• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.464-467
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• 1995

Autonomous Mobile Robot(AMR) is a field of study which is under active research along with rapid development of the engineering technology. The main reasons for the high interest in AMR are because of its ability to change work space freely and its capability to replace human being for difficult and dangerous jobs. Also the fact that AMR provides a variety of research fields, such as path planning, navigation algorithm, sensor fusion, image processing, and controller design is part of the reason for its popularity. But relatively few researches are concerned with controller. So in this paper, a control strategy of mobile robot with nonholonomic constraint for tracking ordered discontinuous motion is proposed. The proposed control strategy has been designed as a state feedback shape to allow the AMR to obtain continuous velocity and track the path which is composed of discontinuous motions. In order to design such controller, 3 states have been reduced to 2 states through coordinate projection. These ideas are tested for validity through simulation and simulation result is compared with experiments result.

• International Journal of Ocean System Engineering
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• v.1 no.4
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• pp.192-197
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• 2011

This paper describes the mathematical modeling, control algorithm, system design, hardware implementation and experimental test of a Manta-type Unmanned Underwater Vehicle (MUUV). The vehicle has one thruster for longitudinal propulsion, one rudder for heading angle control and two elevators for depth control. It is equipped with a pressure sensor for measuring water depth and Doppler Velocity Log for measuring position and angle. The vehicle is controlled by an on-board PC, which runs with the Windows XP operating system. The dynamic model of 6DOF is derived including the hydrodynamic forces and moments acting on the vehicle, while the hydrodynamic coefficients related to the forces and moments are obtained from experiments or estimated numerically. We also utilized the values obtained from PMM (Planar Motion Mechanism) tests found in the previous publications for numerical simulations. Various controllers such as PID, Sliding mode, Fuzzy and $H{\infty}$ are designed for depth and heading angle control in order to compare the performance of each controller based on simulation. In addition, experimental tests are carried out in a towing tank for depth keeping and heading angle tracking.

• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.318-320
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• 2006

Inaccurate localization exposes a robot to many dangerous conditions. It could make a robot be moved to wrong direction or damaged by collision with surrounding obstacles. There are numerous approaches to self-localization, and there are different modalities as well (vision, laser range finders, ultrasonic sonars). Since sensor information is generally uncertain and contains noise, there are many researches to reduce the noise. But, the correctness is limited because most researches are based on statistical approach. The goal of our research is to measure more exact robot location by matching between built VRML 3D model and real vision image. To determine the position of mobile robot, landmark-localitzation technique has been applied. Landmarks are any detectable structure in the physical environment. Some use vertical lines, others use specially designed markers, In this paper, specially designed markers are used as landmarks. Given known focal length and a single image of three landmarks it is possible to compute the angular separation between the lines of sight of the landmarks. The image-processing and neural network pattern matching techniques are employed to recognize landmarks placed in a robot working environment. After self-localization, the 2D scene of the vision is overlaid with the VRML scene.

• Proceedings of the KIEE Conference
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• 2008.07a
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• pp.1488-1490
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• 2008

The gyroscope is the sensor for detecting the rotation in inertial reference frame and constitute the navigation system together an accelerometer. As the inertial reference equipment for attitude determination and control in the satellite, the mechanical gyroscope has been used but it bring the disturbance for mass unbalance so the disturbance give a bad influence to the observation satellite mission because the mechanical gyroscope has the rotation parts. During the launch, The mechanical gyroscope is weak in vibration, shock and has the defect of narrow operating temperature range so it need the special design in integration. Recently the low orbit observation satellite for seeking the high pointing accuracy of image camera payload accept the FOG(Fiber Optic Gyro) or RLG(Ring Laser Gyro) for the attitude determination and control. The Ring Laser Gyro makes use of the Sanac effect within a resonant ring cavity of a He-Ne laser and has more accuracy than the other gyros. It need the 1000V DC to create the He-Ne plasma in discharge tube. In this paper, the design process of the High Voltage Power Supply for RLG(Ring Laser Gyroscope) is described. The specification for High Voltage Power Supply(HVPS) is proposed. Also, The analysis of flyback converter topology is explained. The Design for the HVPS is composed of the inverter circuit, feedback control circuit, high frequency switching transformer design and voltage doubler circuit.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.35 no.1
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• pp.73-78
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• 2007

