• Journal of the Korean Society for Aviation and Aeronautics
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• v.22 no.2
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• pp.9-15
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• 2014

'Visual segment surface' means a surface that extends from the missed approach point of non precision approaches (or the decision altitude location for approaches with vertical guidance and precision approaches) to the threshold to facilitate the identification of and protection from obstacles in this visual segment of the approach. Validation is the necessary final quality assurance step in the procedure design process, prior to publication. The purpose of validation is the verification of all obstacle and navigation data, and assessment of flyability of the procedure. This paper shows how to apply the protection for the visual segment of the approach procedure, and the results of the validation for visual segment surface conducted at an airport.

• Proceedings of the KIEE Conference
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• 2006.07d
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• pp.1907-1908
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• 2006

Recently, an automatic crane control system is required with high speed and rapid transportation. Therefore, when container is transferred from the initial coordinate to the finial coordinate, the container paths should be built in terms of the least time and without sway. Therefore, we calculated the anti-collision path for avoiding collision in its movement to the finial coordinate in this paper. And we constructed the neural network predictive two degree of freedom PID controller to control the precise navigation. The proposed predictive control system is composed of the neural network predictor, two degree of freedom PID controller, neural network self-tuner which yields parameters of two degree of freedom PID. We analyzed crane system through simulation, and proved excellency of control performance over the conventional controllers.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2004.10a
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• pp.207-210
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• 2004

일반적인 이동 로봇의 주된 관심은 경로 생성과 생성된 경로 추종에 있다. 그러나 일부 고속의 이동성이 필요로 하는 로봇의 경우 동역학적 제한 조건이 존재하며, 이러한 제한 조건내에서 원하는 움직임에 대한 제어가 요구된다. 본 논문에서 환경 지도를 가지고 있지 않은 상태, 즉 미지의 환경에서 이동 로봇의 경로 추종에 있어서 빠른 이동시에 발생할 수 있는 이동 로봇의 미끄러짐이나 전복 현상을 막기 위해 이동 로봇의 동역학적 제한 조건을 퍼지 논리를 이용하여 기준 속도를 변화시켜 안전하고 빠른 경로 추종 성능을 얻고자 하였다. 특히, 라인 추종 이동 로봇을 모델링하여 실시간으로 변화하는 목표점에 대한 추종 제어기를 설계하고 퍼지 최적 속도 제한 제어기를 통해 연속적으로 변화하는 라인에 대해서 지능적으로 로봇이 변화하는 라인에 대해서 지능적으로 로봇의 속도를 제한하여 안정적인 추종 성능을 발휘함을 확인하였다.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.150.4-150
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• 2001

The geometry PIG provides pipeline operators with continuous measurement of pipe centerline coordinates, bend radius, displacement, and bending strain in a single pass through the pipeline. This study introduces the developed geometry PIG(Pipeline Inspection Gauge) which is used for geometry surveys. This tool is equipped with the several sensor systems. The Inertial Navigation System (INS) comprises angle rate gyros and linear accelerometers. The system measures the precise path of the PIG during its traverse of the pipeline. This system is also used to produce a detailed map of the lire, measure curvature. Odometers measure the PIG´s distance moved along the line and instantaneous speed during the PIG run. Caliper sensors measure pipeline ...

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.381-381
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• 2000

This paper describes the path planning method in an unknown environment for an autonomous mobile robot equipped with CCD(Charge-Coupled Device) camera. The mobile robot moves along the guideline. The CCD camera is useful to detect the existence of a guideline. The wavelet transform is used to find the edge of guideline. Using wavelet transform, we can make an image processing more easily and rapidly. We make a fuzzy control rule using image data then make a decision the position and the navigation of the mobile robot. The center value that indicates the center of guideline is the input of fuzzy logic controller and the steering angle of the mobile robot is the fuzzy output. Some actual experiments for the mobile robot applied fuzzy control show that the mobile robot effectively moves to target position.

• International Journal of Control, Automation, and Systems
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• v.6 no.2
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• pp.253-262
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• 2008

This paper presents a framework for decentralized control of self-organizing swarm systems based on the artificial potential functions (APFs). The framework explores the benefits by associating agents based on position information to realize complex swarming behaviors. A key development is the introduction of a set of association rules by APFs that effectively deal with a host of swarming issues such as flexible and agile formation. In this scheme, multiple agents in a swarm self-organize to flock and achieve formation control through attractive and repulsive forces among themselves using APFs. In particular, this paper presents an association rule for swarming that requires less movement for each agent and compact formation among agents. Extensive simulations are presented to illustrate the viability of the proposed framework.

• The Journal of the Korea institute of electronic communication sciences
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• v.4 no.1
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• pp.37-45
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• 2009

The power wheelchair is an important and convenient mobility device. The demand of power wheelchair is increasing for assistance in mobility. In this paper we proposed a robotic wheelchair for mobility aid to reduce the burden from the disabled. The main issue in an autonomous wheelchair is the automatic detection and avoidance of obstacles and going to the pre-designated place. The proposed algorithm detects the obstacles and avoids them to drive the wheelchair to the desired place safely with panning scan from sensors of distance measurement and fuzzy control. By this way, the disabled will not always have to worry about paying deep attention to the surroundings and his path.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2010.04a
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• pp.493-499
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• 2010

최근 국제 유가의 상승에 따라 선박 운항 시 연료비를 최소화하고자 하는 연구의 필요성이 제기되고 있다. 이에 본 연구에서는 해상 상태를 고려하여 선박의 연료비를 최소화하는 운항 경로, 즉 최적 운항 경로를 결정하는 연구를 수행하였다. 이를 위해 해상 상태에 따라 선박에 추가적으로 가해지는 부가 저항을 추정하였고, 이를 기반으로 선속 저하량과 이의 보상을 위해 요구되는 마력 증가량을 추정하였으며, 마지막으로 연료 소모량과 운항 시간을 추정하였다. 또한 해상 상태의 취득 방법에 대해서도 연구하였다. 본 방법의 효용성을 검증하기 위해 이를 간단한 예제에 적용하였으며, 그 결과 연료 소모량을 최소화하는 선박경제 항로 결정 과정에 활용할 수 있음을 확인하였다.

• The Transactions of the Korean Institute of Electrical Engineers
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• v.45 no.2
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• pp.310-318
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• 1996

It is very important for a mobile robot to estimate its current position With precise information about the current position, the mobile robot can do path-planning or environmental map building successfully. In this paper, a position estimation method using one color image is presented. The mobile robot(K2A) takes an image of a corridor and searches for the door and pillar, which are the given landmarks. The color information is used to distinguish the landmarks. In order to represent the presence of the landmarks, Image Mode is defined. This method adopts Kullback information distance. If a landmark is detected, with the color information, the mobile robot identifies the vertical line of the landmark and its crossing point and an experimental navigation is performed.

• The Journal of the Korea institute of electronic communication sciences
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• v.7 no.1
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• pp.187-194
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• 2012

This paper compares two collision avoidance algorithms using a simulator. The collision avoidance is vital for autonomous navigation of a mobile robot. Artificial potential field method and elastic force method are major approaches for the collision avoidance. The two algorithms are compared in the respect of the time for motion completion and the length of the motion path. The simulator is developed based on IPC(Inter Process Communication) and a differential drive mobile robot is used for the comparison.