• Journal of Institute of Control, Robotics and Systems
• /
• v.7 no.5
• /
• pp.445-453
• /
• 2001

The multiple targets tracking problem has been one of the main issues in the radar applications area in the last decade. Besides the standard Kalman filtering, various methods including the variable dimen-sion filter, input estimation filter, interacting multiple model(IMM) filter, dederated variable dimension filter with input estimation, etc., have proposed to address the tracking and sensor fusion issues. In this pa- per, two existing tracking algorithm, i.e, the IMM filter and the variable dimension filter with input estima-tion(VDIE), are combined for the purpose of improving the tracking performance for maneuvering targets. To evaluate the tracking performance of the proposed algorithm, three typical maneuvering patterns, i.e., waver, pop-up, and high-diver motions, are defined and are applied to the modified IMM filter as well as the standard IMM filter. The smaller RMS tracking errors, in position and velocity, of the modified IMM filter than the standard IMM filter are demonstrated though computer simulations.

• International Journal of Control, Automation, and Systems
• /
• v.5 no.5
• /
• pp.539-546
• /
• 2007

The important field of research in ship operation is related to the high efficiency of transportation, the convenience of maneuvering ships and the safety of navigation. For these purposes, many intelligent technologies for ship automation have been required and studied. In this paper, we propose an intelligent voice instruction-based learning (VIBL) method and discuss the building of a ship's steering control system based on this method. The VIBL system concretely consists of two functions: a text conversion function where an instructor's inputted voice is recognized and converted to text, and a linguistic instruction based learning function where the text instruction is understood through a searching process of given meaning elements. As a study method, the fuzzy theory is adopted to build maneuvering models of steersmen and then the existing LIBL is improved and combined with the voice recognition technology to propose the VIBL. The ship steering control system combined with VIBL is tested in a ship maneuvering simulator and its validity is shown.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.51 no.5
• /
• pp.182-189
• /
• 2002

This paper presents a framework of hybrid dynamic control systems for the motion control of wheeled mobile robot systems with nonholonomic constraints. The hybrid control system has the 3-layered hierarchical structure: digital automata for the higher process, mobile robot system for the lower process, and the interface as the interaction process between the continuous dynamics and the discrete dynamics. In the hybrid control architecture of mobile robot, the continuous dynamics of mobile robots are modeled by the switched systems. The abstract model and digital automata for the motion control are developed. In high level, the discrete states are defined by using the sensor-based search windows and the reference motions of a mobile robot in low level are specified in the abstracted motions. The mobile robots can perform both the motion planning and autonomous maneuvering with obstacle avoidance in indoor navigation problem. Simulation and experimental results show that hybrid system approach is an effective method for the autonomous maneuvering in indoor environments

• Journal of Positioning, Navigation, and Timing
• /
• v.7 no.4
• /
• pp.235-243
• /
• 2018

Conventional Real Time Kinematics (RTK) collect measurements in stationary state for several minutes to resolve the integer ambiguity in the carrier phase measurement or resolve the integer ambiguity on the move assuming low maneuvering movement. In this paper, an On The Move-RTK (OTM-RTK) technique that resolves the integer ambiguity on the move for fast and precise positioning of ground vehicles such as high maneuvering vehicles was proposed. The OTM-RTK estimates the precise amount of movement between epochs using the carrier phase measurements acquired on the move, and by using this, resolves the integer ambiguity within a short period of time by evaluating the integer ambiguity candidates for each epoch. This study analyzed the integer ambiguity resolution performance using field driving experiment data in order to verify the performance of the proposed method. The results of the experiment showed that the precise trajectory including the initial position bias can be obtained prior to resolving the integer ambiguity, and after resolving the integer ambiguity on the move, it was possible to obtain the bias-corrected precise position solution. It was confirmed that the integer ambiguity can be resolved by collecting measurements of about 10 epochs from the moving vehicle using a dual frequency receiver.

• Nuclear Engineering and Technology
• /
• v.52 no.12
• /
• pp.2699-2708
• /
• 2020

Helical-coil steam generator (HCSG) technology is a major design candidate for small modular reactors due to its compactness and capability to produce superheated steam with high generation efficiency. In this paper, we investigate the feasibility of the passively autonomous power maneuvering by coupling the 3-D transient multi-physics of a soluble-boron-free (SBF) core with a time-dependent HCSG model. The predictor corrector quasi-static method was used to reduce the cost of the transient 3-D neutronic solution. In the numerical system simulations, the feedwater flow rate to the secondary of the HCSGs is adjusted to extract the demanded power from the primary loop. This varies the coolant temperature at the inlet of the SBF core, which governs the passively autonomous power maneuvering due to the strongly negative coolant reactivity feedback. Here, we simulate a 100-50-100 load-follow operation with a 5%/minute power ramping speed to investigate the feasibility of the passively autonomous load-follow in a 450 MW_th SBF PWR. In addition, the passively autonomous frequency control operation is investigated. The various system models are coupled, and they are solved by an in-house Fortran-95 code. The results of this work demonstrate constant steam temperature in the secondary side and limited variation of the primary coolant temperature. Meanwhile, the variations of the core axial shape index and the core power peaking are sufficiently small.

