• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2007.12a
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• pp.63-64
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• 2007

대양 항행하는 거의 모든 선박에서 항해사를 도와 선박의 회두각 유지 및 변침을 목적으로 사용되는 일반적인 오토파일럿 시스템용 대부분 PID형 제어기가 장착되어 있다. 오토파일럿 시스템의 제어상수는 운항 경제성 관점에서 선박의 추진 에너지 손실량(연료소비량)으로써 평가해야 한다. 본 논문에서는 선박 자동 조타 시스템의 정량적인 평가함수를 바탕으로 추진 에너지 손실량이 최소가 되도록 오토파일럿의 제어상수를 구하고자 한다. 이 때 제약조건, 즉 설계사양을 고려한 RCGA를 이용하여 제어상수를 탐색하고, 제안한 방법을 시뮬레이션을 통해 검증한다.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2009.10a
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• pp.1108-1111
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• 2009

Auto Pilot is the system which move automatically the vessel through locating operation mode to automatic after entering operating course using a electronic chart or plotter. And water jet is the a propulsion system that make a power to push the vessel through spouting the accelerated water which is absorbed by the hole in the bottom of vessel. The water jet receive the effect of the depth of water lowly, it's acceleration efficiency is higher under high speed and have an advantage on vibrating and floating sound, so it's demand is increasing as new propulsion system. However, the signal systems of auto pilot and water jet are different, we need the system to interface between each system. We designed the interface that efficiently digital feed back control embedded module between auto pilot and water jet system in this paper.

• Journal of the Korean Society of Marine Environment & Safety
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• v.25 no.6
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• pp.809-818
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• 2019

Since January 1, 2020, the International Maritime Organization (IMO) has put in place strong regulations to reduce air pollution caused by ships by lowing the upper limit of ship fuel oil sulfur content from 3.5% to 0.5% for ships passing through all sea areas around the world. Although it is important to reduce air pollutants by using fuel oil with low sulfur content, reducing the amount of energy waste through the economic operation of a ship can also help reduce air pollutants. Ships can follow designated routes accurately even under the influence of noise using autopilot systems. However, regardless of their quality, the performance of these systems is af ected by noise; heading angles with added measurement noise from the gyroscope are input into the autopilot system and degrade its performance. A technique to solve these problems reduces noise effects through the application of a Kalman filter, which is widely used in condition estimation. This method, however, cannot completely eliminate the effects of noise. Therefore, to further improve noise removal performances, in this study we propose a better denoising method than the Kalman filter technique by applying a multi-layer perceptron (MLP) in forward direction motion and a Kalman Filter in rotation motion. Simulations show that the proposed method improves forward direction motion by preventing the malfunction of a rudder more so than merely using a Kalman Filter.

• Korea Information Processing Society Review
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• v.24 no.4
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• pp.31-40
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• 2017

• Defense and Technology
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• no.5 s.159
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• pp.38-45
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• 1992

현존하는 유도탄은 대륙간탄도탄(ICBM)과 같은 유도탄(Ballistic Missile)에서부터 비행기에 흡사한 순항유도탄(Cruise Missile)에 이르기까지 종류가 다양하다. 유도탄은 사용목적에 따라 전략유도탄과 전술유도탄으로 구분되는데, 전략유도탄은 핵탄두를 갖고 있으며 전쟁억제를 목적으로 하고 전술유도탄은 실전에 사용하기 위해 만들어진 것이다. 이 글에서는 주로 전술유도탄을 중심으로 흔히 오토파일럿(Automatic Pilot)이라 부르는 기술현황과 그 개발추세를 살펴보기로 한다

• Proceedings of the Korean Society of Computer Information Conference
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• 2021.07a
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• pp.487-488
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• 2021

시설물 점검은 사람이 직접 들어가거나 올라가 확인하는 방식이 일반적이다. 본 연구에서는 시설물 점검을 보다 안전하고 신속하게 하는 것을 전제로 하여 현재 상용화 되고 있는 드론과 아두이노를 이용한 센서를 적용하고자 한다. 본 논문은 기존의 어려운 조작의 드론에 건물 내부에서 호버링이 가능하게 하는 옵티컬 플로어 센서를 장착아여 조작을 보다 쉽게 한다. 또한, 외부 비행 시 GPS센서를 사용하여 좌표지정을 통한 자동비행을 가능하게 하고 아두이노의 센서와 펌프를 적용한 "오토파일럿이 가능한 시설물 관리 드론" 기술을 제안한다. 기존의 드론과 다르게 카메라와 센서를 이용해 시설물 관리를 대신하고, 외부 시설물 관리나 농업 등에서 사용할 때 좌표를 지정해 사용자가 직접 조작하지 않아도 지정한 좌표로 드론이 이동하여 관리 및 임무를 수행한다. 센서들의 값을 앱으로 전송받아 핸드폰으로 받아 볼 수 있다.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.418-421
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• 1997

A design method of robust controller for the longitudinal autopilot of BTT missile is considered. The difficulties are a set of linearized dynamic models which corresponds to different operating points has a wide range of parameters and it has even Non-Minimum Phase(NMP) zeros. In this paper, such a family of models is expressed by an interval plant. Then a robust control design method using QFT is represented. A simulation result shows that the proposed controller satisfies the given specification well.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2023.11a
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• pp.88-90
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• 2023

선박 원격제어신호를 실제 선박에 적용하려면 대상 선박마다 연결가능한 형태가 되어야 한다. 따라서, 제어신호 수신부와 액추에이터와 연결되는 인터페이스부로 나누어, 원격제어신호 수신시 신호를 변환하는 컨버터와 그 신호가 표현될 수 있는 모델 디스플레이부를 개발하였으며, 다양한 실선 환경에 연동할 수 있도록 인터페이스 방식을 연구하였다. 또한, 선박 원격제어시 명령이 송신되는 시점과 응답이 수신되는 시점이 가시적으로 표시 되도록 하여, 원격 제어자가 직관적으로 제어상태를 파악할 수 있도록 하였다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.50 no.12
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• pp.857-866
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• 2022

Fixed-wing UAVs have long endurance and range capabilities compared to other aerial platforms. These advantages led fixed-wing UAVs to become a popular platform for reconnaissance missions in the military. In this research, we modeled fixed-wing UAVs, including the landing gear model and developed a guidance and control system for flight control computers to construct a HILS environment. We also developed an autopilot system that includes automated take-off, cruise, and landing control for UAVs. We also retrived the Aerodynamic coefficients an UAV using Datcom and AVL software and used them for 6 degrees of freedom modeling. The Flight control computer calculates guidance commands using the Carrot chasing guidance law after distinguishing the condition of the UAV based on 16 pre-defined flight modes and calculates control inputs using Nonlinear Dynamic Inversion (NDI) control scheme. We used RTNngine to integrate the Simulink model and flight control computer for HILS environment formulation.

• Journal of Advanced Marine Engineering and Technology
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• v.30 no.6
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• pp.760-769
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• 2006

This paper proposes an autopilot system using a fuzzy PID controller to satisfy performances required for the automatic navigation of ships under various marine circumstances. The existing autopilot system using a PD type controller has difficulties in eliminating a steady-state error and compensating nonlinear characteristics of ships. The autopilot system using the proposed fuzzy PID controller has a self-tuning ability, an ability to compensate nonlinear characteristics, and an ability to turn at constant angular velocity. Therefore. it can naturally make a steady-state error zero, compensate nonlinear dynamic effect of ships, have an adaptability to parameter variation owing to shallow water effect, and have an ability to turn ship's course rapidly without overshoot through procedures of acceleration, constant, and deceleration of angular velocity for large course-changing.