• Title/Summary/Keyword: Attitude Control Algorithm

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The Study on an Automated Generation Method of Road Drawings using Road Survey Vehicle (도로교통안전점검차량을 이용한 도로의 자동도면화 생성 연구)

  • Lee, Jun Seok;Yun, Duk Geun;Park, Jae Hong
    • International Journal of Highway Engineering
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    • v.16 no.5
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    • pp.91-98
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    • 2014
  • PURPOSES : This study is to develop a automate road mapping system using ARASEO(Automated Road Analysis and Safety Evaluation TOol) for road management. METHODS : The road survey van named ARASEO(Automated Road Analysis and Safety Evaluation TOol) was used to generate highway drawings for Korea National Road number 37 automatically. In order to generate the highway drawings for purpose of road management, it is required to acquired the information for highway alignment, road width and road facilities such as safety barrier and road sign. Therefore the survey van acquired and analyzed the road width, median and guardrail data using rear side laser sensor of ARASEO and recognized the traffic control sign and chevron sign using foreside camera images. Also the highway alignment which is the basic information for highway drawing can be analyzed by acquisition the every 1m positional and attitude data using GPU and IMU sensor and developed algorithm. Finally, in this research the CAD based drawing software was developed to draw highway drawing using the analysis result from ARASEO. RESULTS : This study showed the comparison result of the surveyed road width and drawing data. To make the drawing of the road, we made the Autocad ARX program witch run in CAD menu interface. CONCLUSIONS : Using this program we can create the road center line, every 500m horizontal and vertical ground plan drawing automatically.

Autonomous Formation Flight Tests of Multiple UAVs (다수 무인항공기의 자동 편대비행 시험)

  • Song, Yong-Kyu;Heo, Chang-Hwan;Lee, Sang-Jun;Kim, Jung-Han
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.38 no.3
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    • pp.264-273
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    • 2010
  • In this work, autonomous formation flight tests of multiple UAVs are experimentally studied. After a guidance and control system for a UAV is designed and tested, PID formation controller for follower UAV is tested using longitudinal and lateral distance feedback. It is shown that more stable and efficient formation guidance system is obtained by using position and attitude of the leader aircraft, which is exploited to calculate virtual waypoint for follower. In order to improve transient response during turn, part of roll command of the leader is added to the guidance command. Finally, autonomous formation flight test results of 3 UAVs are shown by using the best guidance algorithm suggested.

A Study on the Ground S/W Simulator for the Test of a Star Tracker (별센서 시험을 위한 지상 S/W 시뮬레이터 연구)

  • Lee, Hyeon Jae;Bang, Hyo Chung;Jeong, Dae Won;Seok, Byeong Seok;Kim, Hak Jeong
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.31 no.5
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    • pp.117-123
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    • 2003
  • One of the most important elements in satellite attitude control is sensor technology. Generally, inertial sensors introduce drift and noise which cause continuous errors. Absolute reference is needed to eliminate the problem of the inertial sensors. Star trackers are used primarily for such a purpose. There has been relatively less research effort or ground feasibility test experience on star trackers in the domestic side despite the importance of the associated technologies. In this paper, we re-introduce the basic concept of a star tracker and present the S/W simulator for the star tracker. The star simulator may be used ground test of a star tracker for the basic functioning test or the whole spacecraft test with the star tracker assembled.

Satellite Fault Detection and Isolation Using 2 Step IMM (2 단계 상호간섭 다중모델을 이용한 인공위성 고장 검출)

  • Lee, Jun-Han;Park, Chan-Gook;Lee, Dal-Ho
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.39 no.2
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    • pp.144-152
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    • 2011
  • This paper presents a new scheme for fault detection and isolation in the satellite system. The purpose of this paper is to develop a fault detection, isolation and diagnosis algorithm based on the bank of interacting multiple model (IMM) filter for both total and partial faults in a satellite attitude control system (ACS). In this paper, IMM are utilized for detection and diagnosis of anticipated actuator faults in a satellite ACS. Other fault detection, isolation (FDI) schemes using conventional IMM are compared with the proposed FDI scheme. The FDI procedure is developed in two stages. In the first stage, 11 EKFs actuator fault models are designed to detect wherever actuator faults occur. In the second stage of the FDI scheme, two filters are designed to identify the fault type which is either the total or partial fault. An important feature of the proposed FDI scheme can decrease fault isolation time and figure out not only fault detection and isolation but also fault type identification.

Identification of Nonstationary Time Varying EMG Signal in the DCT Domain and a Real Time Implementation Using Parallel Processing Computer (DCT 평면에서의 비정상 시변 근전도 신호의 인식과 병렬처리컴퓨터를 이용한 실시간 구현)

  • Lee, Young-Seock;Lee, Jin;Kim, Sung-Hwan
    • Journal of Biomedical Engineering Research
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    • v.16 no.4
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    • pp.507-516
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    • 1995
  • The nonstationary identifier in the DCT domain is suggested in this study for the identification of AR parameters of above-lesion upper-trunk electromyographic (EMG) signals as a means of developing a reliable real time signal to control functional electrical stimulation (FES) in paraplegics to enable primitive walking. As paraplegic shifts his posture from one attitude to another, there is transition period where the signal is clearly nonstationary. Also as muscle fatigues, nonstationarities become more prevalent even during stable postures. So, it requires a develpment of time varying nonstationary EMG signal identifier. In this paper, time varying nonstationary EMG signals are transformed into DCT domain and the transformed EMG signals are modeled and analyzed in the transform domain. In the DCT domain, we verified reduction of condition number and increment of the smallest eigenvalue of input correlation matrix that influences numerical properties and mean square error were compared with SLS algorithm, and the proposed algorithm is implemented using IMS T-805 parallel processing computer for real time application.

