• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.5
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• pp.601-607
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• 2006

This paper proposes a novel balance control scheme of a biped robot to predict the next position of ZMP using Kalman Filter. The mathematical model of the biped robot is generally approximated by 3D-LIPM(3D-Linear Inverted Pendulum Mode), but it cannot completely express the robot's dynamics. The stability of the biped robot depends on whether the ZMP(Zero Moment Point) position is in the stability region or out of. And the internal error between the robot mechanism and its model could affect the stability of a robot. Therefore, the proposed balance control not reduces the internal error, but also timely generates the proper control. The experiment of the proposed balance control is simulated on the virtual workspace where the biped robot may encounter with various difficulties.

• Journal of IKEEE
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• v.23 no.1
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• pp.266-272
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• 2019

Multicopters have become more popular since they are advantageous in their ability to take off and land vertically. In order to guarantee the normal operations of such multicopters, the problem of fault detection and isolation is very important. In this paper, a new method for detecting and isolating an actuator fault of a hexacopter is proposed based on the analytical approach. The residual is newly defined using the angular velocities of actuators estimated by the mathematical model and an actuator fault is detected comparing the residuals to a threshold. And a fault is isolated combining a dynamic model and generated residuals when a fault is detected. The proposed method is a simple, but effective technique because it is based on mathematical model. The results of the computer simulation are also given to demonstrate the validity of the proposed algorithm in case of a single failure.

• Journal of Ocean Engineering and Technology
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• v.33 no.2
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• pp.178-188
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• 2019

When burying underwater cables using robots, heading control is one of the key functions for the robots to improve task efficiency. This paper addresses the heading control issue for URI-T, an ROV for underwater construction tasks, including the burial and maintenance of cables or small diameter pipelines. Through modeling and identifying the heading motion of URI-T, the dynamic characteristics and input limitation are analyzed. Based on the identification results, a PD type controller with appropriate input treatment is designed for the heading control of URI-T. The performance of the heading controller was verified in water tank experiments. The field applicability of the proposed controller was also evaluated through the sea trial of URI-T at the East Sea, with a water depth of 500 m.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.4
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• pp.311-320
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• 2021

A study is performed for the real time fault diagnosis during operation and health estimation relating to performance deterioration in a turbojet engine used for an unmanned air vehicle. For this study the real time dynamic model is derived from the transient thermodynamic gas path analysis. For real fault conditions which are manipulated for the simulation, the detection techniques are applied such as Kalman filter and probabilistic decision-making approach based on statistical hypothesis test. Thereby the effectiveness is verified by showing good fault detection and isolation performances. For the health estimation with measurement parameters, it shows using an assumed performance degradation that the method by adaptive Kalman filter is feasible in practice for a condition based diagnosis and maintenance.

• Proceedings of the KAIS Fall Conference
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• 2009.12a
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• pp.152-155
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• 2009

본 논문에서는 Manta 형상 무인잠수정의 자유항주모델을 설계하였고 이를 이용하여 제어실험을 실시하였다. 제작된 MUUTV모형은 직진방향으로 1개의 추진기를 가지고 있으며, 승강타와 방향타를 이용하여 수심 및 방향 제어를 실시하게된다. MUUTV는 수심제어시 사용되는 수심을 측정하기 위한 압력센서, 방향제어를 위해 방향각 측정을 위한 마그네틱 컴파스가 설치되어있으며, 잠수정의 전체적인 운용을 위한 Windows XP기반의 소형 On-board PC104가 장착되어있다. 시뮬레이션에 사용된 6자유도 운동모델은 PMM실험과 이론적 추정을 통해 얻어진 유체동역학계수와 파라미터를 이용하여 구성된다. 잠수정의 운동성능과 제어응답을 비교하기 위해 PID, 슬라이딩모드, 퍼지, 제어기가 설계되었으며, 이를 통해 제어 성능을 비교하고자 하였다. 또한 제작된 모델을 이용하여 수심 및 방향제어 실험을 수조에서 실시하였다.

• Bulletin of the Korean Space Science Society
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• 2010.04a
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• pp.31.2-31.2
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• 2010

편대비행 위성이 공동의 임무를 수행하기 위해서는 편대를 이루는 위성의 각기 다른 초기 오차와 다양한 외란 환경에서도 자세 동기화를 이룰 수 있는 기법이 필요하다. 이 연구에서는 편대비행위성의 자세 동기화를 위하여 비선형 시스템에 대한 준최적 제어기법인 SDRE(State-Dependent Riccati Equation)에 기반한 추적 제어기가 사용되었다. 반작용 휠이 포함된 위성의 자세 동역학이 SDRE 추적 제어기를 구성하는데 이용된다. 이를 Leader/Follower 편대비행 시스템에 적용하며, 기준 자세를 추적하는 Leader 위성의 자세를 Follower 위성이 추적하여 자세 동기화를 이룰 수 있다. MATLAB과 SIMULINK를 이용한 수치해석적 시뮬레이션으로 추적 제어기의 성능을 검증하였으며, 이에 대한 실시간 HIL(Hardware-In-the-Loop) 시뮬레이션이 수행되었다. 무중력 환경을 모사하는 에어베어링시스템과 세 개의 반작용 휠을 장착한 자세제어 HILS(Hardware-In-the-Loop Simulator)는 PC104 타입의 임베디드 컴퓨터에서 SIMULINK의 xPC Target을 이용한 실시간 시뮬레이션 환경을 제공하며, 이에 적용되는 SDRE 추적 제어기는 이산화되어 설계되었다. 또한 SDRE 추적 제어기에 대한 안정성을 보장하는 영역이 추정되어 위 추적 제어기가 위성 편대비행에 적합한 자세 동기화 기법임을 보였다.

