• Journal of Navigation and Port Research
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• v.31 no.7
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• pp.563-568
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• 2007

In this paper, an adaptive neural network controller and its application to automatic berthing control of ship is presented. The neural network controller is trained online using adaptive interaction technique without any teaching data and off-line training phase. Firstly, the neural networks used to control rudder and propeller during automatic berthing process are presented. Secondly, computer simulations of automatic ship berthing are carried out in Pusan bay to verify the proposed controller under the influence of wind disturbance and measurement noise. The results of simulation show good performance of the developed berthing control system.

• Journal of Navigation and Port Research
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• v.30 no.4
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• pp.259-265
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• 2006

This paper presents an improved adaptive neural network autopilot based on our previous study for track-keeping control of ships. The proposed optimal neural network controller can automatically adapt its learning rate and number of iterations. Firstly, the track-keeping control system of ships is described For the track-keeping control task, a way-point based guidance system is applied To improve the track-keeping ability, the off-track distance caused by external disturbances is considered in learning process of neural network controller. The simulations of track-keeping performance are presented under the influence of sea current and wind as well as measurement noise. The toolbox for track-keeping simulation on Mercator chart is also introduced.

• Proceedings of the Korea Information Processing Society Conference
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• 2012.11a
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• pp.556-559
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• 2012

최근 인터넷의 발전으로 인해 다양한 정보들이 요구되고 있는 상황이다. 하지만 사용자들이 요구하는 정보는 기대치가 높아지고 있다. 그 중의 하나로 대학교에서 찾아볼 수 있는데, 바로 교수-학생 간 소통과 학과에 대한 정보이다. 온-오프라인에서의 의사소통과 학과의 정보는 아직 미흡하기 때문이다. 그리하여 우리는 의사소통과 건물 내부구조를 파악할 수 있는 VR Interactive Panorama를 제작하였다. 본 논문을 통해 여러 가지 정보를 얻을 수 있고, 온라인에서의 상호작용을 이끌어 낼 수 있다. 점차적으로 다양한 특성의 건물에 적용하여 사용자들의 요구에 충족하는 시스템으로 발전할 수 있을 것이다.

• The Journal of Korean Society for Radiation Therapy
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• v.24 no.2
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• pp.167-174
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• 2012

Purpose: The respiration is one of the most important factors in respiratory gating radiation therapy (RGRT). We have developed an unique respiratory guidance system using an audio-visual system in order to support and stabilize individual patient's respiration and evaluated the usefulness of this system. Materials and Methods: Seven patients received the RGRT at our clinic from June 2011 to April 2012. After breathing exercise with the audio-visual system, we measured their spontaneous respiration and their respiration with the audio-visual system respectively. With the measured data, we yielded standard deviations by the superficial contents of respiratory cycles and functions, and analyzed them to examine changes in their breathing before and after the therapy. Results: The PTP (peak to peak) of the standard deviations of the free breathing, the audio guidance system, and the respiratory guidance system were 0.343, 0.148, and 0.078 respectively. The respiratory cycles were 0.645, 0.345, and 0.171 respectively and the superficial contents of the respiratory functions were 2.591, 1.008, and 0.877 respectively. The average values of the differences in the standard deviations among the whole patients at the CT room and therapy room were 0.425 for the PTP, 1.566 for the respiratory cycles, and 3.671 for the respiratory superficial contents. As for the standard deviations before and after the application of the PTP respiratory guidance system, that of the PTP was 0.265, that of the respiratory cycles was 0.474, and that of the respiratory superficial contents. The results of t-test of the values before and after free breathing and the audio-visual guidance system showed that the P-value of the PTP was 0.035, that of the cycles 0.009, and that of the respiratory superficial contents 0.010. Conclusion: The respiratory control could be one of the most important factors in the RGRT which determines the success or failure of a treatment. We were able to get more stable breathing with the audio-visual respiratory guidance system than free breathing or breathing with auditory guidance alone. In particular, the above system was excellent at the reproduction of respiratory cycles in care units. Such a system enables to reduce time due to unstable breathing and to perform more precise and detailed treatment.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.5
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• pp.452-459
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• 2007

This paper presents the flight control system using a PC104 with GPS and IMU. This System includes an Auto/Manual conversion module by PIC16 for safety, and homing type guidance algorithm to flight toward a scheduled target. We verify the performance of the flight control system via ground test, and present the possibility of application into UAV control system via comparison with the commercial system.

