• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1697-1700
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• 2003

We propose a new technique for real-time controller design of a autonomous cruise mobile robot with three drive wheels. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy neural network, and a back propagation algorithm to train the fuzzy neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The control performance of the proposed controller is illustrated by performing the computer simulation for trajectory tracking of the speed and azimuth of a autonomous cruise mobile robot driven by three independent wheels.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2003.04a
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• pp.312-318
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• 2003

We propose a new technique for the cruise control system design of a mobile robot with three drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy neural network and back propagation algorithm to train the fuzzy neural network controller in the framework of the specialized teaming architecture. It is proposed a learning controller consisting of too neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by three independent wheels.

• 제어로봇시스템학회:학술대회논문집
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• 1986.10a
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• pp.393-396
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• 1986

A Sun-Position Sensor using four phototransistors and shadow band device has been designed, and a Sun-Tracking System which tracks varying positions of the sun in elevation and azimuth axes has been built and its performance has been analyzed on the basis of indoor experiments and computer simulations. Two permanent-magnetic Step Motors (1.8.deg./step) for the main actuators and a CRC-800A kit with the Z-80CPU for the main controller have been selected to construct the Sun-Tracking System. It has been shown that the Sun-Position Sensor has about 0.5.deg. resolution and 25msec is required for the response of a single step input to reach its steady state.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2004.10a
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• pp.207-212
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• 2004

This paper presents a new approach to the design of cruise control system of a mobile robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy neural network, and back propagation algorithm to train the fuzzy neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2013.10a
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• pp.45-47
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• 2013

이동하는 물체와 가시선 통신링크를 유지하기 위해서는 추적안테나 시스템이 필수적이다. 방위각과 고각계산을 위해서는 이동체와 안테나시스템의 GPS값을 이용하는데, 이때 두 좌표계의 동일성을 유지하기 위해서 초기에 지자기센서나 beacon등을 이용하여 보정을 하게된다. 하지만 지형적으로 지자기교란이 생기기 쉬운 장소에서는 정확한 보정이 어렵다. 따라서 본 논문에서는 초기에 RF신호의 수신세기추적을 통해서 신호의 발생 위치를 검출하고 검출된 위치까지의 방위각 보정값을 계산하여 통신링크개설 후 수신된 GPS값에 보정값을 적용하는 추적안테나 시스템구현에 대해 기술한다.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2002.10a
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• pp.235-240
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• 2002

This paper presents a new approach to the design of cruise control system of a mobile robot with two drive wheel. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy neural network, and back propagation algorithm to train the fuzzy neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The performance of the proposed controller is shown by performing the computer simulation for trajectory tracking of the speed and azimuth of a mobile robot driven by two independent wheels.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.45 no.3
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• pp.177-187
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• 2009

This paper describes a automatic video surveillance system(AVSS) with long range and 360$^{\circ}$ coverage that is automatically rotated in an elevation over azimuth mode in response to the TTM(tracked target message) signal of vessels tracked by ARPA(automatic radar plotting aids) radar. This AVSS that is a video security and tracking system supported by ARPA radar, CCTV(closed-circuit television) camera system and other sensors to automatically identify and track, detect the potential dangerous situations such as collision accidents at sea and berthing/deberthing accidents in harbor, can be used in monitoring the illegal fishing vessels in inshore and offshore fishing ground, and in more improving the security and safety of domestic fishing vessels in EEZ(exclusive economic zone) area. The movement of the target vessel chosen by the ARPA radar operator in the AVSS can be automatically tracked by a CCTV camera system interfaced to the ECDIS(electronic chart display and information system) with the special functions such as graphic presentation of CCTV image, camera position, camera azimuth and angle of view on the ENC, automatic and manual controls of pan and tilt angles for CCTV system, and the capability that can replay and record continuously all information of a selected target. The test results showed that the AVSS developed experimentally in this study can be used as an extra navigation aid for the operator on the bridge under the confusing traffic situations, to improve the detection efficiency of small targets in sea clutter, to enhance greatly an operator s ability to identify visually vessels tracked by ARPA radar and to provide a recorded history for reference or evidentiary purposes in EEZ area.

• International Journal of Aeronautical and Space Sciences
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• v.17 no.3
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• pp.391-400
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• 2016

In satellite operations, stable maneuvering of a satellite's onboard antenna to prevent undesirable vibrations to the satellite body is required for high-quality high-resolution images. For this reason, the onboard antenna's angular rate is typically minimized while still satisfying the system requirement that limits the speed of the onboard antenna. In this study, a simple yet effective method, called the ground station searching method, is proposed to reduce the angular rate of a satellite's onboard antenna. The performance of the proposed method is tested using real flight data from the KOMPSAT-3 satellite. Approximately 83% of arbitrarily selected real flight scenarios from 66 test cases show reductions in the onboard antenna's azimuth angular rates. Additionally, reliable solutions were consistently obtained within a reasonably acceptable computation time while generating an onboard antenna tracking profile. The obtained results indicate that the proposed method can be used in real satellite operations and can reduce the operational loads on a ground operator. Although the current work only considers the KOMPSAT-3 satellite as a test case, the proposed method can be easily modified and applied to other satellites that have similar operational characteristics.

• Journal of IKEEE
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• v.15 no.3
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• pp.211-217
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• 2011

The energy of CPV system is different as the altitude and azimuth of solar. In order to The maximum of solar energy density, the tracking system which does there to make be the module and the solar will be able to maintain a normal line is necessary. This paper proposed for GPS solar tracker of stand-alone 60[W] concentrating photovoltaic system. The position algorithm of solar tracker is through the coordinates transformation calculating the altitude and azimuth of the solar.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.11 no.9
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• pp.3161-3167
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• 2010

Hall sensors of BLDC(brushless DC) motor are used to detect a position information for a control mechanism, which implements an algorithm for velocity and position control. Actual azimuth and altitude were measured to evaluate a control precision. The measurement revealed comparatively good accuracy that the measured values were $2.02^{\circ}$ and $1.01^{\circ}$ respectively, and the maximum error falls within $1.86^{\circ}$. The developed monitoring system of photovoltaic generation plants is a LCU(Local Control Unit) based on an integrated monitoring system which supports 1:N method for multiple simultaneous connections, remote control and real-time system state monitoring.