• Ocean and Polar Research
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• 제36권4호
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• pp.487-494
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• 2014

Deep-seabed test miner operated by a self-propelled mining system moving on soft soil is an essential device to secure floating and towing performances. The performances of the tracked vehicle are seriously influenced by noise factors such as the shear strength of the seafloor, bottom current, seafloor slope, speed of tracked vehicle, reaction forces of flexible hose, steering ratio, etc. Due to uncertainties related to noise factors, the design of a deep-sea manganese nodules test miner that satisfies target reliabilities is difficult. Therefore, reliability-based design optimization (RBDO) is required to guarantee system reliability under circumstances where uncertainties related to noise factors prevail. Among noise factors, the bottom current, a bimodal distribution, is censored due to the observation limit of measurement devices. Therefore, estimated distribution of the bottom current is inaccurate without considering these characteristics and the result of RBDO cannot be guaranteed. In this paper, we define censored data as unknown values over the limit of observation. If this data is estimated by using Akaike information criterion (AIC) that cannot consider the characteristics of censored data, the distribution of estimated data cannot guarantee accurate reliability. Therefore, censored AIC that can consider the characteristics of data is used to estimate accurate distribution of the bottom current. Finally, RBDO, under circumstances where uncertainties related to noise factors combined censored data are present, is performed on the mobility of a deep-sea manganese nodules test miner.

• 해양환경안전학회지
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• 제21권2호
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• pp.171-178
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• 2015

본 연구는 제한속력 설정 모델 개발을 위한 1차 연구로서 제한속력 설정 시 고려요소에는 어떤 것이 있으며, 각 요소별 중요도는 얼마나 되는지에 대한 연구의 결과이다. 고려요소 식별과 중요도 산정을 위해 델파이(Delphi)기법과 AHP(Analytic Hierarchy Process)기법을 이용하였다. 델파이 설문은 3차에 걸쳐 수행하였고 3차에 걸친 설문을 통해 5개 상위요소(Level 1)와 23개 하위요소(Level 2)가 식별되었다. 3차 델파이 설문과정에서 내용타당도비율(CVR)값이 0.4~1.0 범위에 있으면 제한속력 설정 시 고려요소로서 반영하였고 0.4 미만의 값은 고려요소에서 제외하였다. 2차 델파이 설문과정에서 33개 고려요소가 식별되었으나 3차 설문을 통해 23개 항목으로 축소되었다. 델파이 3차 분석을 통해 얻은 23개 항목을 대상으로 AHP 설문을 수행하였다. AHP 설문 결과, 5개 상위요소(Level 1)에 대한 중요도는 교통조건이 가장 중요한 요소로 평가되었고, 선박조건, 항로조건, 자연조건, 외부지원 및 기타 조건 순으로 평가되었다. 23개 하위요소 중에서 시정이 가장 중요(1위)하다고 평가되었으며, 선박조종성능, 항로 내 수중장애물, 교통량 및 밀도, 통항선박간 거리, 타효가능속력, 조류 순으로 평가되었다.

• International Journal of Aeronautical and Space Sciences
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• 제8권1호
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• pp.10-20
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• 2007

For spacecraft attitude control, reaction wheel (RW) steering laws with more than three wheels for three-axis attitude control can be derived by using a control allocation (CA) approach.1-2 The CA technique deals with a problem of distributing a given control demand to available sets of actuators.3-4 There are many references for CA with applications to aerospace systems. For spacecraft, the control torque command for three body-fixed reference frames can be constructed by a combination of multiple wheels, usually four-wheel pyramid sets. Multi-wheel configurations can be exploited to satisfy a body-axis control torque requirement while satisfying objectives such as minimum control energy.1-2 In general, the reaction wheel steering laws determine required torque command for each wheel in the form of matrix pseudo-inverse. In general, the attitude control command is generated in the form of a feedback control. The spacecraft body angular rate measured by gyros is used to estimate angular displacement also.⁵ Combination of the body angular rate and attitude parameters such as quaternion and MRPs(Modified Rodrigues Parameters) is typically used in synthesizing the control command which should be produced by RWs.¹ The attitude sensor signals are usually corrupted by noise; gyros tend to contain errors such as drift and random noise. The attitude determination system can estimate such errors, and provide best true signals for feedback control.⁶ Even if the attitude determination system, for instance, sophisticated algorithm such as the EKF(Extended Kalman Filter) algorithm⁶, can eliminate the errors efficiently, it is quite probable that the control command still contains noise sources. The noise and/or other high frequency components in the control command would cause the wheel speed to change in an undesirable manner. The closed-loop system, governed by the feedback control law, is also directly affected by the noise due to imperfect sensor characteristics. The noise components in the sensor signal should be mitigated so that the control command is isolated from the noise effect. This can be done by adding a filter to the sensor output or preventing rapid change in the control command. Dynamic control allocation(DCA), recently studied by Härkegård, is to distribute the control command in the sense of dynamics⁴: the allocation is made over a certain time interval, not a fixed time instant. The dynamic behavior of the control command is taken into account in the course of distributing the control command. Not only the control command requirement, but also variation of the control command over a sampling interval is included in the performance criterion to be optimized. The result is a control command in the form of a finite difference equation over the given time interval.⁴ It results in a filter dynamics by taking the previous control command into account for the synthesis of current control command. Stability of the proposed dynamic control allocation (CA) approach was proved to ensure the control command is bounded at the steady-state. In this study, we extended the results presented in Ref. 4 by adding a two-step dynamic CA term in deriving the control allocation law. Also, the strict equality constraint, between the virtual and actual control inputs, is relaxed in order to construct control command with a smooth profile. The proposed DCA technique is applied to a spacecraft attitude control problem. The sensor noise and/or irregular signals, which are existent in most of spacecraft attitude sensors, can be handled effectively by the proposed approach.