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Analysis on the Users′ Behaviors and Satisfaction on the Actual Conditions of Management in Chiri Mountain National Park (지리산국립공원의 이용자 행태분석과 관리실태에 대한 만족도 조사에 관한 연구)

  • 김광래;진희성;김세천
    • Journal of the Korean Institute of Landscape Architecture
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    • v.16 no.2
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    • pp.43-57
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    • 1988
  • The purpose of this thesis is to suggest objective basic data for park management proposal through the quantitative analysis of users' behaviors and satisfaction for the actual conditions of management in the Chiri Mountain National Park. For this users' behaviors and socio-economic characteristics have been cross-analyzed. Specifically, it attempts to investigate users' anticipate and degree of satisfaction applied Expectancy Theory by Likert attitude scale. Users'behaviors patterns of each site have been analyzed by the factor analysis algorithm, and each factor scores of sites have been clustered by the cluster method. And also user' satisfaction for the actual conditions of management have been analyzed by using the multiple regression. The major user groups were students and youth groups accompanied by their friends ranging from 3 to 10. The values of user'post occupancy-evaluation for such as rockwall climbing and praying on the mountain of each site showed higher than those of anticipated, but evaluation values of other activities were lower. The user'behaviors of each site have been analyzed five factors by factor analysis algorithm. By using the control method for the number of factors, T.V. has been obtained as 50.58%. The factor score of factor covering the behavior patterns of student and youth yield high EV. and C.V.. On the analysis of cluster using factor score, factor IV in Hwaomsa temple site and Ssanggyesa temple site, factor II, v in Jungsanri Valley site, factor, I, III in Bangmudong valley site and factor I. IV in Baemsagol vallry site showed very high values, respectively. According to the multiple regression analysis, the major variables related to the satisfaction for the actual conditions of vegetation and landscape managements were reservation of groundcover, recovery of artificial injury, the surroundings of camping and temple site. In the park facilities and operation, the major variables related to the satisfaction were conditions of management such amenity facilities as privy, sign board, junk yard, camping site, and guidance of excursion, campaign and preservation of nature.

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System Development for Measuring Group Engagement in the Art Center (공연장에서 다중 몰입도 측정을 위한 시스템 개발)

  • Ryu, Joon Mo;Choi, Il Young;Choi, Lee Kwon;Kim, Jae Kyeong
    • Journal of Intelligence and Information Systems
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    • v.20 no.3
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    • pp.45-58
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    • 2014
  • The Korean Culture Contents spread out to Worldwide, because the Korean wave is sweeping in the world. The contents stand in the middle of the Korean wave that we are used it. Each country is ongoing to keep their Culture industry improve the national brand and High added value. Performing contents is important factor of arousal in the enterprise industry. To improve high arousal confidence of product and positive attitude by populace is one of important factor by advertiser. Culture contents is the same situation. If culture contents have trusted by everyone, they will give information their around to spread word-of-mouth. So, many researcher study to measure for person's arousal analysis by statistical survey, physiological response, body movement and facial expression. First, Statistical survey has a problem that it is not possible to measure each person's arousal real time and we cannot get good survey result after they watched contents. Second, physiological response should be checked with surround because experimenter sets sensors up their chair or space by each of them. Additionally it is difficult to handle provided amount of information with real time from their sensor. Third, body movement is easy to get their movement from camera but it difficult to set up experimental condition, to measure their body language and to get the meaning. Lastly, many researcher study facial expression. They measures facial expression, eye tracking and face posed. Most of previous studies about arousal and interest are mostly limited to reaction of just one person and they have problems with application multi audiences. They have a particular method, for example they need room light surround, but set limits only one person and special environment condition in the laboratory. Also, we need to measure arousal in the contents, but is difficult to define also it is not easy to collect reaction by audiences immediately. Many audience in the theater watch performance. We suggest the system to measure multi-audience's reaction with real-time during performance. We use difference image analysis method for multi-audience but it weaks a dark field. To overcome dark environment during recoding IR camera can get the photo from dark area. In addition we present Multi-Audience Engagement Index (MAEI) to calculate algorithm which sources from sound, audience' movement and eye tracking value. Algorithm calculates audience arousal from the mobile survey, sound value, audience' reaction and audience eye's tracking. It improves accuracy of Multi-Audience Engagement Index, we compare Multi-Audience Engagement Index with mobile survey. And then it send the result to reporting system and proposal an interested persons. Mobile surveys are easy, fast, and visitors' discomfort can be minimized. Also additional information can be provided mobile advantage. Mobile application to communicate with the database, real-time information on visitors' attitudes focused on the content stored. Database can provide different survey every time based on provided information. The example shown in the survey are as follows: Impressive scene, Satisfied, Touched, Interested, Didn't pay attention and so on. The suggested system is combine as 3 parts. The system consist of three parts, External Device, Server and Internal Device. External Device can record multi-Audience in the dark field with IR camera and sound signal. Also we use survey with mobile application and send the data to ERD Server DB. The Server part's contain contents' data, such as each scene's weights value, group audience weights index, camera control program, algorithm and calculate Multi-Audience Engagement Index. Internal Device presents Multi-Audience Engagement Index with Web UI, print and display field monitor. Our system is test-operated by the Mogencelab in the DMC display exhibition hall which is located in the Sangam Dong, Mapo Gu, Seoul. We have still gotten from visitor daily. If we find this system audience arousal factor with this will be very useful to create contents.