• Journal of the Society of Naval Architects of Korea
• /
• v.60 no.3
• /
• pp.155-164
• /
• 2023

About 75% of vessel collision accidents are caused by human error, which causes enormous economic loss, environmental pollution, and human casualties, thus research on automatic collision avoidance of vessels is being actively conducted. In addition, vessels must comply with the COLREGs rules stipulated by IMO when performing collision avoidance with other vessels in motion. In this study, the collision risk was calculated by estimating the position and velocity of other vessels through the Probabilistic Data Association Filter (PDAF) algorithm based on RADAR sensor data. When a collision risk is detected, we propose an event-triggered Nonlinear Model Predict Control (NMPC) algorithm that geometrically creates waypoints that satisfy COLREGs and follows them. To verify the proposed algorithm, simulations through MATLAB are performed.

• Journal of the Society of Naval Architects of Korea
• /
• v.60 no.3
• /
• pp.165-174
• /
• 2023

Unmanned Surface Vehicle (USV)'s berthing and unberthing is the most difficult maneuvering tasks and have the highest risk of accidents. In this paper, we designed a berthing/unberthing control algorithm given human joystick command for an USV equipped with a waterjet and a bow thruster. The berthing and unberthing maneuvers are performed remotely by a joystick operator at the Ground Control Center (GCC) where the status of USV and environmental situation can be monitored. We interpret the human joystick commands into USV's desired speed, yaw rate, and heading angle commands. next, we developed a control algorithm for the desired target values of MIMO actuators (engine speed, bucket step, nozzle angle, and bow thruster state) to follow the interpreted commands. The validity of the control algorithm is confirmed through simulations and sea trials at Gwang Am port.

• Proceedings of the Korea Water Resources Association Conference
• /
• 2022.05a
• /
• pp.360-360
• /
• 2022

토양수분과 유출 간 관계를 정량화하는 것은 수문 기작 및 유출 발생 과정의 이해를 위한 중요한 정보를 제공한다. 특히, 유출과정의 특성화는 수문 사상에 따른 불포화대 내 토양수 및 토사 손실 제어와 산사태 및 비점오염원 발생 예측을 위해 필수적이다. 유출과정과 관련된 비선형성과 복잡성을 확인하기 위해 토양수분과 유출 사이의 이력 거동이 조사되었다. 특히, 수문 과정 내 이력 현상 구체화를 위해 정성적인 시각적 분류 및 정량적 평가를 위한 이력 지수들이 개발되었다. 정성적인 시각적 분류는 시간에 따라 시계 및 반시계방향으로 다중 루프 형상을 나누는 방식으로 진행되었고, 정량적 평가의 경우 이력 고리(Hysteretic loop) 내 상승 고리(Rising limb)와 하강 고리(Falling limb)의 차이를 기준으로 한 지수로 이력 현상을 특성화하였다. 이전에 제안된 방법론들은 연구자의 판단이 들어가기 때문에 보편적이지 않고 이력 현상을 개발된 지수에 맞춤에 따라 자료 손실이 나타나는 한계가 존재한다. 자료의 손실 없이 불포화대 내 발생 가능한 대표 이력 현상을 자동으로 추출하기 위해 적합한 비지도 학습기반 기계학습 방법론의 제안이 필요하다. 우리 연구에서는 국내 산지 사면에서 강우 사상 동안 다중 깊이(10, 30, 60cm)로 56개의 토양수분 측정지점에서 확보된 토양수분 시계열 자료와 산지 사면 내 위어를 통해 확보된 유출 시계열 자료를 사용하였다. 먼저, 기존에 분류 방법을 기반으로 계절 및 공간특성에 따라 지배적으로 발생하는 토양수분-유출 간 이력 현상을 특성화하였다. 다음으로, 토양수분-유출 간 이력 패턴을 자료 손실 없이 형상화하여 자동으로 데이터베이스화하는 알고리즘을 개발하였다. 마지막으로, 비지도 학습방법을 이용하여 데이터베이스화된 실제 발현 이력 현상 내 확률분포를 최대한 가깝게 추정하는 은닉층을 반복적인 재구성 학습을 통해 구현함으로써 대표 이력 현상 패턴을 추출하였다.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.12 no.2
• /
• pp.821-828
• /
• 2011

This paper developed the algorithm for improving the performance the auto pilot in the autonomous vehicle system consisting of the Track keeping control, the Automatic steering, and the Automatic mooring control. The automatic steering is the control device that could save the voyage distance and cost of fuel by reducing the unnecessary burden of driving due to the continuous artificial navigation, and avoiding the route deviation. During the step of the ship autonomic navigation control, since the wind power or the tidal force could make the ship deviate from the fixed course, the automatic steering calculates the difference between actual sailing line and the set course to keep the ship sailing in the vicinity of intended course. first, we could get the transfer function for the modeling of ship according to the Nomoto model. Considering the maneuverability, we propose it as linear model with only 4 degree of freedoms to present the heading angle response to the input of rudder angle. In this paper, the model of ship is derived from the simplified Nomoto model. Since the proposed model considers the maximum angle and rudder rate of the ship auto pilot and also designs the Fuzzy controller based on existing PID controller, the performance of the steering machine is well improved.

