• Proceedings of the Korean Society for Bio-Environment Control Conference
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• 1999.04a
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• pp.1-4
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• 1999

본 연구에서는 시설원예용 하우스의 난방방식별 온열환경특성 즉, 온도 분포상의 문제점을 파악하고, 하우스 난방시스템 선정 및 하우스 설계를 위한 기초자료를 제공하기 위하여 동일 부지에 동일한 형상으로 조성된 단동 하우스에 각각 심야전력 전기히터, 경유 보일러에 의한 온풍난방, 무가온 상태로 설정하여 하우스내 온열환경에 관한 분포특성을 검토하였다. (중략)

• Journal of Institute of Control, Robotics and Systems
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• v.3 no.4
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• pp.350-356
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• 1997

It is desirable for autonomous robot systems to possess the ability to behave in a smooth and continuous fashion when interacting with an unknown environment. Although Q-learning requires a lot of memory and time to optimize a series of actions in a continuous state space, it may not be easy to apply the method to such a real environment. In this paper, for continuous state space applications, to solve problem and a triangular type Q-value model\ulcorner This sounds very ackward. What is it you want to solve about the Q-value model. Our learning method can estimate a current Q-value by its relationship with the neighboring states and has the ability to learn its actions similar to that of Q-learning. Thus, our method can enable robots to move smoothly in a real environment. To show the validity of our method, navigation comparison with Q-learning are given and visual tracking simulation results involving an 2-DOF SCARA robot are also presented.

• IE interfaces
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• v.12 no.2
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• pp.193-204
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• 1999

Development of high technology especially in telecommunication and precise weapon systems will impact the future battle field environment. So it is not difficult to anticipate the environment of military command and control system will be changed rapidly. Considering these future battle field environment, military needs automated C4I (Command, Control, Communication, Computer and Intelligence) system, namely real time decision support system which is combined high technologies. Most of advanced countries have been studied and developed these kinds of systems and already applied these systems in real military operations. In order to take a military initiative in Korea peninsula it is essential to catch up with this trend and procure C4I system. The purpose of this research is to present the method and the direction of optimal C4I system development model. First we survey the related theory about C4I systems. Second we present the conceptual framework for C4I system concept development. Third we model the system using Timed Petri-Net and perform simulation. Finally we analyze the through-put time and suggest alternatives. If we model using the real organization structure, operational tasks and various situations then optimal C4I system would be developed.

• International Journal of Control, Automation, and Systems
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• v.5 no.1
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• pp.51-60
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• 2007

This paper describes a visual tracking control law of an Unmanned Aerial Vehicle(UAV) for monitoring of structures and maintenance of bridges. It presents a control law based on computer vision for quasi-stationary flights above a planar target. The first part of the UAV's mission is the navigation from an initial position to a final position to define a desired trajectory in an unknown 3D environment. The proposed method uses the homography matrix computed from the visual information and derives, using backstepping techniques, an adaptive nonlinear tracking control law allowing the effective tracking and depth estimation. The depth represents the desired distance separating the camera from the target.

• Journal of Electrical Engineering and Technology
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• v.9 no.3
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• pp.1043-1050
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• 2014

Obsolescent control systems for power systems are evolving into intelligent systems and connecting with smart devices to give intelligence to the power systems. As networks of the control system are growing, vulnerability is also increasing. The communication network of distribution areas in the power system connects closely to vulnerable environments. Many cyber-attacks have been founded in the power system, and they could be more critical as the power system becomes more intelligent. From these environment, new communication network architecture and mitigation method against cyber-attacks are needed. Availability and Fault Tree analysis used to show that the proposed system enhances performance of current control systems.

• Journal of Information Technology Applications and Management
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• v.30 no.6
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• pp.81-90
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• 2023

In aviation, with the rapid transformation of the mobility industry, UAMs are emerging to operate green low-altitude airspace in urban environments. In order for UAM aircraft to fly safely transporting passengers and cargo in low-altitude urban airspace, a traffic control system that supports the safe operation of the aircraft is essential. In particular, traffic control systems that reflect the characteristics of the flight environment, such as operating at low altitude in urban environments for a short period of time, are required. In this study, we define the definition of UATM and its main services that perform traffic control for the safe operation of UAMs. In addition, we analyzed the development trends of UATM systems based on domestic and overseas cases. Based on these analyses, we present the results of the concept design of the UATM system. After analyzing UATM development cases, we found that there is no commercialized UATM system, but overseas development is focused on systems that can integrate ATM and UTM. And we identified key stakeholders and interface data, and performed UATM system architecture and functional design based on the identified data. Finally, as a necessary element for the future development of UATM systems, we propose the establishment and advancement of UAM traffic flow management systems, the establishment of integrated control systems, and the development of interface with aircraft operation systems in preparation for the unmanned UAM aircraft.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.85-88
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• 1996

We develop an efficient technique of controlling chaos using M-step ahead prediction with the OGY method. It has smaller transient time than the OGY method, and prevents burst phenomena that occur in noisy environment. This technique is very simple and needs small memory compared with targeting algorithms. Numerical examples show that the proposed algorithm has good performance, especially in noisy environment.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.139-142
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• 1996

This paper presents a method of controlling contact force for deburring tasks. The cope with the nonlinearities and time-varying properties of the robot and the environment, a neural network control theory is applied to design the contact force control system. We show that the contact force between the hand and the contacting surface can be controlled by adjusting the command velocity of a robot hand, which is accomplished by the modeling of a robot and the environment as Mass-Spring-Damper system. Simulation results are shown.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.168-173
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• 1991

A neural optimization network is proposed to control the redundant robot manipulators in an environment with the obstacle. The weightings of the network are adjusted by considering both the joint dexterity and the capability of collision avoidance of joint differential motion. The fuzzy rules are proposed to determine the capability of collision avoidance of each joint. To show the validities of the proposed method, computer simulation results are illustrated for the redundant robot of the planner type with three degrees of freedom.

• Proceedings of the Korea Information Processing Society Conference
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• 2019.10a
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• pp.621-622
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• 2019

본 논문은 도심 환경하에서 운행 가능한 자율주행차량 시스템의 구현 방안에 대해 다루고 있다. 현대자동차가 주최한 2019 대학생 자율주행 경진대회는 도심 환경을 재현한 K-City 에서 열렸고, 도심 환경에서 발생할 수 있는 돌발 장애물 인지, 공사 구간 우회, 교차로 신호등 인지, 사고 차량 회피, 응급 차량에게 차선 양보 및 톨게이트 통과 등의 6 개의 미션을 자율주행차량이 무인운전으로 수행하는 것이었다. 이 대회를 위해 본 연구팀에서 개발한 자율주행 시스템은 리웍된 실제 차량에 탑재되어 대회장의 모든 주행 미션을 성공적으로 수행하였다.