This paper proposes a simplified path-following control method for an Unmanned Surface Vessel (USV) considering towed Unmanned Underwater Vehicles (UUV). For dealing with an effective USV dynamic model, 1st order of the linear system with time delay and gain value are applied rather than applying a non-linear dynamic model, and it is identified with real vessel data from several straight and turning experiments. Then, USV attitude and velocity are controlled by multi-loop Proportional-Derivative (PD) and proportional controller. A USV guidance scheme is derived through a UUV guidance scheme to support autonomous navigation for towed UUV, and combination of cross track and Line of Sight (LOS) guidance is presented for adaptive path following. Finally, to validate the performance of the proposed USV path-following control method with respect to the towed UUV guidance scheme, the results of simulations are presented.

This paper describes the development of a power assistive device controller with user intention detection for fire fighters. In order to detect the intention of users, an F/T sensor frame was designed for the power assistive device controller. Using the numerical approach, each directional strain value of the F/T sensor frame was evaluated singly to determine the optimum point to mount the strain gauge under varying load conditions. The numerical analysis was conducted using the commercial program Ansys v11.0. The finite element model for the F/T sensor frame consisted of 37,547 elements and 157,154 nodes. A sensor bonding device and calibration jig were designed for the F/T sensor frame. In an effort to obtain the decoupling matrix for the F/T sensor frame of the proposed power assist device, calibration tests were conducted in the x-direction, y-direction, z-direction, My-direction and Mz-direction. In addition, the operating system was tested using the power assistive device controller that comprised of the F/T sensor frame.

Recently the interest in miniaturization of mechanical devices has increased and magneto-rheological (MR) fluid brakes have been designed, fabricated and tested to be applied as a control element of various devices for assisting the elderly people. A multi-disk modular type of design is proposed to make an MR fluid brake that can generate high torque at the minimum size. The design parameters of the MR fluid brake were determined by mathematical modeling and the performance was predicted with magnetic analysis to maximize the design torque. A testbed was constructed and torque responses were measured and analyzed according to the input current for various rotational speeds to confirm the performance of the MR fluid brake. The experimental results showed that the MR fluid brake was applicable to actuating devices for assisting elderly people.

The purpose of this study is to verify the energy efficiency of the integrated system combining human and a lower extremity exoskeleton robot when it is applied to the proposed gait pattern. Energy efficient gait pattern of the lower limb was proposed through leg function distribution during stance phase and the dynamic-manipulability ellipsoid (DME). To verify the feasibility and effect of the redefined gait trajectory, simulations and experiments were conducted under the conditions of walking on level ground and ascending and descending from a staircase. Experiments to calculate the metabolic cost of the human body with or without the assistance of the exoskeleton were conducted. The energy consumption of the lower extremity exoskeleton was assessed, with the aim of improving the efficiency of the integrated system.

There have been many researches about SUGV (Small Unmanned Ground Vehicle) mechanism regarding off-road mobility and obstacle negotiation. This paper introduces an analysis of geometry parameters to enhance the vertical obstacle negotiation ability for the SUGV. Moreover, this paper proposes an anti-shock structure analysis of wheels to protect the main body of the SUGV when it falls off a vertical obstacle. Major system geometry parameters will be determined under certain constraints. The constraints and optimization problem for maximizing the ability of vertical obstacle negotiation will be presented and discussed. Dynamic simulation results and experiments with manufactured platform will also be presented to validate the analysis. Several types of wheel materials and structures will be compared to determine the best anti-shock wheel design through FEM (Finite Element Method) simulations.