• Journal of Navigation and Port Research
• /
• v.41 no.5
• /
• pp.297-302
• /
• 2017

The tracking filter plays a key role in accurate estimation and prediction of maneuvering the vessel's position and velocity. Different methods are used for tracking. However, the most commonly used method is the Kalman filter and its modifications. The ${\alpha}-{\beta}-{\gamma}$ filter is one of the special cases of the general solution provided by the Kalman filter. It is a third order filter that computes the smoothed estimates of position, velocity, and acceleration for the nth observation, and predicts the next position and velocity. Although found to track a maneuvering target with good accuracy than the constant velocity ${\alpha}-{\beta}$ filter, the ${\alpha}-{\beta}-{\gamma}$ filter does not perform impressively under high maneuvers, such as when the target is undergoing changing accelerations. This study aims to track a highly maneuvering target experiencing jerky motions due to changing accelerations. The ${\alpha}-{\beta}-{\gamma}$ filter is extended to include the fourth state that is, constant jerk to correct the sudden change of acceleration to improve the filter's performance. Results obtained from simulations of the input model of the target dynamics under consideration indicate an improvement in performance of the jerky model, ${\alpha}-{\beta}-{\gamma}-{\eta}$ algorithm as compared to the constant acceleration model, ${\alpha}-{\beta}-{\gamma}$ in terms of error reduction and stability of the filter during target maneuver.

• Journal of the Korean Institute of Navigation
• /
• v.24 no.5
• /
• pp.397-403
• /
• 2000

Since very large and high-speed ships have been appeared in marine transportation from 1970s, these ships with poor maneuverability have made large-scale accidents frequently all over the world. The IMO(International Maritime Organization) recommended that ship designers should evaluate various maneuvering performance at initial stage and serve them to ship operators when they deliver a new ship. Meantime, it is expected that ships with large and wide superstructure would have poor maneuverability when they are affected by strong wind. Therefore, car carrier ship with large superstructure was selected to confirm how the ship responds to the external wind forces in this paper. The lateral and transverse projected areas above the water level were considered and ship behaviors were checked by change of rudder angles under severe wind conditions of different directions. In addition, hydrodynamic derivatives and coefficients were predicted from ship particulars and numerical calculations were carried out with the mathematical model of low speed maneuvering motions.

• Journal of Institute of Control, Robotics and Systems
• /
• v.6 no.10
• /
• pp.936-941
• /
• 2000

Advanced space transportation systems, such as the National Aerospace Plane or an Orbital Transfer Vehicle, have atmospheric maneuvering capabilities. For such vehicles the use of aeroassisted orbital transfer from a high Earth orbit to a low Earth orbit, with unpowered flight in the atmosphere, has the potential for significant fuel savings compared to exoatmospheric Hohmann transfer. However, to exploit the fuel savings that can be achieved by using the Earths atmosphere to reduce the vehicles energy, a guidance law is required, and it must be able to handle large unpredictable fluctuations in atmospheric density, on the order of ${\pm}$50% relative to the 1962 US Standard Atmosphere. In this paper aeroassisted orbital transfer is considered as a differential game, with Nature controlling the atmosphere density to yield a worst case (min-max fuel required) atmosphere, from which the guaranteed playable set boundary are achieved. Inside the playable set, it is guaranteed that the vehicle achieves the optimal atmospheric exit condition for the minimum fuel consumption regardless of the atmospheric density variations.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• v.1
• /
• pp.301-306
• /
• 2006

The important field of research on ship operation is related to the high efficiency of transportation, the convenience of maneuvering ships and the safety of navigation. As a way of practical application for a smart ship based on network system, this paper proposes the intelligent support system for ship steering control system based on TCP/IP and desires to testify the validity of the proposal by applying the fuzzy control model to the steering control system. As the specific study methods, the fuzzy inference was adopted to build the maneuvering models of steersman, and then the network system was implemented using the TCP/IP socket-based programming. Lastly, the miniature model steering control system combined with LIBL (Linguistic Instruction-based Learning) was designed to testify for its effectiveness.

• Journal of Navigation and Port Research
• /
• v.44 no.2
• /
• pp.53-64
• /
• 2020

This paper discusses the hydrodynamic characteristics of a catamaran at low speed. In this study, the Delft 372 catamaran model was selected as the target hull to analyze the hydrodynamic characteristics by using the RANS (Reynold-Averaged Navier-Stokes) numerical method. First, the turbulence study and mesh independent study were conducted to select the appropriate method for numerical calculation. The numerical method for the CFD (Computational Fluid Dynamic) calculation was verified by comparing the hydrodynamic force with that obtained experimentally at high speed condition and it rendered a good agreement. Second, the virtual captive model test for a catamaran at low speed was conducted using the verified method. The drift test with drift angle 0-180 degrees was performed and the resulting hydrodynamic forces were compared with the trends of other ship types. Also, the pure rotating test and yaw rotating test proposed by Takashina, (1986) were conducted. The Fourier coefficients obtained from the measured hydrodynamic force were compared with those of other ship types. Conversely, pure sway test and pure yaw test also were simulated to obtain added mass coefficients. By analyzing these results, the hydrodynamic coefficients of the catamaran at low speed were estimated. Finally, the maneuvering simulation in low speed conditions was performed by using the estimated hydrodynamic coefficients.