• The Transactions of the Korean Institute of Power Electronics
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• v.16 no.2
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• pp.162-172
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• 2011

This paper proposes embedded System of two wheeled inverted pendulum robot designed by model based design method, using MATLAB/SIMULINK and LEGO NXT Mindstorms. At first, stability and performance of controller is verified through modeling and simulation. After that direct conversion from simulation model to C code is carried and effectiveness of controller is experimentally verified. Two wheeled inverted pendulum robot has basic function about autonomous balancing control using principle of inverted pedulum and it is also possible to arrive at destination. In this paper, state feedback controller designed by quadratic optimal control method is used. And quadratic optimal control uses state feedback control gain K to minimize performance index function J. Because it is easy to find gain, this control method can be used in the controller of two wheeled inverted pendulum robot. This proposed robot system is experimentally verified with following performances - balancing control, disturbance rejection, remote control, line following and obstacle avoidance.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.54 no.4
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• pp.343-352
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• 2018

In this study, a motion control problem for the vessels towed by tugboats or towing ships on the sea is considered. The towed vessel looks like the barge ship, which is used for many purposes. In these vessels, basically, the power propulsion system is not installed but just towed by a towing vessel such as tugboats with ropes and wires. It means that the motions of towed vessel are basically dependent on the tracking route of towing boat. Therefore, in some cases, undesirable and unpredictable motions may be made by environmental factors such as wave, wind attack and so on. As a result, a collision accident with others may occur during maneuvering situation. Based on these facts, the authors try to encourage the steering performance of the towed vessel by using controllable rudders without any propulsion system. In this study, especially, a controllable vessel with three rudders is considered, and a mathematical model is induced for the future study. The model is described as surge, sway motion and inertia moment by following the general representation method for the surface ship.

• Journal of Navigation and Port Research
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• v.39 no.6
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• pp.465-472
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• 2015

SEEMP (Ship Energy Efficiency Management Plan) guidelines for a ship's GHG reduction include a machinery modification of hull, an installation of energy efficiency enhanced attachment in hardware methods. It is also possible to bring a ship energy efficiency improvement by fuel-efficient operations or in other software methods. Hardware modification or installation on ship can bring financial burdens to a ship company compared to its improvement expectation. On the other hand, Software based energy-saving technology can be applicable on various ship types, and it is also expected high efficiency of ship energy use compared to hardware based technology in perspective of the investment costs and efficiency. In this paper, it is described that the ship handling simulator based evaluation was carried out using representative ship model of bulk, container and VLCC. Simulation environments were separated into 6 conditions according to the sea-state and weather condition, and the operation results were compared with those before and after energy saving system applied The container ship showed the largest FOC save rate after energy saving system applied although the others also showed energy save rate after using the system.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.2
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• pp.821-828
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• 2011

This paper developed the algorithm for improving the performance the auto pilot in the autonomous vehicle system consisting of the Track keeping control, the Automatic steering, and the Automatic mooring control. The automatic steering is the control device that could save the voyage distance and cost of fuel by reducing the unnecessary burden of driving due to the continuous artificial navigation, and avoiding the route deviation. During the step of the ship autonomic navigation control, since the wind power or the tidal force could make the ship deviate from the fixed course, the automatic steering calculates the difference between actual sailing line and the set course to keep the ship sailing in the vicinity of intended course. first, we could get the transfer function for the modeling of ship according to the Nomoto model. Considering the maneuverability, we propose it as linear model with only 4 degree of freedoms to present the heading angle response to the input of rudder angle. In this paper, the model of ship is derived from the simplified Nomoto model. Since the proposed model considers the maximum angle and rudder rate of the ship auto pilot and also designs the Fuzzy controller based on existing PID controller, the performance of the steering machine is well improved.

• The Journal of the Korea Contents Association
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• v.8 no.11
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• pp.41-48
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• 2008

This study focuses on the modeling file search engine and suggesting modified file search schema based on weight value using file contents in order to improve the performance in terms of search accuracy and matching time. Most of the file search engines have used string matching algorithms like KMP(Knuth.Morris.Pratt), which may limit portability and fast searching time. However, this kind of algorithms don't find exactly the files what you want. Hence, the file search engine based on weight value using file contents is proposed here in order to optimize the performance for mobile environments. The Comparison with previous research shows that the proposed schema provides better.