• 한국자동차공학회논문집
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• 제19권4호
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• pp.8-15
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• 2011

This paper proposes a real-time navigation algorithm which integrates the artificial potential field (APF) for an unmanned vehicle in the unknown environment. This approach uses repulsive potential function around the obstacles to force the vehicle away and an attractive potential function around the goal to attract the vehicle. In this research, laser range finder is used as range sensor. An obstacle detected by the sensor creates repulsive vector. Differential global positioning system (DGPS) and digital compass are used to measure the current vehicle position and orientation. The measured vehicle position is also used to create attractive vector. This paper proposes a new concept of potential field based navigation which controls unmanned vehicle's speed and steering. The magnitude of repulsive force based on the proposed algorithm is designed not to be over the magnitude of attractive force while the magnitude is increased linearly as being closer to obstacle. Consequently, the vehicle experiences a generalized force toward the negative gradient of the total potential. This force drives the vehicle downhill towards its goal configuration until the vehicle reaches minimum potential and it stops. The effectiveness of the proposed APF for unmanned vehicle is verified through simulation and experiment.

• Current Research on Agriculture and Life Sciences
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• 제9권
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• pp.11-20
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• 1991

본(本) 연구(硏究)는 인체(人體)에 해(害)로운 농약(農藥)으로 부터 운전자(運轉者)를 보호(保護)하기 위하여 무인(無人) 스피드 스프레이어를 개발(開發)할 목적(目的)으로 수행(遂行)하였으며 무선(無線) 전파(電波) 리모콘에 의한 원격제어(遠隔制御) 시스템을 개발(開發)하기 위하여 수행(遂行)한 결과(結果)를 요약(要約)하면 다음과 같다. 1. 234채널, 16명령을 발신(發信)할 수 있는 VHF 대 전파(電波) 리모콘을 제작(製作)하여, 스피드 스프레이어의 원격제어(遠隔制御)에 편용가능(便用可能)하였다. 2. 시판(市販)되고 있는 무선전화기(無線電話機)의 방식(方式)인 DTMF방식(方式)을 채용(採用)한 무선 리모콘을 사용(使用)할 경우 시판 무선전화기(無線電話機) 사용(使用)이 가능(可能)하여 송수신(送受信)기의 별도(別途) 제작(製作)이 필요 없는 잇점이 있었다. 3. 무선(無線) 전파(電波) 리모콘과 원칩 마이크로 컴퓨터를 이용(利用)하여 염가(廉價)이고 컴팩터한 원격조종(遠隔操縱) 조향장치(操向裝置) 및 원격조종(遠隔操縱) 변속장치(變速裝置), 원격조종(遠隔操縱) 약액(藥液) 살포장치(撒布裝置) 등(等)의 원격제어(遠隔制御) 시스템 제작(製作)이 가능(可能)하였다.

• 제어로봇시스템학회논문지
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• 제18권6호
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• pp.584-593
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• 2012

This paper introduces an AVP (Automated Valet Parking) system which applies an autonomous driving concept into the current PAS (Parking Assistant System). The present commercial PAS technology is limited into vehicle. It means vehicle only senses and controls by and for itself to assist the parking. Therefore, the present PAS is restricted to simple parking events. But AVP includes wider parking events and planning because it uses infra-sensor network as well as vehicle sensor. For the realization of AVP, the commercial steering system of a compact vehicle was modified into steer-by-wire structure and various sensors like LRF (Long Range Finder) and camera were installed in a parking area. And local & global server decides where and when the vehicle can go and park in the testing area after recognized the status of environment and vehicle from those sensors. GPS solution was used to validate the AVP performance. More various parking situations, vehicles and obstacles will be considered in the next research stages based on these results. And we expect this AVP solution with more intelligent vehicles can be applied in a big parking lot like a market, an amusement park, etc.