• Journal of the Korea Society for Simulation
• /
• v.19 no.1
• /
• pp.23-31
• /
• 2010

Due to the fact that fisheye lens can provide super wide angles with the minimum number of cameras, field-of-view over 180 degrees, many vehicles are attempting to mount the camera system. Not only use the camera as a viewing system, but also as a camera sensor, camera calibration should be preceded, and geometrical correction on the radial distortion is needed to provide the images for the driver's assistance. In this thesis, we introduce a geometric correction technique to minimize the loss of the image data from a vehicle fish-eye lens having a field of view over $180^{\circ}$, and a asymmetric distortion. Geometric correction is a process in which a camera model with a distortion model is established, and then a corrected view is generated after camera parameters are calculated through a calibration process. First, the FOV model to imitate a asymmetric distortion configuration is used as the distortion model. Then, we need to unify the axis ratio because a horizontal view of the vehicle fish-eye lens is asymmetrically wide for the driver, and estimate the parameters by applying a non-linear optimization algorithm. Finally, we create a corrected view by a backward mapping, and provide a function to optimize the ratio for the horizontal and vertical axes. This minimizes image data loss and improves the visual perception when the input image is undistorted through a perspective projection.

• Journal of the Institute of Electronics Engineers of Korea TC
• /
• v.39 no.5
• /
• pp.232-242
• /
• 2002

In a MPLS(Multiprotocol Label Switching) network, it is important to reduce the number of labels and LSP(Lable Switched Path)s for network resource management. MTP(Multipoint-to-Point) LSP can be used to solve this problem. In consideration of traffic engineering, MTP LSP must be chosen to enhance the availability of network and link utilization. Also, a fast mechanism to setup MTP LSPs is required for rerouting capability against link failure. In this paper, we propose a fast MTP LSP traffic engineering of multipath MTP LSP by using a mapping of a MTP LSP upon Diffserv PHBs(Per Hop Behavior) in a Diffserv-capable MPLS network. In the proposed traffic engineering, we determine multiple MTP LSPs in a hierarchical manner according to the characteristics of different services. By using Monte-Carlo method for traffic load balancing process, it provides fast rerouting capability in case of frequent link failure across large network. Out method produces to be nearly optimal within reasonable run-times. It's time complexity is in O( Cn$^2$logn) as conventional multipath routing and it is much faster than Linear Programming approach. Simulation results show that the proposed traffic engineering can be controlled effectively in an administrative manner and enhance the availability of network in comparison with conventional multipath routing.

• Proceedings of the Korean Society for Agricultural Machinery Conference
• /
• 2017.04a
• /
• pp.158-158
• /
• 2017

비닐포장 하부에 위치한 콩의 생장 초기에 발생한 초엽을 인식하기 위한 연구를 수행중이다. 선행 연구에서 비닐포장에 접촉한 콩 초엽으로 인해 비닐포장 상부 표면의 열 반응 분포에 변화가 있음을 발견하였다. 현장에서 주행 중에 콩 초엽의 위치를 실시간으로 인식하고 연동된 선형 또는 회전형 엑츄에이터를 제어하여 정확한 위치에 천공을 수행하기 위해서는 계측 시스템과 제어 시스템간의 시간적 차이를 최소할 수 있는 실시간 신호 처리 기술이 필수적이다. 선행 연구에서 사용한 다중 IR 센서의 분해능은 $16{\times}4pixel$이며 주파수는 3 Hz로, 폭이 30cm 내외인 비닐포장 상부의 정밀 분석에 한계가 있음을 발견하였다. 이를 해결하기 위하여 분해능과 계측 주기를 개선할 수 있는 초소형 ($1cm{\times}1cm{\times}1cm$) 열화상 센서를 이용하였다. LWIR(Longwave infrared)영역에 해당하는 $8{\mu}m{\sim}14{\mu}m$의 영역에서 $0.05^{\circ}C$의 분해능을 보이는 $ Lepton^{TM}$ (500-0690-00, FLIR, Goleta, CA)모델을 사용하였다. 프레임당 $80{\times}60$ 픽셀의 정보가 2 Byte의 단위로 계측이 되며 9 Hz의 주파수로 대상면의 열 분포를 측정할 수 있다. 이론적으로 초당 정보 전송량은 86,400 Byte ($80{\times}60{\times}2{\times}9$)이며, 1 m를 진행하는 주행형 천공기에 적용할 경우 1 프레임당 10cm 정도의 면적을 측정하므로, 최대 위치 판정 분해능은 약 10 cm / 60 pixel = 0.17 cm/pixel로 상대적으로 정밀한 위치 판별이 가능하다. $80{\times}60{\times}2Byet$의 정보를 0.1초 이내에 분석해야 하는 기술적 과제를 해결하기 위하여 천공 작업기에 적합한 상용 SBC(Single board computer)의 클럭 속도(1 Ghz)로 처리 가능한 공간 분포 분석 알고리즘을 개발하였다. 전체 이미지 도메인을 한 번에 분석하는데 소요되는 시간을 최소화하기 위하여 공간정보 행렬을 균등히 배분하고 별도의 프로세서에서 Feature를 분석한 후 개별 프로세서의 결과를 경합식으로 판정하는 기술을 연구하였다. 오픈 소스인 MPICH(www.mpich.org) 라이브러리를 이용하여 개발한 신호 분석 프로그램을 클러스터링으로 연동된 개별 코어에 설치/수행 하였다. 2D 행렬인 열분포 정보를 공간적으로 균등 분배하여 개별 코어에서 행렬의 Spatial domain analysis를 수행하였다. $20{\times}20$의 클러스터링 단위를 이용할 경우 총 12개의 코어가 필요하였으며, 초당 10회의 연산이 가능함을 확인하였다. 병렬 클러스터링 기술을 이용하여 1m/s 내외의 주행 속도에 대응이 가능한 비닐포장 상부 열 분포 분석 시스템을 구현하였다.