• The Journal of the Convergence on Culture Technology
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• v.10 no.1
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• pp.539-549
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• 2024

This study employed text mining techniques like frequency analysis, word clouds, and LDA topic modeling to assess consumer satisfaction and dissatisfaction with Hyundai Motor Company in the Chinese market, compared to brands such as Toyota, Volkswagen, Buick, and Geely. Focusing on compact vehicles from these brands between 2021 and 2023, this study analyzed customer reviews. The results indicated Hyundai Avante's positive factors, including a long wheelbase. However, it also highlighted dissatisfaction aspects like Manipulate, engine performance, trunk space, chassis and suspension, safety features, quantity and brand of audio speakers, music membership service, separation band, screen reflection, CarLife, and map services. Addressing these issues could significantly enhance Hyundai's competitiveness in the Chinese market. Previous studies mainly focused on literature research and surveys, which only revealed consumer perceptions limited to the variables set by the researchers. This study, through text mining and comparing various car brands, aims to gain a deeper understanding of market trends and consumer preferences, providing useful information for marketing strategies of Hyundai and other brands in the Chinese market.

• Proceedings of the Korea Water Resources Association Conference
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• 2021.06a
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• pp.444-444
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• 2021

하천의 오염부하량 관리 계획은 지속적인 모니터링을 통한 자료 구축과 모형을 이용한 예측결과를 기반으로 수립된다. 하천의 모니터링과 예측 분석은 많은 예산과 인력 등이 필요하나, 정부의 담당 공무원 수는 극히 부족한 상황이 일반적이다. 이에 정부는 전문가에게 관련 용역을 의뢰하지만, 한국과 같이 지형이 복잡한 지역에서의 오염부하량 배출 특성은 각각 다르게 나타나기 때문에 많은 예산 소모가 발생 된다. 이를 개선하고자, 본 연구는 합성곱 신경망 (convolution neural network)과 수문학적 이미지 (hydrological image)를 이용하여 강우 발생시 BOD 및 총인의 부하량 예측 모형을 개발하였다. 합성곱 신경망의 입력자료는 일반적으로 RGB (red, green, bule) 사진을 이용하는데, 이를 그래도 오염부하량 예측에 활용하는 것은 경험적 모형의 전제(독립변수와 종속변수의 관계)를 무너뜨리는 결과를 초래할 수 있다. 이에, 본 연구에서는 오염부하량이 수문학적 조건과 토지이용 등의 변수에 의해 결정된다는 인과관계를 만족시키고자 수문학적 속성이 내재된 수문학적 이미지를 합성곱 신경망의 훈련자료로 사용하였다. 수문학적 이미지는 임의의 유역에 대해 2차원 공간에서 무차원의 수문학적 속성을 갖는 grid의 집합으로 정의되는데, 여기서 각 grid의 수문학적 속성은 SCS 토양보존국(soil conservation service, SCS)에서 발표한 수문학적 토양피복형수 (curve number, CN)를 이용하여 산출한다. 합성곱 신경망의 구조는 2개의 Convolution Layer와 1개의 Pulling Layer가 5회 반복하는 구조로 설정하고, 1개의 Flatten Layer, 3개의 Dense Layer, 1개의 Batch Normalization Layer를 배열하고, 마지막으로 1개의 Dense Layer가 연결되는 구조로 설계하였다. 이와 함께, 각 층의 활성화 함수는 정규화 선형함수 (ReLu)로, 마지막 Dense Layer의 활성화 함수는 연속변수가 도출될 수 있도록 회귀모형에서 자주 사용되는 Linear 함수로 설정하였다. 연구의 대상지역은 경기도 가평군 조종천 유역으로 선정하였고, 연구기간은 2010년 1월 1일부터 2019년 12월 31일까지로, 2010년부터 2016년까지의 자료는 모형의 학습에, 2017년부터 2019년까지의 자료는 모형의 성능평가에 활용하였다. 모형의 예측 성능은 모형효율계수 (NSE), 평균제곱근오차(RMSE) 및 평균절대백분율오차(MAPE)를 이용하여 평가하였다. 그 결과, BOD 부하량에 대한 NSE는 0.9, RMSE는 1031.1 kg/day, MAPE는 11.5%로 나타났으며, 총인 부하량에 대한 NSE는 0.9, RMSE는 53.6 kg/day, MAPE는 17.9%로 나타나 본 연구의 모형은 우수(good)한 것으로 판단하였다. 이에, 본 연구의 모형은 일반 ANN 모형을 이용한 선행연구와는 달리 2차원 공간정보를 반영하여 오염부하량 모의가 가능했으며, 제한적인 입력자료를 이용하여 간편한 모델링이 가능하다는 장점을 나타냈다. 이를 통해 정부의 물관리 정책을 위한 의사결정 및 부족한 물관리 분야의 행정력에 도움이 될 것으로 생각된다.