• Journal of Institute of Control, Robotics and Systems
• /
• v.22 no.1
• /
• pp.24-30
• /
• 2016

The accuracy of small and low-cost CCD cameras is insufficient to provide data for precisely tracking unmanned aerial vehicles (UAVs). This study shows how a quad rotor UAV can hover on a human targeted tracking object by using data from a CCD camera rather than imprecise GPS data. To realize this, quadcopter UAVs need to recognize their position and posture in known environments as well as unknown environments. Moreover, it is necessary for their localization to occur naturally. It is desirable for UAVs to estimate their position by solving uncertainty for quadcopter UAV hovering, as this is one of the most important problems. In this paper, we describe a method for determining the altitude of a quadcopter UAV using image information of a moving object like a walking human. This method combines the observed position from GPS sensors and the estimated position from images captured by a fixed camera to localize a UAV. Using the a priori known path of a quadcopter UAV in the world coordinates and a perspective camera model, we derive the geometric constraint equations that represent the relation between image frame coordinates for a moving object and the estimated quadcopter UAV's altitude. Since the equations are based on the geometric constraint equation, measurement error may exist all the time. The proposed method utilizes the error between the observed and estimated image coordinates to localize the quadcopter UAV. The Kalman filter scheme is applied for this method. Its performance is verified by a computer simulation and experiments.

• Journal of Navigation and Port Research
• /
• v.34 no.5
• /
• pp.311-317
• /
• 2010

Mobile Harbor(MH) is a new paradigm for maritime transport system introduced in Korea, the target of which is to carry out ship-to-ship cargo operation rapidly and effectively even under a condition of sea state 3. A MH ship is moored alongside a large container vessel anchored at the defined anchorage and also equipped with gantry cranes for handling containers. The MH study concerned includes rapid container handling system, optimum design for floating structure, hybrid berthing & cargo operation system, design for cargo handling crane, etc. This paper is to deal with a conceptual design of a stabilized mooring system and mooring equipment under a condition of ship-to-ship mooring. In this connection, we suggest a positioning control winch system in order to control heave motions of the MH ship which is to add constant brakepower and stabilized function to an auto-tension winch and mooring equipment used currently in large container ships.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
• /
• v.11 no.5
• /
• pp.514-520
• /
• 2018

Presence service provides various information about users such as locations, status of on/offline and network access methods, and number of presence resources required by each users increases largely in mobile environment. Therefore an effective method which can reduce load of presence servers is needed. In this paper, a large scale distributed presence service system which can distribute effectively total presence system load of presence servers using message control session has been presented. This large scale distributed presence service system provides various presence information for massive volumes of users. In this study, a new message control session architecture which can dynamically distribute loads of the presence servers to multiple servers has been presented, and a new presence information data architecture for controlling load of the presence servers has been designed. In this architecture, each presence server can exchange current load level in real time to get variance of the total system load change according to user numbers, and can distribute system load to maintain load level of each server evenly. The performance of the proposed large scale distributed presence service system has been analysed by experiments. The results has been showed that average presence resource subscription processing time reduced from 42.6% to 73.6%, and average presence notification processing time reduced from 37.6% to 64.8%.

