• Journal of Institute of Control, Robotics and Systems
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• v.20 no.2
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• pp.138-142
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• 2014

This research presents an A* based algorithm which can be applied to Unmanned Ground Vehicle self-navigation in order to make the driving path smoother. Based on the grid map, A* algorithm generated the path by using straight lines. However, in this situation, the knee points, which are the connection points when vehicle changed orientation, are created. These points make Unmanned Ground Vehicle continuous navigation unsuitable. Therefore, in this paper, B-spline curve function is applied to transform the path transfer into curve type. And because the location of the control point has influenced the B-spline curve, the optimal control selection algorithm is proposed. Also, the optimal path tracking speed can be calculated through the curvature radius of the B-spline curve. Finally, based on this algorithm, a path created program is applied to the path results of the A* algorithm and this B-spline curve algorithm. After that, the final path results are compared through the simulation.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2016.05a
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• pp.308-309
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• 2016

This paper deals with ship's track keeping methods which is crucial part of automatic navigation control systems. In this paper, we mainly discuss the performance of different guidance methods including way point guidance, enclosure-based steering guidance and lookahead-based steering guidance system. As a controller, a PID control system is employed to control ship's rudder angle during track-keeping. Finally, the performance of three methods are discussed through some simulation results.

• Korean Chemical Engineering Research
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• v.45 no.1
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• pp.12-16
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• 2007

Temperature control of an autothermal methanol reforming reactor which uses the copper-zinc oxide catalyst was studied. Temperature at 1cm below the hot-spot point in the reactor was used for the controlled variable, and the air flow rate was used for the manipulated variable. A first order plus time delay model was identified and controller parameters were obtained by applying the IMC-PI tuning rule to the identified model. With this controller, we could control the reforming reactor temperature within ${\pm}5^{\circ}C$ over 100 hours. Change of the hot-spot point due to the catalyst degradation was investigated and it could be used to design an adaptive controller.

• Proceedings of the Korea Electromagnetic Engineering Society Conference
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• 2005.11a
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• pp.97-100
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• 2005

This paper proposes a linearization method that is to control the operating point of a class AB amplifier according to its output power. The proposed linearization method is presented in this paper and the performance test results using two-tone signal are presented also.

• 제어로봇시스템학회:학술대회논문집
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• 1994.10a
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• pp.467-470
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• 1994

In this paper, we develop two sufficient conditions for Schur stability of convex combinations of discrete time polynomials. We give conditions under which Schur stability of the extremes implies Schur stability of the entire convex combination. These results are based on Bhattacharyya's result(1991), the AHMC theory in Barmish and Kang's paper (1993) and the bilinear transformation. Important applications of the results involves robust Schur stability of a feedback system having degenerate interval plants in an extreme point context.

• Journal of the Korean Society of Marine Environment & Safety
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• v.19 no.5
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• pp.552-560
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• 2013

In this paper, an optimization algorithm for the block assembly accuracy control assessment is proposed with consideration for the current block assembly process and accuracy control procedure used in the shipbuilding site. The objective function of the proposed algorithm consists of root mean square error of the distances between design and measured data of the other control points with respect to a specific point of the whole control points. The control points are divided into two groups: points on the control line and the other points. The grouped data are used as criteria for determining the combination of 6 degrees of freedom in the registration process when constituting constraints and calculating objective function. The optimization algorithm is developed by using combination of the sampling method and the point to point relation based modified ICP algorithm which has an allowable error check procedure that makes sure that error between design and measured point is under allowable error. According to the results from the application of the proposed algorithm with the design and measured data of two blocks data which are verified and validated by an expert in the shipbuilding site, it implies that the choice of whole control points as target points for the accuracy calculation shows better results than that of the control points on the control line as target points for the accuracy of the calculation and the best optimized result can be acquired from the accuracy calculation with a fixed point on the control line as the reference point of the registration.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.11
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• pp.1170-1174
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• 2014

This paper suggests using the ICP (Iterative Closet Point) algorithm to compensate a two-dimensional map. ICP algorithm is a typical algorithm method using matching distance data. When building a two-dimensional map, using data through the value of a laser scanner, it occurred warping and distortion of a two-dimensional map because of the difference of distance from the value of the sensor. It uses the ICP algorithm in order to reduce any error of line. It validated the proposed method through experiment involving matching a two-dimensional map based reference data and measured the two-dimensional map.

• Proceedings of the KIEE Conference
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• 2008.04a
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• pp.215-216
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• 2008

This paper is proposed a approximation control method(ACM) for the maximum power of a photovoltaic system. It is designed for power systems application and utilities. The proposed Maximum Power Point Tracking(MPPT) control has the advantage to provide a new simple way to approximate the optimal or rated voltage, the optimal or rated current and maximum power rating produced by a solar panel and the photovoltaic inverter. And this straightforward method has the advantage that Pmax and $V_{op}$ can be approximated using the same variable as the dynamic model without using complicate approximations or Taylor series. This paper is proposed MPPT using AMC using weather condition of domestic moderate program technique. This paper is proposed the experimental results to verify the effectiveness of the new methods.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.63 no.12
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• pp.1747-1751
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• 2014

Interlocking system along with point machine for efficient route control secures safety of train operation by interchanging information each other. However, various types of interlocking system and point machine operating on bender specific interface bring obstacles to effective maintenance and safety. In this paper, we have investigated on interface methods to suggest standard interface module applicable to various operating system

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.9
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• pp.950-956
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• 2014

In this paper, the real-time detection method of a DDP (Driving Direction Point) is proposed for an unmanned vehicle to safely follow the center of the road. Since the DDP is defined as a center point between two lanes, the lane is first detected using a web camera. For robust detection of the lane, the binary thresholding and the labeling methods are applied to the color camera image as image preprocessing. From the preprocessed image, the lane is detected, taking the intrinsic characteristics of the lane such as width into consideration. If both lanes are detected, the DDP can be directly obtained from the preprocessed image. However, if one lane is detected, the DDP is obtained from the inverse perspective image to guarantee reliability. To verify the proposed method, several experiments to detect the DDPs are carried out using a 4 wheeled vehicle ERP-42 with a web camera.