modeled as a variable vector and its value is estimated via linearized and extended Kalman filter. This approach can help engineers reduce design time by providing insight into the effects of various parameters within the hydro-mount. Based on the estimated parameters, the simulation result confirmed that the derived passive model describes the dynamic behavior of the hydro-mount system accurately.
Development of Feed forward Control Algorithm for Active Pneumatic Engine Mount System
아르잔 터닙(Arjon Turnip),응우네 래 호아(Le Hoa Nguyen),박성훈(Seonghun Park),최재용(Jae-Yong Choi),이현우(Woo-Hyun Lee),김정훈(Jeong-Hoon Kim),홍금식(Keum-Shik Hong) 대한기계학회 2008 대한기계학회 춘추학술대회 Vol.2008 No.5
The attenuation of engine vibration transmitted to the chassis has been the major concern of the automotive community in order to increase the comfort of driver and passengers. An active pneumatic engine mount (APEM) system presented in this paper reduces the transmission of engine vibration to the chassis and the noises in the passenger cabin, besides supporting the static load by an engine weight. To accomplish this goal, a feed forward control algorithm with an adaptive normalized filtered-X LMS method was employed in the currently developed APEM system. This proposed algorithm reduces the response time of control signal and improves the inherent delayed control output in the feedback algorithm by calculating reference signals obtained from vibration sources. Based on the modeling of APEM system, the simulation result confirms how well the proposed control algorithm in this paper performs to reduce the transmitted vibrations from engine to the chassis.
Stochastic Stability of Dynamical Systems Driven by Lévy Processes
T. A. Tamba,A. Turnip 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
This paper examines the asymptotic stability of dynamical systems that are driven by Levy processes. A Levy process is a stochastic process with stationary and independent increments. It includes both Wiener and Poisson jump processes and is suitable for simultaneous modeling of small and large fluctuations in a system. Sufficient conditions for the asymptotic stability of the process’ sample paths are derived based on Lyapunov-like techniques. In particular, both the linear and nonlinear models of the process are investigated in the presented stability analyses.
Observer Design for a Class of Nonlinear Systems Driven by Stochastic ProcessWith Bounded Covariance
T. A. Tamba,A. Turnip 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
This paper presents an observer design method for Lipschitz nonlinear systems driven by stochastic processes with bounded covariances. A linear matrix inequality for searching an observer gain that guarantees the ultimate boundedness of the estimation error is derived. The proposed method is illustrated through an example in robotic applications.