• Transactions of the Korean Society of Mechanical Engineers A
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• v.40 no.9
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• pp.807-813
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• 2016

Recently, a spherical pendulum attached to an end-effector of a robot manipulator has been frequently used for a test bed of residual vibration suppression control in a multi-dimensional motion. However, there was no automatic tracking system to detect the current bob position on-line, and there was inconvenience to not be able to store the bob position in real time and plot the trajectory. In this study, we developed a two-dimensional, real-time bob-detecting system using a digital USB camera, of which the key is hardware component design and software C programming for fast image processing and interfacing. The developed system was applied to residual vibration suppression control of a two-dimensional spherical pendulum that is attached at the end-effector of a two degree-of-freedom SCARA robot, and the effectiveness of the developed system has been demonstrated.

• Journal of the Korea Society of Computer and Information
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• v.15 no.5
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• pp.13-21
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• 2010

The Optimal results of Kalman Filtering on the Inverted Pendulum System requires an effective factor such as the noise covariance matrix Q, the measurement noise covariance matrix R and the initial error covariance matrix $P_0$. We present a special case where the optimality of the filter is not destroyed and not sensitive to scaling of these covariance matrix because these factors are unknown or are known only approximately in the practical situation. Moreover, the error covariance matrices issued by this method predict errors in the state estimate consistent with the scaled covariance matrices and not the issued state estimates. Various results using the scalar gain $\delta$ are derived to described the relations among the three covariance matrices, Kalman Gain and the error covariance matrices. This paper is described as follows: Section III a brief overview of the Inverted Pendulum system. Section IV deals with the mathematical dynamic model of the system used for the computer simulation. Section V presents a various simulation results using the scalar gain.

• Journal of Convergence for Information Technology
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• v.11 no.10
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• pp.138-143
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• 2021

As of this moment, we are tracing people who are closed contact with Covid-19 patients and trying to block the spread of Covid-19 through diagnostic tests. However, the incubation period of the confirmed case is two weeks, and it takes a lot of human resources, time, and money to trace the routes of the confirmed case. In particular, as the number of confirmed cases have been increasing, the cost for finding closed contacts and blocking them in advance exponentially have almost reached the limitation of the budget. In finding closed contacts, all citizens must record an electronic access list every time they visit an amenities such as a store or a restaurant. This is likely the invasion of the privacy of personal location information. In this study, we designed a system that keeps one's location in real time, it will download the movement information of the confirmed case which is collected by KDCA, and it will notify the user when there is an overlap. Moreover, then guide for diagnostic test in advance will be used. The proposed method can solve the difficulty of recording in an electronic access list when visiting a store, and it can block infringement of privacy without providing personal information from KDCA.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.22 no.1
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• pp.171-179
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• 2022

This paper introduces a monitoring and tracking system for corona19 confirmed patients based on the collected data by installing a device that can manage the access list at the entrance to each building on the campus. The existing QR-based electronic access list can't measure the temperature of the person entering the building and it is inconvenient that members have to scan their QR codes with a smartphone. In addition, when the state manages information about confirmed patients and contacts on campus, it is not easy for members to quickly share and track information. These could lead to cases where a person is in close contact with an infected person developing another patient. Therefore, this paper introduces a device using face recognition library and a temperature sensor installed at the entrance of each building on the campus, enabling the administrator to monitor the access status and quickly track members of each building in real-time.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2007.04a
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• pp.349-352
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• 2007

본 논문은 계층적 공정 경쟁 유전자 알고리즘(Hierarchical Fair Competition-based Genetic Algorithms : HFCGAs)을 이용한 회전형 역 진자 시스템의 최적 2-자유도 제어기 설계를 제안한다. 비선형이며 불안정한 운동을 하는 회전형 역 진자 시스템은 회전지렛대(rotating arm) 위의 폴(pole)이 적당한 제어력이 없는 상황에서 중력에 의해 어느 한 쪽 방향으로 넘어지려고 할 때, 외부에서 회전지렛대에 힘을 가하여 회전지렛대의 특정위치와 폴의 각도를 유지시키는 시스템으로, 본 논문에서는 두 개의 피드백 제어루프를 갖는 2-자유도 제어기를 구성한다. 각각의 제어기는 PD 제어기로 구성하고, 조기수렴 문제를 내재하고 있는 기존의 유전자 알고리즘의 해결방안중 하나인 HFCGAs를 이용하여 최적의 제어기 파라미터들을 구한다. 마지막으로 실제 공정에 적용하여 설계된 제어기의 성능을 평가한다.