• Proceedings of the ESK Conference
• /
• 1993.04a
• /
• pp.111-123
• /
• 1993

TravTek이란 Travel Technology의 합성어이며, 미래의 여행자들이 차를 사용하여 여행할 때, 보다 편리하고 쾌적한 여행이 될 수 있도록 차에 컴퓨터단말기를 부착하여 현재 주행하고 있는 도로 를 차안에서 화면을 통하여 볼 수 있고, 컴퓨터가 최단경로를 운전자에게 제시하고, 도로의 상황과 여 행정보(즉 호텔, 관공명소, 행사안내등)를 컴퓨터화면으로 나타내고, 그 정보를 컴퓨터음성으로 들려 주는 것등이 TravTek 시스템의 주된 요소들이다. 현재 미국 플로리다주의 올란도시에서 GM회사가 TravTek 시스템을 설치한 차 100대를 가지고 10개의 기관이 합작으로 평가연구중에 있으며, 이 논문에서 다루고자 하는 것은 그중에서 이차의 인간공학적 평가로 제한하고자 한다. 이러한 시스템을 설치한 차 를 타고 여행할 때, 여행자가 과연 얼마나 안락하게 여행할 수 있으며, 도로의 체증현상을 줄이고, 사 고를 예방하며, 차의 설계와 목적이 인간공학적으로 합당한 가를 알아보고자 하는 연구이다. 인간공학적 평가 인자들은 (1) 운전자의 수행도, (2) 사용자 선호도, (3) 사용자 인식, (4) 운행정보등이다. 그리고 컴퓨터음성을 사용하였을 때와 사용하지 않았을 때의 두가지 경우와 (1) 움직이는 컴퓨터 지도를 사용하 였을 때, (2) 단순화 한 도로안내를 사용하였을 때, (3) 컴퓨터 지도를 사용하지 않았을 경우(종이지도 사용)에 관해 위의 4가지 인간공학적 인자들을 평가하고자 한다. 이 연구는 아직도 진행중이라 발표하 고자 하는 논문역시 현재까지의 연구결과를 토대로 발표하는 것이므로 완전한 결론을 내릴 수는 없고, 진행과정의 내용과 토의사항과 잠정적인 결론을 제시하고자 한다.기서 사용된 아이콘에 대해서만 타당한 것으로 이것을 모든 아이콘에 대해 일반화시키기는 어려우나 이후에 행해질 Icon-based User Interface 분야의 많은 연구들의 기초가 될 것이다. 더불어 아이콘과 관련된 많은 요인들(문화적 영향, 아이콘 색깔, 크기, 아이콘의 위치등이 인식에 미치는 영향)에 대해서도 연구가 행해져야 할 것이다. 확인하고 각각의 기능을 분명히 했다.가 수월하게 하였고 메모리를 동적으로 관리할 수 있게 하였다. 또한 기존의 smpl에 디버깅용 함수 및 설비(facility) 제어용 함수를 추가하여 시뮬레이션 프로그램 작성을 용이하게 하였다. 예를 들면 who_server(), who_queue(), pop_Q(), push_Q(), pop_server(), push_server(), we(), wf(), printfct() 같은 함수들이다. 또한 동시에 발생되는 사건들의 순서를 조종하기 위해, 동시에 발생할 수 있는 각각의 사건에 우선순위를 두어 이 우선 순위에 의하여 사건 리스트(event list)에서 자동적으로 사건들의 순서가 결정되도록 확장하였으며, 설비 제어방식에 있어서도 FIFO, LIFO, 우선 순위 방식등을 선택할 수 있도록 확장하였다. SIMPLE는 자료구조 및 프로그램이 공개되어 있으므로 프로그래머가 원하는 기능을 쉽게 추가할 수 있는 장점도 있다. 아울러 SMPLE에서 새로이 추가된 자료구조와 함수 및 설비제어 방식등을 활용하여 실제 중형급 시스템에 대한 시뮬레이션 구현과 시스템 분석의 예를 보인다._3$", chain segment, with the activation energy of carriers from the shal

• Journal of the Korean Association of Geographic Information Studies
• /
• v.9 no.3
• /
• pp.14-24
• /
• 2006

There are many problems and limits in equipments being used for traffic-volume analysis in the country. And traffic-volume information acquired through existing equipments is not provided in real-time. In the case of urban, there are limits on guarantee of trust on comprehending a appropriate road-volume because of difficulty on analyzing traffic-volume density and time series. And it is difficult to applicate in deciding a road policy as existing equipments don't provide the control information of traffic-flow. Therefore, it is necessary to build a road-flow policy rapidly and accurately through the road-flow information that analyze post-processed statistics data using traffic-flow investigation based on real time. In this study, we developed TICS(Traffic Information Collection System) based on GPS which could transmit traffic information transformed from car location information to traffic control center. And we developed TCS(Traffic Control System) based on Web GIS, which could manage and analyze transmitted traffic information, and it could offer handled road-flow information to Web-site in realtime.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.13 no.4
• /
• pp.1453-1459
• /
• 2012

The dual stage manipulator is composed of the voice coil motor (VCM) and piezoelectric ceramics transducer (PZT), which can produce the high precise displacement and express a well dynamic performance. However, inaccurate modeling of the dual stage will exacerbate the positioning accuracy. This paper presents an approach to model the dual stage system by using bond graph theory. And the state space equations can be derived through the bond graph straightforwardly, which can be used in computing simulations. Through designing the compensators for the dual stage system and simulating, the dual stage performs better dynamics characteristic than the single actuator system.