• Monthly Duck's Village
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• s.197
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• pp.16-25
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• 2019

2003년 12월 10일 국내에서 첫 AI 발생이후 2018년 3월 17일까지 우리는 총 11차례의 AI(조류인플루엔자) 피해를 겪었다. 정부는 매번 AI 예방 대책을 발표하고 있지만 축산농가들에게만 책임을 전가하고 가중시키는, 실효성이 전혀 없는 공염불 대책이라는 지적이다. AI 발생 때마다 실시하는 역학조사 결과는 매번 철새에 의해 국내로 유입된 바이러스가 차량이나 사람 등을 통해 농장 내로 유입된 것으로 추정만 하고 있다. 결국 AI의 정확한 발생원인 조차 명확히 밝혀내지 못하면서 해당 축산농가와 축산관련 종사자들에게 그 책임을 떠넘기고 있는 것이다. 정녕 눈에 보이지 않는 바이러스로 인한 질병 발생의 책임을 계속해서 농가가 떠안아야 하는 것일까? 2017년 평창 동계올림픽을 대비해 시범적으로 실시하였던 겨울철 오리농가 사육제한 사업이 올해로 3번째 시행을 앞두고 있다. 세계 어느 나라에서도 전례가 없는 반강제적 사육제한이 우리나라에서는 정례화되고 있는 것이다. 매년 겨울철마다 30%에 달하는 오리농가들이 사육을 제한당하면서 오리고기의 수급 불안이 가중되고 있지만 정작 피해을 입은 오리농가를 위한 정책은 전혀 없다. 97%가 계열화되어 있는 오리산업의 특성상 관련 종오리장 부화장 도축장 등으로 피해가 직결되고 있지만 이에 대한 보상대책은 전무한 것이다. AI 뒤에 남은 오리업계의 피눈물은 과연 누가 책임 질 것인가?

• Aerospace Engineering and Technology
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• v.11 no.2
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• pp.149-157
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• 2012

In this paper, the performance of the sequential filter for a space debris collision management system is analyzed by using the flight data of KOMPSAT-2. To analyze the performance of the sequential filter, the results of batch filter used in the orbit determination system of the KOMPSAT-2 ground station is used as reference data. The overlap method is also used to evaluate the orbit accuracy. This paper shows that the orbit determination accuracy of the sequential filter is similar to that of the KOMPSAT-2 ground station, but dissimilar characteristics exist due to the filter difference. In addition, it is also shown that the orbit determination accuracy is order of 1m root mean square by using 30 hour GPS navigation solutions and 6 hour comparison period for the overlap method.

• Journal of Advanced Navigation Technology
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• v.26 no.6
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• pp.404-411
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• 2022

The main function in operating the satellite navigation system is to accurately determine the orbit of the navigation satellite and transmit it as a navigation message. In this study, we developed software to determine the orbit of a navigation satellite by combining an extended Kalman filter and an accurate dynamic model. Global positioning system (GPS) and quasi-zenith satellite system (QZSS) orbit determination was performed using international gnss system (IGS) ground station observations and user range error (URE), a key performance indicator of the navigation system, was calculated by comparison with IGS precise ephemeris. When estimating the clock error mounted on the navigation satellite, the radial orbital error and the clock error have a high inverse correlation, which cancel each other out, and the standard deviations of the URE of GPS and QZSS are small namely 1.99 m and 3.47 m, respectively. Instead of estimating the clock error of the navigation satellite, the orbit was determined by replacing the clock error of the navigation message with a modeled value, and the regional correlation with URE and the effect of the ground station arrangement were analyzed.

• Journal of Korea Water Resources Association
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• v.31 no.6
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• pp.795-806
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• 1998

Soil moisture is affected by regional climate, soil characteristics and land surface condition, etc,. Especially, the changes in land surface condition is more than other factors, which is mainly due to rapid urbanization and industrialization. This study is to evaluate how the change of land surface condition impacts on soil moisture field evolution using a simple model of soil moisture dynamics. For the quantification of soil moisture field, the first half of the paper is spared for the statistical characterization based on the first- and second-order statistics of Washita '92 and Monsoon '90 data. The second half is for evaluating the impact of land cover changes through simulation study using a model for soil moisture dynamics. The model parameters, the loss rate and the diffusion coefficient, have been estimated using the observed data statistics, where the changes of surface conditions are considered into the model by applying various parameter sets with different second-order statistics. This study is concentrated on evaluating the impact due to the changes of land surface condition variability. It is because we could easily quantify the impact of the changes of its areal mean based on the linear reservoir concept. As a result of the study, we found; (1)as the variability of land surface condition, increases, the soil moisture field dries up more easily, (2)as the variabilit y of the soil moisture field is the highest at the beginning of rainfall and decreases as time goes on to show the variability of land surface condition, (3)the diffusion effect due to surface runoff or water flow through the top soil layer is limited to a period of surface runoff and its overall impact is small compared to that of the loss rate field.