• 대한전기학회:학술대회논문집
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• 대한전기학회 2007년도 제38회 하계학술대회
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• pp.290-291
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• 2007

Barometers can provide height information steady but its accuracy becomes poor as the air data varies due to the vehicles's moving or time's elapsing. In order to keep the accuracy in spite of the air data changes, we propose a filter for the identification of baro-errors. The baro-errors mainly consist of bias and scale factor errors which gradually varies as the air data varies. With GPS height measurements, the scale factor and bias estimator is designed by applying the interacting multiple model (IMM) filtering technique to the baro-error random walk model. The resultant estimates are used to compensate current baro-measurement to supply accurate measurements steadily.

• 제어로봇시스템학회논문지
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• 제14권12호
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• pp.1205-1211
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• 2008

This paper describes methods to estimate 3-D position of target with respect to reference frame through monocular image from unmanned aerial vehicle (UAV). 3-D position of target is used as information for surveillance, recognition and attack. In this paper. 3-D position of target is estimated to make guidance and control law, which can follow target, user interested. It is necessary that position of target is measured in image to solve 3-D position of target. In this paper, kalman filter is used to track and output position of target in image. Estimation of target's 3-D position is possible using result of image tracking and information of UAV and camera. To estimate this, two algorithms are used. One is methode from arithmetic derivation of dynamics between UAV, carmer, and target. The other is LPV (Linear Parametric Varying). These methods have been run on simulation, and compared in this paper.

• 한국항해항만학회지
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• 제47권2호
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• pp.49-56
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• 2023

As interest in autonomous ships continues to grow, researchers around the world are dedicating themselves to the development of relevant technologies. However, these technologies are not yet perfect. Several technical problems remain unresolved. To address these problems, this study presents the implementation of a ship trajectory algorithm for group navigation, where followers can navigate by following the trajectory of a leader. The algorithm works by storing the leader's trajectory as a follow-point and by calculating the azimuth using the line-of-sight guidance law to reach it. A course-keeping controller based on PD control is implemented to follow the target course and a speed control algorithm is designed to prevent collisions. Sea experiments were conducted using 1 m class small RC model boats to verify the proposed algorithm. The follower successfully navigated by following the leader's trajectory and maintained the designated distance to the forward boat. This study is significant in that it implements an algorithm for the follower to follow the trajectory of the leader rather than directly following it as in conventional methods, and verifies it through sea experiments.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.115-120
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• 1993

It is difficult to establish a mathematical furnace model and automatic-fumace control because of the difficulty in direct measurement of the inner condition of a blast furnace. To solve this problem, we has developed and actually operated a blast furnace operation control system using artificial intelligence tool to be applied to the blast furnace process computer system. Since this system has a function of automatic Treat level control, higher practicality has been proved than the previous guidance-level expert system. This paper introduces an outline of the system and the result of application.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 1995년도 봄 학술발표회 논문집
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• pp.372-377
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• 1995

Expert systems which represent the appllication of artificial intelligence research are now nearly 20 years old. It is said that the present technology together with ever- increasing computing applicability of Combined Hypertext-Expert System Techniques to the design of reinforced concrete structures. Hypertext systems allow the user to control the system while expert systems alone don't give the user any control over the system. Therefore the combination of these two techniques, offered by KnowledgePro, may bring us closer to real user-expert communication. The system developed in this work offers information on design in general by reorganizing ACI Manual 318-89, detailed stress analysis and cross sectional design of simple PC/RC beams and optimum design of reinforced concrete building frames. The system also includes the author's earlier work on guidance to identify types of cracks in concrete. It is also includes the author's earlier work on guidance to identify types of cracks in concrete. It is also demonstrated how well and conveniently existing programs can be used by reorganizing the user manuals in the context of hypertext.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1995년도 추계학술대회 논문집
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• pp.610-613
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• 1995

In addition to propulsive force to a flying vehicle, a rocket propulsion system can provide moments ro rotatate the flying vehicle and thus provide control of the vehicle's attitude and flight path. By controlling the direction of the thrust vectors, it is possible to control a vehicle's pitch, yaw, and roll motions. In this paper, we will introduce general thrust vector control mechanisms.

• 대한의용생체공학회:의공학회지
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• 제35권3호
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• pp.50-54
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• 2014

It is being tried to control robot arm using brain signal in the field of brain-machine interface (BMI). This study is focused on applying guidance laws for efficient robot arm control using 3D coordinates obtained from Magnetoencephalography (MEG) signal which represents movement of upper limb. The 3D coordinates obtained from brain signal is inappropriate to be used directly because of the spatial difference between human upper limb and robot arm's end-effector. The spatial difference makes the robot arm to be controlled from a third-person point of view with assist of visual feedback. To resolve this inconvenience, guidance laws which are frequently used for tactical ballistic missile are applied. It could be applied for the users to control robot arm from a first-person point of view which is expected to be more comfortable. The algorithm which enables robot arm to trace MEG signal is provided in this study. The algorithm is simulated and applied to 6-DOF robot arm for verification. The result was satisfactory and demonstrated a possibility in decreasing the training period and increasing the rate of success for certain tasks such as gripping object.

• 한국항공우주학회지
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• 제30권1호
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• pp.155-164
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• 2002

• 한국정보통신학회:학술대회논문집
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• 한국해양정보통신학회 2011년도 추계학술대회
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• pp.176-177
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• 2011

현재, 해양 선박의 경우 주간에는 육안을 통하여 쉽게 항구를 찾아 쉽게 선박을 정박시키거나 출항을 할 수 있지만, 사람의 시야를 확보할 수 없는 야간의 경우에는 선박의 전자 장비에 의존하거나 해상위에 떠 있는 해상 유도 표시등을 이용하여 선박을 정박시키거나 출항을 하고 있다. 또한, 현재의 많은 해상 유도 표시등은 GPS를 사용하여 제품을 설계하고 있지만, 시간에 따른 점멸 제어에 대한 오차가 누적되어 일정시간의 경과 후에는 유도등의 동기화에 많은 문제가 발생하고 있는 실정이다. 본 논문에서는 야간에 선박의 안전한 출항과 정박의 안내를 위하여 해상 유도 표시등의 동시 점멸에 관한 논문으로 PGS 시간 정보 데이터를 이용하여 일정시간이 흘러간 뒤에도 유도등의 점멸 제어 누적 오차를 제거할 수 있는 알고리즘을 개발하여 기존의 제품을 보완할 수 있는 알고리즘을 제안하고 그 성능을 실험을 통하여 제시하고자 한다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 하계학술대회 논문집 D
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• pp.2088-2090
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• 2003

A practical recursive weighted least square(WLS) solution is proposed to solve the passive ranging problem. Apart from the previous works based on the extended Kalman filter(EKF), to ensure the convergency at long-range, the proposed scheme makes use of line-of-sight(LOS) rate instead of bearing information. The influence of LOS rate measurement errors is investigated and it is asserted that the WLS estimates contain bias and scale factor errors. Together with simple compensation algorithm, the estimation errors of proposed filter can be reduced dramatically.