• Journal of the Institute of Electronics Engineers of Korea SC
• /
• v.37 no.1
• /
• pp.10-18
• /
• 2000

This paper proposes a fuzzy logic cross-coupled controller using a new contouring modeling for a two-axis servo system. The general decoupled control approach may result in degraded contouring performance due to such factors as mismatch of axial dynamics and axial loop gains. In practice, such systems contain many uncertainties. The cross-coupled controller utilizes all axis position error information simultaneously to produce accurate contours. However, the conventional cross-coupled controllers cannot overcome friction, backlash, and parameter variations. Also since, it is difficult to obtain an accurate mathematical model of multi-axis system, here we investigate a fuzzy logic cross-coupled controller of servo system. In addition, new contouring error vector computation method is presented. The experimental results are presented to illustrate the performance of the proposed algorithm.

• Journal of the Korea Society of Computer and Information
• /
• v.28 no.9
• /
• pp.149-158
• /
• 2023

With the global paradigm shift towards climate change, the shipbuilding industry is also considering propulsion systems that utilize eco-friendly fuels various propulsion systems are gaining attention as a result. In conventional propulsion systems, typically consisting of propellers and rudders, have evolved into a diverse range of systems due to the development of a special propulsion system known as the azimuth thruster. While azimuth thrusters were previously commonly installed on tugboats, they are now extensively used on offshore plant operation ships equipped with dynamic positioning systems. However, these azimuth thrusters require different steering methods compared to conventional propulsion systems, leading to a significant learning curve for the crew members boarding such vessels. Furthermore the availability of education related to these special propulsion systems is limited. This study aims to analyze accidents caused by inadequate control of vessels equipped with azimuth thrusters using the STAMP technique. And it proposes the necessity of standard steering commands for the safe operation of vessels equipped with special propellers.

• Journal of the Korean Society of Fisheries and Ocean Technology
• /
• v.37 no.3
• /
• pp.163-173
• /
• 2001

The dynamic behavior characteristics of a small fishing crane for inshore and coastal fishing vessels was experimentally analyzed in order to improve the fishing operation and to reduce considerably manual work of fisherman. The small fishing crane was designed to be controlled electro-hydraulically by means of proportional valves and solenoid valves, and also to be controlled the speed of each operation. The dynamic behavior characteristics was investigated by measuring the changes of parameters such as oil pressure, swing angle of load, load tension, the lifting angle and the swing angle of crane arm when the arms extended in a side way was given a test load. The results obtained are summarized as follows: 1. The designed small fishing crane can be proportionally controlled by means of proportional valves and rapidly by operating the solenoid valves, respectively. The capacity, turning angle, maximum reach of crane were 2 T-M, $180^\circ$, 3.7m, respectively. 2. The vertical change of crane arm on the extension of lifting cylinder was $1.2^\circ$/cm, and the swing speed of crane arm due to the extension of swing cylinder by on/off operations of solenoid valves was $15^\circ$/sec, with the swing period of 1.4 sec and the angle fluctuation of $\pm$11.0$^{\circ}$. 3. When changing simultaneously the horizontal and vertical positions of the lifting load by on/off operations of solenoid valves, the swing and lifting speeds of crane arm were $4.46^\circ$/sec and $6.4^\circ$/sec, respectively. 4. The movements of the designed crane were particularly smooth as they are controlled with the aid of proportional valves than by means of solenoid valves.

• Journal of the Korean Society of Marine Environment & Safety
• /
• v.21 no.5
• /
• pp.515-523
• /
• 2015

This study reviewed 612 DP LOP(Loss of Position) incident reports which submitted to IMCA from 2001~2010 and identified 103 human error caused incidents and classified it through HFACS. And, this study analysis of conditional probability of human error on DP LOP incidents through application of bayesian network. As a result, all 103 human error related DP LOP incidents were caused by unsafe acts, and among unsafe acts 70 incidents(68.0 %) were related to skill based error which are the largest proportion of human error causes. Among skill based error, 60(58.3%) incidents were involved inadvertent use of controls and 8(7.8%) incidents were involved omitted step in procedure. Also, 21(20.8%) incidents were involved improper maneuver because of decision error. Also this study identified that unsafe supervision(68%) is effected as the largest latent causes of unsafe acts through application to bayesian network. As a results, it is identified that combined analysis of HFACS and bayesian network are useful tool for human error analysis. Based on these results, this study suggest 9 recommendations such as polices, interpersonal interaction, training etc. to prevent and mitigate human errors during DP operations.