• Journal of Institute of Control, Robotics and Systems
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• v.8 no.2
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• pp.178-184
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• 2002

This paper deals with the transfer alignment problem of SDINS(StrapDown Inertial Navigation System) subjected to roll and pitch motions of the ship. In order to reduce alignment errors induced by ship body flexure, a linearized error model for the velocity and attitude matching transfer alignment system is first derived by linearizing the nonlinear measurement equation with respect to the dominant y axis component and defining the flexure state of random constant type. And then a robust state estimation scheme is introduced to account for modeling uncertainty of the flexure. By interpreting the simulation results and comparing with the velocity and DCM(Direction Cosine Matrix) partial matching method, it is shown that the proposed method is effective enough to improve the azimuth alignment performance.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.71.1-71
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• 2001

In this paper, an improved method of environment map building and a region search algorithm for mobile robot are presented. For the environment map building of mobile robot, measurement data of ultrasonic sensors and certainty grid representation is usually used. In this case, inaccuracies due to the uncertainty of ultrasonic data are included in the map. In order to solve this problem, an environment map building method using a Bayesian model was proposed previously[5]. In this study, we present an improved method of probability map building that uses infrared sensors and shift division Gaussian probability distribution with the existing Bayesian update method using ultrasonic sensors. Also, a region search algorithm for ...

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.36.5-36
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• 2001

Localization is one of the key problems in the navigation of autonomous mobile robots. The probabilistic Markov localization approaches offer a good mathematical framework to deal with the uncertainty of environment and sensor readings but their use for realtime applications is limited by their computational complexity. This paper aims to reduce the high computational cost associated with the probabilistic Markov localization algorithm. We propose a hybrid landmark-based localization method combining triangulation and probabilistic approaches, which can efficiently update position probability grid, while the probabilistic framework allows to make use of any available sensor data to refine robot´s belief about its current location. The simulation results show the effectiveness and robustness of the method.

• IEMEK Journal of Embedded Systems and Applications
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• v.6 no.5
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• pp.303-309
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• 2011

In this paper, an intelligent force control technique is applied to an autonomous helicopter. Although most research on the autonomous helicopter system is about navigation and control, force control of an autonomous helicopter system is quite new and not presented yet. After controlling the position of the helicopter by the LQR method, force control is applied. The adaptive impedance force control algorithm is introduced and tested to regulate the desired force under unknown location and stiffness of the environment. To compensate for uncertainty from outer disturbance, a neural network is added to form an intelligent force control framework. Simulation studies show that the proposed force control algorithm works well.

• Journal of the Korean Society of Marine Environment & Safety
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• v.25 no.1
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• pp.27-33
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• 2019

Several studies have been completed on the topic of container terminals in Northern Vietnam. Few of them, however, deal with competition in terms of costs related to vessel waiting time or cargo handling. This paper estimates the average waiting cost per TEU for all the container terminals in Northern Vietnam. After average waiting time was first estimated by applying queuing theory, uncertainty theory was applied to estimated vessel daily cost. A simulation was performed to create a series of data representing waiting cost per TEU in relation to the rate of volume handled/capacity of each terminal. Non-linear regression based on this series was used to present a function for the relationship between the average waiting cost of each terminal and the rate of volume handled /capacity.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.46 no.1
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• pp.87-96
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• 2009

In conventional method, flight model is discribed to differential equation by linealization of nonlinear object motion equation. As state equation from differential equation of moving object, the controller is designed by transfer functions of each module under discrimination of stability criteria. But this conventional method is designed under limitation of nonlinearity from object's shape and speed. In other word, The greater part of guidance/navigation system was satisfied with the result of good performance for normal figure of flight object, not sudden changed flight condition, not high speed. But it is not able to give full play to its ability on flight object which has abnormal figure, sudden changeable motion, high speed. Therefore, in this paper was presented performance analysis of load control model for navigation/guidance system on flying object being uncertainty, non-linear like abnormal figure, sudden changeable motion, high speed and is presented method of trajectory control(controllability) ahead of controllability and stability to achieve flight mission. In other word, this paper shows the first step of Min-design method and flight control model.

• Journal of Advanced Navigation Technology
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• v.21 no.6
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• pp.643-650
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• 2017

Photovoltaic generation which has unlimited energy sources are very intermittent because they depend on the weather. Therefore, it is necessary to get accurate generation prediction with reducing the uncertainty of photovoltaic generation and improvement of the economics. The Meteorological Agency predicts weather factors for three days, but doesn't predict the sunshine and solar radiation that are most correlated with the prediction of photovoltaic generation. In this study, we predict sunshine and solar radiation using weather, precipitation, wind direction, wind speed, humidity, and cloudiness which is forecasted for three days at Meteorological Agency. The photovoltaic generation forecasting model is proposed by using predicted solar radiation and sunshine. As a result, the proposed model showed better results in the error rate indexes such as MAE, RMSE, and MAPE than the model that predicts photovoltaic generation without radiation and sunshine. In addition, DNN showed a lower error rate index than using SVM, which is a type of machine learning.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2017.11a
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• pp.50-53
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• 2017

Not only growth of importance to understanding economic trends, but also the prediction to overcome the uncertainty is coming up for long-term maritime recession. This paper discussed about the prediction of BDI with artificial neural networks (ANN). ANN is one of emerging applications that can be the finest solution to the knotty problems that may not easy to achieve by humankind. Proposed a prediction by implementing neural networks that have recurrent architecture which are a Recurrent Neural Network (RNN) and Long Short-Term Memory (LSTM). And for the reason of comparison, trained Multi Layer Perceptron (MLP) from 2009.04.01 to 2017.07.31. Also made a comparison with conventional statistics, prediction tools; ARIMA. As a result, recurrent net, especially RNN outperformed and also could discover the applicability of LSTM to specific time-series (BDI).

• Journal of Navigation and Port Research
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• v.29 no.8 s.104
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• pp.747-753
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• 2005

In this paper, as an anti-sway control strategy of container cranes, we investigate a variable structure control in which the moving load follows a given trajectory, whereas both the trolley and hoist controllers achieve their positioning problems. It is crucial, in an automated container terminal, that collisions should be avoided during the transference of containers from one place to another. It is also necessary, in the case of a quay crane, to select suitable loading and unloading trajectories of containers, so that possible collisions with surrounding obstacles are avoided. After a brief introduction of the mathematical model, a robust control scheme (i.e., a second-order sliding mode control that guarantees a fast and precise transference and a suppression of the resulted swing) is presented. Despite model uncertainties and unmodeled actuators dynamics, the swing suppression from the given trajectory is obtained by constraining the system motion on suitable sliding surfaces, which include both the desired path and the swing angle. The proposed controller has been tested with a laboratory-size pilot crane. Experimental results are provided.

• Journal of Advanced Navigation Technology
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• v.23 no.6
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• pp.554-560
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• 2019

Excore Nuclear Flux Monitoring System in Nuclear Power Plant monitors continuous reactor power up to maximum 200%. The monitoring method, however, has to be different depending on the reactor power level. Because the logarithmic pulse signals must be counted and processed exactly due to large uncertainty if their levels are low, on the other hand, they must be processed through statistical methodolgies if theirs are high to get exact monitoring values, in point of thermal degradation view. Therefore, we developed thermal degradation input signal selection circuit to transfer low level reactor power monitoring circuit to high level reactor power circuit at rated value in this paper. We proved their validities through testing them using real data used in nuclear power plant and analyzed their results. And, These methods will be used to measure the neutron level of excore nuclear flux monitoring system in nuclear power plant.