• Journal of Institute of Control, Robotics and Systems
• /
• v.15 no.7
• /
• pp.683-687
• /
• 2009

Track jump control is a random access strategy for short distance movement. The most common track jump scheme is a bang-bang control of a kick and brake manner. In a conventional track jump scheme, a track-following compensator is turned off during kick and brake periods, and restarted at a target track for track pull-in. The inevitable controller switching with non-zero initial condition results in undesirable transient response, and excessive overshoot in the transient response causes track pull-in failure. In this paper, a new track jump scheme is proposed for enhancing track jump stability. Instead of control switching, internal states of a track-following controller are artificially manipulated for kick and brake actions in a digital control environment. Experimental results are provided in comparison with conventional track jumps.

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

• Transactions of the Korean Society of Automotive Engineers
• /
• v.2 no.3
• /
• pp.105-112
• /
• 1994

A computer program was developed for the simulation of mobility and tractive performance of tracked off-road vehicles. Input parameters for the simulation involve those characterizing track and power drive line of a vehicle and soil conditions upon which the vehicle operates. The simulation predicts tractive performance in terms of soil thrust and motion resistance of track device and mobility performance in terms of the maximum speed, time-distance and time-speed relation that a vehicle can obtain under the given soil conditions. It also determines whether or not the vehicle can move in those conditions. An example of performing simulation was presented and its results showed that the performance prediction was reasonably in a good agreement with the published data.

• Journal of Navigation and Port Research
• /
• v.31 no.7
• /
• pp.563-568
• /
• 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 the Korean Magnetics Society
• /
• v.14 no.6
• /
• pp.207-212
• /
• 2004

Eddy current (EC) testing methods are widely used in a variety of applications including the inspection of steam generator tubes in nuclear power plants, aircraft parts and airframes. A key factor that affects the EC signal is lift-off which means the physical distance between a sensor and a specimen in the testing. In practice, it is difficult to keep track of the actual value of the lift -off during a specific experiment, simulation or testing in the field, which is essential for accurate interpretation of the signal to be used in the following steps. Hence it is necessary to have a scheme to render the EC signal invariant to the effects of lift-off in spite of the changes in the real world. This paper describes a new method for compensating EC signals for variations in lift-off by acquiring an invariance feature using a homomorphic operator and neural network techniques. The signals from various lift-offs are transformed to obtain a zero lift-off equivalent signal that can be subsequently used for defect characterization in the next step.

• Current Optics and Photonics
• /
• v.3 no.1
• /
• pp.27-32
• /
• 2019

We present an autofocus tracking system implemented by the digital refocusing of digital holographic microscopy (DHM) and the tunability of an electrically tunable lens (ETL). Once the defocusing distance of an image is calculated with the DHM, then the focal plane of the imaging system is optically tuned so that it always gives a well-focused image regardless of the object location. The accuracy of the focus is evaluated by calculating the contrast of refocused images. The DHM is performed in an off-axis holographic configuration, and the ETL performs the focal plane tuning. With this proposed system, we can easily track down the object drifting along the depth direction without using any physical scanning. In addition, the proposed system can simultaneously obtain the digital hologram and the optical image by using the RGB channels of a color camera. In our experiment, the digital hologram is obtained by using the red channel and the optical image is obtained by the blue channel of the same camera at the same time. This technique is expected to find a good application in the long-term imaging of various floating cells.

• Proceedings of the Acoustical Society of Korea Conference
• /
• 1994.06a
• /
• pp.710-715
• /
• 1994

The program name TOLAPS is an acronym for Take-Off LAnding Profile Simulation. Some of the interesting features of this program is the ability to detect flight performance effects of airport altitude, ambient temperature, air pressure and wind. TOLAPS can also handle effects of TOW and LW. The program user can also calculate profiles by user difined flaps and thrust settings deviating from recommended standard settings for each aircraft. Wind effects on straight out flying as well as turns can also be demonstrated. Output form TOLAPS are either screen graphics of profiles (altitude, speed or thrust versus flight distance) or flight track. Profiles can also be made in a tabular form, ready for use in most airport noise calculation programs. In this way, TOLAPS is a valuable tool to evaluate effects of noise abatement procedures.

• Journal of rehabilitation welfare engineering & assistive technology
• /
• v.8 no.3
• /
• pp.187-196
• /
• 2014

This paper suggests linearity enhancement algorithm to Ensure safety of Mobile Walker on Slope. Mobile Walker happens to get off track due to external forces from Walker's weight and the degree of the slope while slope driving. In order to compensate this, this research used the controller that estimates the external forces according to the slope of road surface and adjusts it to the motor output. Also, through comparisons between targeted rotational angular velocity which the user inputs and its velocity of the robot, algorithm was applied which applies a weight to each shaft. As a result of applying the proposed correction controller, it diverges in case of non-compensation experiments that deviates when moving, but it case of applying the ramp calibration algorithm, the deviation distance at max was within 10cm that it keeps safe driving, and change rate of deviation distance was also stabilized after 1m where no more changes occurred.

• Korean Journal of Fisheries and Aquatic Sciences
• /
• v.40 no.4
• /
• pp.201-209
• /
• 2007

Line transect sampling in a sighting survey is one of most widely used methods for assessing animal abundance. This study applied distance data, collected from three sighting surveys using line transects for finless porpoise that were conducted in 2004 and 2005 off the west coast of Korea, to four models (hazard-rate, uniform, half-normal and exponential) that can use a variety of detection functions, g (x). The hazard-rate model, a derived model for the detection function, should have a shoulder condition chosen using the AIC (Akaike Information Criterion), as the most suitable model. However, it did not describe a shoulder shape for the value of g(x) near the track tine and underestimated g (x), just as the exponential model did. The hazard-rate model showed a bias toward overestimating the densities of finless porpoises with a higher coefficient of variation (CV) than the other models did. The uniform model underestimated the densities of finless porpoise but had the lowest CV. The half-normal model described a detection function with a shape similar to that of the uniform model. The half-normal model was robust for finless porpoise data and should be able to avoid density underestimation. The estimated abundance of finless porpoise was 3,602 individuals (95% CI=1,251-10,371) inshore in 2005 and 33,045 individuals (95% CI=24,274-44,985) offshore in 2004.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.41 no.7
• /
• pp.599-605
• /
• 2017

For an unmanned vehicle to be driven on the off-road terrain, it is necessary to consider the vehicle's stability. This paper suggests a path tracking controller for simulation of real-time vehicle stability analysis. The path tracking controller uses the preview distance to track the given trajectory. The disturbance moment is estimated using the yaw moment observer, and this information is used for compensation in the yaw moment control. On a curved path, the vehicle's desired velocity is determined from the curvature of the path. Because the vehicle is equipped with six independent motor driven wheels, the driving torques are distributed on all the wheels. The effectiveness of the path tracking controller is verified using ADAMS/MATLAB co-simulation.