• 제어로봇시스템학회논문지
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• 제21권10호
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• pp.951-957
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• 2015

This Paper considers the heading and depth control problem for an underactuated AUV (Autonomous Underwater Vehicle) HW200. The HW200 is a torpedo-type AUV that is developed from Hanwha corporation R&D Center for military operation such as MCM (Mine Counter Measures). The HW200 controls horizontal and vertical motion with two stern plane and two rudder plane. It is well known that fine control of an AUV motion is not easy because of model uncertainties, highly nonlinear and coupled motions. To overcome those kind of uncertainties, a number of control methods have been presented. In this paper, the motion controllers of the HW200 are designed using PD controller design method based on the linear and perturbed model of the typical 6-DOF equations of an AUV, and confirmed the effectiveness of the controller through simulations and field test.

• 제어로봇시스템학회논문지
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• 제14권12호
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• pp.1197-1204
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• 2008

This paper presents an asymptotic formation control scheme for a group of underactuated autonomous underwater vehicles (AUVs) where only three control inputs - surge force, yaw moment and pitch moment are available for each vehicle's six degree of freedom (DOF) underwater motion. Usually, the dynamics agents applied in most of the formation algorithms presented so far have been modeled as particle systems, which is a simple double-integrator system. Therefore, these algorithms cannot be directly applicable to the practical systems, especially to the underwater vehicles whose dynamics are highly nonlinear. Moreover, the vehicles considered in this paper are underactuated. The formation control is derived using general potential function method, and the corresponding potential function consists of two parts: interactions between vehicles and virtual-leader following. Proposed formation scheme guarantees asymptotic local stability of closed-loop system. Numerical simulations are carried out to illustrate the effectiveness of proposed formation scheme.

• 한국정보과학회 언어공학연구회:학술대회논문집(한글 및 한국어 정보처리)
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• 한국정보과학회언어공학연구회 2001년도 제13회 한글 및 한국어 정보처리 학술대회
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• pp.523-529
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• 2001

한국어의 용언구 중에서 [명사]+[불특정 조사]+[용언]의 형태를 보이는 '공부를 하다' '잠이나 자다'와 같은 어구는 [명사]와 [동사]의 결합이 비교적 자유로워 기계번역 시스템에서 이들을 처리하고자 할 때 몇가지 애로점이 있다. 우선, 기계번역 시스템의 특성상 이와 같은 용언구를 하나의 어구로 인식해서 역문을 생성해야 하는데 이들을 일일이 사전에 수록하기 어렵다는 점을 지적할 수 있다. 또한 이들 어구에 포함된 [명사] 부분이 [한정사]의 수식을 받을 때 영어 역문에서는 해당 수식어를 원래의 수식어의 의미 그대로 생성할 수 없다는 것도 중요한 문제점이다. 이러한 문제점을 해결하기 위하여 본 연구에서는 [명사] 부분과 [용언] 부분을 각각의 품사 사전에서 탐색하여 품사별로 인식한 후에 다시 통사적으로 하나의 용언으로 인식시켜 해당 역문을 생성하는 처리 방법을 제안한다. 또한, [한정사]의 수식을 올바로 생성하기 위하여 이런 종류의 용언구들을 분류하여 그 분류에 따라 [한정사]를 변형 생성하는 방법을 제시한다.

• 한방안이비인후피부과학회지
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• 제20권3호
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• pp.1-13
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• 2007

Objective : This study was performed to assess the whitening effect of Bombysis Corpus on melanin synthesis. Methods : The whitening effects of Bombysis Corpus were examined by in vitro melanin production assay. We assessed inhibitory effects of Bombysis Corpus on melanin-release from B16F10, on melanin production in B16F10, on mushroom tyrosinase activity in vitro, on tyrosinase activity in B16F10, effect of Bombysis Corpus on the expression tyrosinase, TRP-1, PKA, ERK-1 ERK-2, AKT-1, MITF in B16F10. Results : 1. Bombysis Corpus inhibited melanin-release, melanin production in B16F10. 2. Bombysis Corpus inhibited tyrosinase activity in vitro and in B16F10. 3. Bombysis Corpus suppressed the expression of tyrosinase, TRP-1 in B16F10. 4. Bombysis Corpus suppressed the expression of PKA in B16F10. 5. Bombysis Corpus suppressed the expression of ERK-1, ERK-2, AKT-1 in B16F10. 6. Bombysis Corpus suppressed the expression of MITF in B16F10. Conclusion : The study shows that Bombysis Corpus inhibited melanin production on the melanogenesis.

