• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.64.4-64
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• 2001

Localization is the key role in controlling the Mobile Robot. In this papers, a development of the sensor fusion algorithm for controling UTV(Unmanned Tracked Vehicle) is presented. The multi-sensocial dead-rocking subsystem is established based on the optimal filtering by first fusing heading angle reading from a magnetic compass, a rate-gyro and two encoders mouned on the robot wheels, thereby computing the deat-reckoned location. These data and the position data provoded by LBL system are fused together by means of an extended Kalman filter. This algorithm is proved by simulation studies.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.699-703
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• 2004

The autopilot system targets decreasing labor, working environment, service safety security and elevation of service efficiency. Ultimate purpose is minimizing number of crew for guarantee economical efficiency of shipping service. Recently, being achieving research about Course Keeping Control, Track Keeping Control, Roll-Rudder Stabilization, Dynamic ship Positioning and Automatic Mooring Control etc. which compensate nonlinear characteristic using optimizing control technique. And application research is progressing using real ship on actual field. Relation of Rudder angle which adjusted by Steering Machine and ship-heading angle are non-linear. And, Load Condition of ship acts as non-linear element that influence to Parameter of ship. Also, because the speed of a current and direction of waves, velocity and quantity of wind etc. that id disturbance act in non-linear form, become factor who make service of shipping painfully. Therefore, service system of shipping requires robust control algorithm that can overcome nonlinearity. In this paper, Using GA algorithm,design autopilot system of ship that could overcome the non-linear factor of ship and disturbance and examined result through simulation.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.450-455
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• 1993

Guidance commands for attitude controlled missiles inevitably take the form of attitude angle commands. On the other hand, many guidance laws compute the accelerations required to achieve their goals. Therefore some integrators must be in use for the attitude controlled missiles to implement the guidance laws. Naturally, the use of the integrator raises the problem of choosing a proper initial value. In this paper, we compute the integrator initial value which minimizes the terminal miss and show that if the total flight time of the mission is long enough, the "optimal" initial value becomes some multiple of the initial heading error or of the given impact angle to the target. We demonstrate the validity of the analysis by showing some linear and nonlinear simulation results.n results.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2001년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.223-226
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• 2001

A SMA actuator fabricated in this paper generates the large force and it's structure is very simple. The SMA actuator was fabricated by small size with diameter of 4mm and length of 38mm and also it's actuations toward all the directions can be acquired because of three SMA springs which was fabricated with diameter of 1.2mm and 30 turns. We showed into applicability to smart catheter by analyzing accurately the dynamic characteristics such as heading angle, bending angle, force, displacement. For verifying control capacity of the fuzzy controller, we compared Fuzzy controller with PID controller by simulation.

• 제어로봇시스템학회논문지
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• 제20권4호
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• pp.414-421
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• 2014

This paper presents a method of ballistic missile launch point estimation using phase division least squares. The proposed algorithm employs smoothing to enhance estimation accuracy and generates functions of time for total velocity, flight path angle and heading angle, allowing extrapolation to estimate the launch point. Performance of the proposed algorithm is tested in conjunction with the extended Kalman filter and the Kalman filter.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권3호
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• pp.131-140
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• 2005

Fault-tolerant gait generation of a hexapod robot with crab walking is proposed. The considered fault is a locked joint failure, which prevents a joint of a leg from moving and makes it locked in a known position. Due to the reduced workspace of a failed leg, fault-tolerant crab walking has a limitation in the range of heading direction. In this paper, an accessible range of the crab angle is derived for a given configuration of the failed leg and, based on the principles of fault-tolerant gait planning, periodic crab gaits are proposed in which a hexapod robot realizes crab walking after a locked joint failure, having a reasonable stride length and stability margin. The proposed crab walking is then applied to path planning on uneven terrain with positive obstacles. i.e., protruded obstacles which legged robots cannot cross over but have to take a roundabout route to avoid. The robot trajectory should be generated such that the crab angle does not exceed the restricted range caused by a locked joint failure.

• ETRI Journal
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• 제37권3호
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• pp.617-625
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• 2015

In this paper, a steering control system for the path tracking of autonomous vehicles is described. The steering control system consists of a path tracker and primitive driver. The path tracker generates the desired steering angle by using the look-ahead distance, vehicle heading, and a lateral offset. A method for applying an autonomous vehicle to path tracking is an advanced pure pursuit method that can reduce cutting corners, which is a weakness of the pure pursuit method. The steering controller controls the steering actuator to follow the desired steering angle. A servo motor is installed to control the steering handle, and it can transmit the steering force using a belt and pulley. We designed a steering controller that is applied to a proportional integral differential controller. However, because of a dead band, the path tracking performance and stability of autonomous vehicles are reduced. To overcome the dead band, a dead band compensator was developed. As a result of the compensator, the path tracking performance and stability are improved.