• International Journal of Precision Engineering and Manufacturing
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• v.6 no.2
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• pp.61-71
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• 2005

The study reported deals with investigating the feasibility of control strategy for a serial rigid link manipulator that applies impulsive torques at the joints. The strategy is illustrated for a planar three rigid link manipulator. An impulse-based concept which uses successive torque impulses on rigid link as the controller for motion correction was introduced. This control strategy was tested over the entire trajectory to demonstrate that the tracking error could be reduced effectively. The best condition for minimizing the tracking error with the least impulse input at each joint is investigated by considering one design and one operating parameter. The first was the damping in the system, and the second was the sampling time during operation. The results show that this approach can provide useful guidance for the design and control of robot manipulators that require minimum impulse feedback for accurate tracking.

• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.52-56
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• 2004

Unmanned Aerial Vehicles (UAVs) are remotely piloted or self-piloted aircraft by inputted program in advance or artificial intelligence. In this study Aileron and Elevator are used to control the movement of airplane for horizontal and vertical flights about its longitudinal and lateral axis. In an introduction, the drone was linearly modeled by extracting aerodynamic parameter through flight test and simulation, lift and drag coefficient corresponding to angle of attack, changes of pitching moment coefficient. In the main subject, the flight simulation was performed after constructing hardware using TMS320F2812 from TI company and PID with lateral and longitudinal controller for horizontal and vertical flights. Flying characteristics of two system were estimated and compared through real flight test with hardware equipped algorithm and adaptive algorithm that was applied to consider external factors such as turbulence. In conclusion the control performance of the controller with proposed algorithm was streamlined at lateral and longitudinal controller respectively, we will discuss guidance command to pass way point.

• Journal of Families and Better Life
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• v.15 no.3
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• pp.45-58
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• 1997

The purpose of this study was to investigate the relationship between the maternal child rearing behaviors and home environmental variables related with children's self-esteem in urban and rural community. Subjects were 435 boys and girls enrolled in grade 4, 5, 6 and their mothers from five public elementary schools in Chonan city and Naju city. The instruments for the study were coopersmith's Self Esteem Inventory Korean Maternal Behavior Inventory and questionnaire on home environmental variables. The data were analyzed by Pearson's one-way ANOVA t-test and Duncan post hoc test. The major findings were as follows: 1. Children's self esteem and 'Affection' and 'Achievement' of maternal child rearing behaviors were a positive correlation. 2. Children's self esteem of urban community was higher than that of rural community. Maternal child rearing behaviors of urban community was 'Achievement' of maternal child rearing behaviors were a positive correlation. 2. Children's self e teem of urban community was higher than that of rural community. Maternal child rearing behaviors of urban community was 'Active Involvement' and that of rural community were 'Authoritaran Control', 'Overprotection' and 'Achievement' 3. There were no differences in children's self esteem with family size. 4. There were significant differences in children's self esteem with parent's educational leveland monthly family income; the higher parent's educational level and the more monthly family income the higher children's self-esteem. 5. There were also significant differences in maternal child rearing behaviors 5. There were also significant differences in maternal child rearing behaviors with 'Achievement' by parent's age monthly family income and family size in 'Reasoning Guidance' and 'Active Involvement' by parent's educational level. in 'Authoritarian Control' and 'Overprotection' by monthly family income and in 'Reasoning Guidance' and 'Authoritarian Control' by family size.

• Journal of Mechanical Science and Technology
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• v.20 no.7
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• pp.981-992
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• 2006

In this paper, a lateral vehicle control using the concept of control configured vehicle (CCV) is presented. The control objectives for the lateral dynamics of a vehicle include the ability to follow a chosen variable without significant motion change in other specified variables. The analysis techniques for decoupling of the aircraft motions are utilized to develop vehicle lateral control with advanced mode. Vehicle lateral dynamic is determined to have the steering input and control torque input. The additional vehicle modes are also defined to using CCV concept. We use right eigenstructure assignment techniques and command generator tracker to design a control law for an lateral vehicle dynamics. The desired eigenvectors are chosen to achieve the desired decoupling (i.e., lateral direction speed and yaw rate). The command generator tracker is used to ensure steady-state tracking of the driver's command. Finally, the developed design is utilized by using the lateral vehicle dynamic with four wheel.

• International Journal of Fluid Machinery and Systems
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• v.9 no.1
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• pp.28-38
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• 2016

The flexible control system for hydraulic pile hammer using main control valve is present to the requirement of rapidly reversing with high frequency. To ensure the working reliability of hydraulic pile hammer, the reversing performance of the main control valve should commutate robustness to various interfere factors. Through simulation model built in Simulink/Stateflow and experiment, the effects of relative parameters to reverse performance of main control are analyzed and the main interfere factors for reversing performance are acquired. Treating reverse required time as design objects, some structure parameters as control factors, control pressure, input flow and gaps between spool and valve body as interfere factors, the robust design of the main control valve is done. The combination of factors with the strongest anti-jamming capability is acquired which ensured the reliability and anti-jamming capability of the main control valve. It also provides guidance on design and application of the main control valve used in large flow control with interferes.