• 대한의용생체공학회:의공학회지
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• 제20권3호
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• pp.323-329
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• 1999

본 연구에서는 피부전기활동을 이용한 졸음 검출시 발생되는 동잡음 제거법을 제안하였다. 운전 조작시 발생하는 동잡음을 제거할 수 없는 기존의 핸들형 전극의 문제점을 해결하기 위하여 두 종류의 손목형 전극을 개발하였으며, 세 종류의 전극을 비교 실험한 결과, type I 전극을 개선한 손목형 전극 II가 동잡음 제거에 가장 효과적이었다. 가상 운전 실험을 통하여 동잡음 판별기준(IRI$\leq$10과 1.1$\leq$dNz)을 설정하고 이 기준을 동시에 만족하는 경우의 Nz값을 동잡음 발생이전의 Nz값으로서 치환하는 동잡음 제거 알고리즘을 개발하였다. 가상 및 도로 주행 실험결과 제안된 알고리즘은 동잡을 성공적으로 제거할 수 있었으며, 본 연구에서 제안된 알고리즘의 개선된 전극을 이용하여 구현된 시스템은 동일한 영향을 받지 않고 각성상태를 정확히 측정할 수 있음을 확인하였다.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2008년 영문 학술대회
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• pp.862-865
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• 2008

Wireless energy supply for an MAV propulsion system using microwave was developed. This system consists of three sub system; the transmitter system, the rectenna system, and the tracking system. In the transmitter system five horn antennas were used as the antenna elements for the phased array system and both the beam divergence and steering angle was about 9deg. Eight rectennas were arrayed in parallel to obtain enough power to drive the electric motor on the MAV(the voltage was 250mV and the current was 6.8mA) in rectenna system. In tracking system two units of antenna system with leaf pattern which received the linearly-polarized wave despite the MAV yaw angle were set in each axis(x, y) for tracking an MAV in a 2-Dimentional space. And three output voltages $V_{com},\;V_1$ and $V_2$ were loaded in the PC to detect if the distance between transmitter and receiver was not constant. Finally when the microwave beam was steered by the phased array system the output voltage from rectenna was measured at 62cm while the MAV circled around above the transmitter system.

• 한국도서관정보학회지
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• 제50권2호
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• pp.169-189
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• 2019

이 연구는 학교도서관 운영평가 지표의 우선순위를 도출하여 현장성이 반영된 평가지표의 개선방안을 제시하는데 목적이 있다. 이를 위해 학교도서관의 대표적인 전담인력인 사서교사를 대상으로 Analytic Hierarchy Progress(AHP) 분석방법을 적용하여 평가지표의 우선순위를 분석하였다. 연구결과, 상위 계층 평가영역의 우선순위는 인적자원, 도서관서비스, 정보자원, 도서관경영, 시설 환경 순으로 나타났고, 하위 계층 평가항목의 우선순위는 인력자원배치, 인력자원 전문성, 독서교육, 정보활용교육, 교육활성화 노력, 장서 구성 적설성, 장서 최신성, 예산, 시설 접근성, 장서 현황, 시설 설비 적절성, 경영계획, 이용 접근성, 홍보 및 마케팅, 학교도서관운영위원회, 협력, 자료이용현황 순으로 나타났다. 본 연구를 통해 도출한 결론은 현장성이 가미된 학교도서관 평가지표를 적용함에 있어서 기초자료로 활용할 수 있을 것이다.

• 대한전자공학회논문지SD
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• 제46권4호
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• pp.1-9
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• 2009

본 논문에서는 디스플레이 시스템을 위한 소면적 12-bit 300MSPS의 D/A 변화기(DAC)를 제안한다. 최근 SoC(System-On-Chip) 경향에 맞는 소면적 DAC를 구현하기 위한 전체적인 구조는 6-MSB(Most Significant Bit) + 6-LSB(Least Significant Bit)의 full matrix 구조로 설계 하였다. 고해상도 동작에 요구되는 output impedance을 만족하는 monitoring bias 구조, 고속 동작 및 소면적 디지털 회로 구성을 위하여 logic과 latch 및 deglitching 역할을 동시에 할 수 있는 self-clocked switching logic을 각각 제안하였다. 설계된 DAC는 Samsung $0.13{\mu}m$ thick gate 1-poly 6-metal N-well CMOS 공정으로 제작되었다. 제작된 DAC의 측정결과 INL (Integrated Non Linearity) / DNL (Differential Non Linearity)은 ${\pm}3LSB$ / ${\pm}1LSB$ 이하로 나타났으며, 300MHz 샘플링 속도와 15MHz의 출력신호에서 SFDR은 약 70dB로 측정되었다. DAC의 유효면적은 $0.26mm^2$ ($510{\mu}m{\times}510{\mu}m$)로 기존의 DAC에 비하여 최대 40% 감소된 초소면적으로 구현되었으며, 최대 전력 소모는 100mW로 측정되었다.