• 한국해양공학회지
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• 제19권2호
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• pp.74-81
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• 2005

A 3-D localization method of an autonomous underwater vehicle (AUV) has been developed, which can solve the limitations oj the conventional localization, such as LBL or SBL that reduces the flexibility and availability of the AUV. The system is composed of a mother ship (small unmanned marine prober) on the surface of the water and an unmanned underwater vehicle in the water. The mother ship is equipped with a digital compass and a GPS for position information, and an extended Kalman filter is used for position estimation. For the localization of the AUV, we used only non-inertial sensors, such as a digital compass, a pressure sensor, a clinometer, and ultrasonic sensors. From the orientation and velocity information, a priori position of the AUV is estimated by applying the dead reckoning method. Based on the extended Kalman filter algorithm, a posteriori position of the AUV is, then, updated by using the distance between the AUV and a mother ship on the surface of the water, together with the depth information from the pressure sensor.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2000년도 추계학술대회 논문집
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• pp.90-95
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• 2000

This paper presents the vergence control of a parallel stereo camera and its application to underwater stereo camera to enhance the working efficiency of underwater vehicles that equips with manipulators in seabed operation. The stereo camera consists of two parallel lenses mounted on a lateral moving base and two CCD cameras mounted on a longitudinal moving base, which is embedded in a small pressure canister for underwater application. Because the lateral shift is related to the backward shift with a nonlinear relation, only one control input is needed to control the vergence and focus of the camera with a special driving device. We can get a clear stereo vision with the camera for all the range of objects in air and in water, especially in short range objects. The control system of the camera is so simple that we are able to realize a small stereo camera system and to apply it to a stereo vision system for underwater vehicles. This paper also shows how to acquire the distance information of an underwater object with this stereo camera. Whenever we focus on an underwater object with the camera, we can obtain the three-dimensional images and the distance information in real-time.

• 한국해양공학회지
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• 제16권1호
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• pp.8-15
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• 2002

This paper presents a neural net based nonlinear adaptive controller for an autonomous underwater vehicle (AUV). AUV's dynamics are highly nonlinear and their hydrodynamic coefficients vary with different operational conditions, so it is necessary for the high performance control system of an AUV to have the capacities of learning and adapting to the change of the AUV's dynamics. In this paper a linearly parameterized neural network is used to approximate the uncertainties of the AUV's dynamic, and the basis function vector of network is constructed according to th AUV's physical properties. A sliding mode control scheme is introduced to attenuate the effect of the neural network's reconstruction errors and the disturbances in AUV's dynamics. Using Lyapunov theory, the stability of the presented control system is guaranteed as well as the uniformly boundedness of tracking errors and neural network's weights estimation errors. Finally, numerical simulations for motion control of an AUV are performed to illustrate the effectiveness of the proposed techniques.

• 한국해양공학회지
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• 제11권4호
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• pp.169-179
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• 1997

This paper presents a discrete-time sliding mode control of an autonomous underwater vehicle with parameter uncertainties and long sample interval based on discrete variable structure system. Although conventional sliding mode montrol techniques are robust to system uncertainties, in the case of the system with long sample interval, the sliding control system reveals chattering phenomenon and even makes the system unstable. This paper considers the AUV which acquires position informations from a surface ship through an acoustic telemetry system with a certain discrete interval. The control system is designed on the basis of a Lyapunov function and a sufficient condition of the switching gain to make the system stable is give. Each component of the switching gain can be determined separately one another. The controller is robust to the uncertainties, and reaching condition of the control system is satisfied for any initial condition. This control law is a generalized form of the discrete sliding mode control and reduce the chattering problem considerably. Motion control of the AUV in the vertical plane shows the effectiveness of the proposed technique.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2006년 창립20주년기념 정기학술대회 및 국제워크샵
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• pp.331-334
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• 2006

This paper deals with the ways how the AUV is composed of sub-modules to be fault-tolerant during the mission. The emergency situations can be classified into several parts according to the zones where the situations take place - sensor zone, actuator zone, interpreter zone, and communication zone. This paper explains how each element of emergency situation is detected, contained and treated, and as a result, introduce the modular structured AUV controller for the autonomous cruising.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2006년 창립20주년기념 정기학술대회 및 국제워크샵
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• pp.457-460
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• 2006

This study is to investigate the variation characteristics of run-up height over sandy beach due to the plane distribution of submerged breakwaters. In this study, Three-Dimensional numerical model with Large Eddy Simulation, which is able to simulate directly WAve Structure Seabed interaction (hereafter, LES-WASS-3D) has been newly developed. A comparison between the numerical model and existing experimental results was made to verify accuracy of newly proposed LES-WASS-3D model, and showed fairly nice agreement. In addition, based on the LES-WASS-3D model, the variation characteristics of run-up height over sandy beach are discussed with relation to the offshore distance and opening width of submerged breakwaters.