• 한국작물학회지
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• 제47권6호
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• pp.395-401
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• 2002

보리의 조숙 품종을 육성하기 위해서는 조기 출수인자에 단기 등숙성 인자를 도입하는 것이 중요하므로 출수기, 성숙기 및 등숙기간의 유전에 관한 정보를 얻고자 4개 품종(사천6호, 오월보리, 동보리1호, Reno), F$_1$, F$_2$세대의 종자를 포장에 파종, 재배하여 출수기, 성숙기 및 등숙기간을 조사하였다. 1. 출수기는 4월 3일-4월 26일, 성숙기는 5월 15일-5월 27일, 등숙기간은 31일-42일로 교배친 및 F$_1$ 조합간 차이가 현저하였다. 2. 부분 이면교잡에 의한 분산분석 결과, 출수기에 대해서 동보리1호(출수기 늦음)는 우성으로, 오월보리는(출수기 빠름) 열성으로, 출수기 유전은 유전자의 상가적 작용이 큰 부분우성으로 나타났다. 3. 성숙기에 대해서 동보리 1호가 우성으로, 오월보리가 열성으로, 성숙기 유전은 유전자의 상가적 작용 큰 부분우성으로 나타났다. 4. 등숙기간에 대해서 Reno(등숙기간이 짧음)가 우성으로 오월보리(등숙기간이 길음)은 열성으로 유전자의 상가적 작용이 큰 부분우성으로 나타났다. 5. 출수기, 성숙기에 대한 일반조합능력의 분산량은 고도의 유의성이 인정되고, GCA분산이 SCA분산보다 출수기는 10.1-29.5배, 성숙기는 9.9-121배 높아서 유전자의 상가적 작용이 컸으며, 사천6호와 오월보리는 출수와 성숙이 빠른 방향으로, 동보리 1호와 Reno은 늦어지는 방향으로 효과를 보였다. 6. 등숙기간에 대해선 GCA 효과는 F$_1$과 F$_2$ 세대간 유의적 차이가 있었고 GCA/SCA비가 크므로 유전자의 상가적 작용이 현저하였다. 7 포장 출수기, 성숙기는 결빙방지 단백질의 농도, 광합성의 광저해에 대한 내성, 포장 내동성과 고도의 정의 상관을, 등숙기간은 각 형질들과 부의 상관을 보였다. was "glossy and smooth" in all cases and preference about the texture was high. The Doenjang with added P. japonica Powder had a saltier taste and the Doenjang with P. japonica Powder had the least sweet taste. In the flavor and overall Preference, the Doenjang with P. japonica powder was the lowestEX>로 측정되었고, 계사내 지붕의 표면 온도는 최고 $29^{\circ}C$가 측정되었다. 계사 내 표면 온도 및 닭의 표면 온도는 계사내 공기온도의 영향을 많이 받는 것으로 나타났다.ill in a good agreement with those predicted by Rohsenow's formula, which was based on nucleate boiling. For the condenser, the wall temperatures were practically uniform, and the measured values of condensation heat transfer coefficient were 1.7 times higher than the predicted values obtained from Nusselt's film condensation theory on tilted plate. Using those two expressions, a correlation was formulated as a function of heat flux and tilt angle, to determine the total thermal resistance of a tilted thermosyphon.

• 한국항해항만학회지
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• 제33권8호
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• pp.505-511
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• 2009

선박의 대형화에 따른 풍압면적의 증가 및 갑작스런 돌풍 등 자연환경의 급격한 변화 등으로 묘박 중인 선박이 주묘 되는 현상이 자주 발생되고 있다. 특히, 선박운항자의 관점에서는 풍속 및 파랑 등의 외력 변화에 따른 주묘 발생 시점 및 주묘 형태, 주묘시의 속력과 주변 선박 또는 장애물과의 충돌 가능성 등을 고려한 적절한 대응 방안이 모색되어야 한다. 본 논문은 실습선 한바다호가 단묘박으로 묘박 중 기상이 점점 악화되면서 실제로 주묘가 발생한 현상을 검토한 것으로, 묘박 당시의 풍압력, 유압력, 표류력, 선체운동 그리고 파주력 등을 분석하여 주묘의 발생 가능성 및 한계 외력을 고찰하였다. 또한, 당시의 외력 조건하에서 발생한 주묘패턴을 분석하여 선수방위 변화량, 스윙폭, 주묘 속도 등을 확인하였다.

• Agricultural and Biosystems Engineering
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• 제6권2호
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• pp.47-53
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• 2005

AMachine vision is a promising tool for the autonomous guidance of farm machinery. Conventional CCD camera for the machine vision needs a desktop PC to install a frame grabber, however, a web camera is ready to use when plugged in the USB port. A web camera with a notebook PC can replace existing camera system. Autonomous steering control system of this research was intended to be used for combine harvester. If the web camera can recognize cut/uncut edge of crop, which will be the reference for steering control, then the position of the machine can be determined in terms of lateral offset and heading angle. In this research, a white line was used as a cut/uncut edge of crop for steering control. Image processing algorithm including capturing image in the web camera was developed to determine the desired travel path. An experimental vehicle was constructed to evaluate the system performance. Since the vehicle adopted differential drive steering mechanism, it is steered by the difference of rotation speed between left and right wheels. According to the position of vehicle, the steering algorithm was developed as well. Evaluation tests showed that the experimental vehicle could travel within an RMS error of 0.8cm along the desired path at the ground speed of $9\sim41cm/s$. Even when the vehicle started with initial offsets or tilted heading angle, it could move quickly to track the desired path after traveling $1.52\sim3.5m$. For turning section, i.e., the curved path with curvature of 3 m, the vehicle completed its turning securely.