The process and results of Captive Flight Test(CFT), conducted by Agency for Defense Development(ADD) using the Korean KTX-1 trainer and external fuel tank, are presented. Through over 150 sorties of CFT, the guided weapon system's critical subsystems like Seeker, Navigation Device and Technology, Inertial Sensor, and Radio Altimeter are tested and evaluated. Using the CFT, time and cost are saved in weapon system research and development procedure.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.48 no.11
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• pp.873-880
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• 2020

In this paper, we propose a guidance filter to estimate line of sight rate with strapdown seeker measurements and INS(Inertial Navigation System) information. The measurements of proposed guidance filter consisted of the LOS(Line of Sight) and relative position that can be calculated with the seeker's measurements, INS information and known target position, also the filter is based on an asynchronous filter to use outputs of the two sensors that are out of synchronous and period. Through the proposed filter, we can reduce the effect on parasitic loop that can be caused by using large time delay seeker and improve the estimation performance.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.8 no.11
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• pp.4103-4117
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• 2014

Image processing and computer vision algorithms are gaining larger concern in a variety of application areas such as robotics and man-machine interaction. Vision allows the development of flexible, intelligent, and less intrusive approaches than most of the other sensor systems. In this work, we determine the location and orientation of a mobile robot which is crucial for performing its tasks. In order to be able to operate in real time there is a need to speed up different vision routines. Therefore, we present and evaluate a method for introducing parallelism into the multiple non-overlapping camera pose estimation algorithm proposed in [1]. In this algorithm the problem has been solved in real time using multiple non-overlapping cameras and the Extended Kalman Filter (EKF). Four cameras arranged in two back-to-back pairs are put on the platform of a moving robot. An important benefit of using multiple cameras for robot pose estimation is the capability of resolving vision uncertainties such as the bas-relief ambiguity. The proposed method is based on algorithmic skeletons for low, medium and high levels of parallelization. The analysis shows that the use of a multiprocessor system enhances the system performance by about 87%. In addition, the proposed design is scalable, which is necaccery in this application where the number of features changes repeatedly.

• Journal of information and communication convergence engineering
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• v.8 no.4
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• pp.349-354
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• 2010

Moving pixel displacement detection algorithm using correlation functions for making panorama image on the continuous images is presented in this paper. The input images get from a CMOS image sensor (CIS). The camera is maintained by constant brightness and uniform sensing area in test input pattern. For simple navigation and capture image has to 70% overlapped region. A correlation rate in two image data is evaluated by using reference image with first captures, and compare image with next captures. The displacement of the two images are expressed to second order function of x, y and solved with finding the coefficient in second order function. That results in the change in the peak correlation displacement from the reference to the compare image, is moving to pixel length. The navigating error is reduced by varying the path because the error is shown in the difference of the positioning vector between the true pixel position and the navigated pixel position. The algorithm performance is evaluated to be different from the error vector to vary the navigating path grid.

• Korean Journal of Optics and Photonics
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• v.18 no.2
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• pp.135-141
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• 2007

This paper describes the design technology for a third generation thermal imaging system, which is more compact than before, using a $320\times240$ mid-IR focal plane detector. The third generation non-scanning thermal imaging system was constructed as a compact thermal imaging module as a reconnaissance, surveillance and navigation sensor for helicopter and infantry vehicles in the $1980's\sim1990's$ and now, we designed a new compact infrared camera and studied a new type of non-uniformity correction lens fer this camera.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.232-237
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• 1998

This paper describes a new method for estimating time-to-collision which exhibits high tolerance to noise contained in camera images. Time to collision (TTC) is one of the most important parameters available from a camera attached to a mobile machine. TTC indirectly stands far the translation speed of the camera and is usually calculated either from successive images or optical flow by using intimate relationship between TTC and flow divergence. In most cases, however, it is not easy to get accurate optical flow, which makes it difficult to calculate TTC. In this study it is proved that if the target has a smooth surface, the average of divergence over any point-symmetric region on the image is equal to the divergence of the center of the region. It means that required divergence can be calculated by integrating optical flow vectors over a symmetric region. It is expected that in the process of the integration, accidental noise is canceled if they are independent of optical flow and the motion of the camera. Experimental results show that TTC can be estimated regardless of the surface condition. It is also shown that influence of noise is eliminated as the area of integration increases.