• Proceedings of the KIEE Conference
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• 1999.11c
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• pp.579-581
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• 1999

본 논문에서는 컴퓨터의 정보처리 능력과 시각기능인 CCD 카메라의 영상처리 능력을 결합시켜 극한 상황에서도 실제 시스템을 효과적으로 제어할 수 있는 실시간 비전시각 제어시스템을 제안하고, 이를 대표적인 벤치마컴 시스템인 도립진자 시스템에 적용하여 실증하였다. 우선, 전용화 된 하드웨어를 사용하지 않고. 컴퓨터를 직접 사용하므로 영상처리 중에 발생하는 많은 데이터에서 필요한 정보를 신속하게 획득하고 처리할 수 있는 새로운 알고리즘을 제안하고 이를 시뮬레이션을 통하여 검증하였다. 또한, 실제 비전 제어시스템을 제작하고, 제안된 알고리즘을 비선형 도립진자의 제어에 적용하여 퍼지 제어기를 설계하므로 컴퓨터를 이용한 실시간 비전 시각 영상처리 제어의 가능성과 우수성을 입증하였다.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.15 no.4
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• pp.315-323
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• 1990

A design technique of dynamic stabilization controller for the intrinsic unstable inverted pendulum system is introduced. Mathematical modelling with the more complex nonlinearity and the stabilized control theory presented by C.D.Johnson are adapted to this system by using the state-space approach. And the Stabilized controller with the designed optimal regulator type which can be fastly tracked and can be accurately counteracted aginst all effects of the constant distrubances and the parameteric variations is simulated and is implemeted successfully on the microcomputer.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.306-307
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• 2007

본 논문은 계층적 공정 경쟁 유전자 알고리즘(Hierarchical Fair Competition-based Genetic Algorithms : HFCGA)을 이용하여 회전형 역 진자 시스템의 최적 Fuzzy 제어기 설계를 제안한다. 탐색 공간이 크거나 복잡한 최적해 탐색문제에 대해 조기 수렴 문제를 내제하고 있는 기존의 유전자 알고리즘의 해결방안으로 병렬 유전자 알고리즘이 개발되었으며, HFCGA는 병렬 유전자 알고리즘의 한 구조이다. 본 논문에서는 회전형 역 진자 시스템에 대해 LQR 제어기와 유사한 형태의 Fuzzy 제어기를 구성하고, HFCGA를 이용하여 최적의 제어기 파라미터들을 구한다. 그리고 시뮬레이션 및 실제 공정에 적용하여 LQR 제어기와 설계된 제어기의 성능을 평가한다.

• Proceedings of the Korea Water Resources Association Conference
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• 2022.05a
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• pp.68-68
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• 2022

코로나바이러스는(COVID-19)는 2019년 12일 중국 후베이성 우한시에서 시작된 코로나바이러스감염증으로 2020년 1월부터 전 세계로 퍼져, 일부 국가 및 지역을 제외한 대부분의 나라와 모든 대륙으로 확산되었다. 이에 WHO는 범 유행전염병(Pandemic)을 선언하였다. 2022년 3월 18일 현재 국내 누적 확진환자 8,657,609명과 11,782명의 사망자를 일으켰고 전 세계적으로도 많은 사상자를 내고 있는 실정이고 사회 및 경제적인 피해로도 계속 확대되고 있다. 많은 감염자와 사망자의수에 대한 예측은 코로나바이러스의 전염병을 예방하고 즉각적 조치를 취할 수 있는데 도움이 될 수 있다. 본 연구에서는 문화적 인자를 제외한 국내에서 연구 사례가 많지 않은 기상 요인을 인자로 포함하여 머신러닝 모델을 통해 확진자를 예측하였다. 그리고 여러 가지 모델을 성능 평가 기법인 Root Mean Square Error(RMSE) 및 Mean Absolute Percentage Error(MAPE)를 통해 성능을 평가하고 비교하여 정확도 높은 모델을 제시하였다.

• Journal of the Korean earth science society
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• v.24 no.6
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• pp.524-532
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• 2003

The purpose of the present study was to test the hypothesis that student's abductive reasoning skills play an important role in the generation of hypotheses on pendulum motion tasks. To test the hypothesis, a hypothesis-generating test on the pendulum motion and a prior knowledge test about the length of the pendulum motion were developed and administered to a sample of 5th grade children. A significant number of subjects who have the prior knowledge about the length of the pendulum motion failed to apply that prior knowledge to generate a hypothesis on a swing task. These results showed that students' failure in hypothesis-generating was related to their deficiency in abductive reasoning ability, rather than the simple lack of prior knowledge. Furthermore, children's successful generating hypothesis should be required their abductive reasoning skills as well as prior knowledge. Therefore, this study supports the notion that abductive reasoning ability beyond prior knowledge plays an important role in the process of hypothesis-generation. This study suggests that science education should provide teaching about abdctive reasoning as well as scientific declarative knowledge for developing children's hypothesis-generating skills.