• Journal of the Computational Structural Engineering Institute of Korea
• /
• v.20 no.6
• /
• pp.751-759
• /
• 2007

We have developed several methods for the optimization problem having large-scale and highly nonlinear system. First, step by step method in optimization process was employed to improve the convergence. In addition, techniques of furnishing good initial guesses for analysis using sensitivity information acquired from optimization iteration, and of manipulating analysis/optimization convergency criterion motivated from simultaneous technique were used. We applied them to flow control problem and verified their efficiency and robustness. However, they are based on quasi-Newton method that approximate the Hessian matrix using exact first derivatives. However solution of the Navier-Stokes equations are very cost, so we want to improve the efficiency of the optimization algorithm as much as possible. Thus we develop a true Newton method that uses exact Hessian matrix. And we apply that to the three-dimensional problem of flow around a sphere. This problem is certainly intractable with existing methods for optimal flow control. However, we can attack such problems with the methods that we developed previously and true Newton method.

• Journal of Environmental Impact Assessment
• /
• v.29 no.6
• /
• pp.403-413
• /
• 2020

A mathematical model comprised with eight simultaneous quasi-linear partial differential equations was suggested to provide optimal chlorination strategy. Upstream weighted finite element method was employed to construct multidimensional numerical code. The code was verified against measured concentrations in three type of reactors. Boundary conditions and reaction rate were calibrated for the sixteen cases of experimental results to regenerate the measured values. Eight reaction rate coefficients were estimated from the modeling result. The reaction rate coefficients were expressed in terms of pH and temperature. Automatic optimal algorithm was invented to estimate the reaction rate coefficients by minimizing the sum of squares of the numerical errors and combined with the model. In order to minimize the concentration of chlorine and pollutants at the final usage sites, a real-time predictive control system is imperative which can predict the water quality variables from the chlorine disinfection process at the water purification plant to the customer by means of a model and operate the disinfection process according to the influent water quality. This model can be used to build such a system in water treatment plants.

• Fashion & Textile Research Journal
• /
• v.24 no.6
• /
• pp.667-685
• /
• 2022

This paper aims to investigate 4D printing materials for soft robots. 4D printing is a targeted evolution of the 3D printed structure in shape, property, and functionality. It is capable of self-assembly, multi-functionality, and self-repair. In addition, it is time-dependent, printer-independent, and predictable. The shape-shifting behaviors considered in 4D printing include folding, bending, twisting, linear or nonlinear expansion/contraction, surface curling, and generating surface topographical features. The shapes can shift from 1D to 1D, 1D to 2D, 2D to 2D, 1D to 3D, 2D to 3D, and 3D to 3D. In the 4D printing auxetic structure, the kinetiX is a cellular-based material design composed of rigid plates and elastic hinges. In pneumatic auxetics based on the kirigami structure, an inverse optimization method for designing and fabricating morphs three-dimensional shapes out of patterns laid out flat. When 4D printing material is molded into a deformable 3D structure, it can be applied to the exoskeleton material of soft robots such as upper and lower limbs, fingers, hands, toes, and feet. Research on 4D printing materials for soft robots is essential in developing smart clothing for healthcare in the textile and fashion industry.