• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.57-62
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• 2004

This paper deals with a waypoint trajectory following problem for the tilt-rotor UAV under development in Korea (TR-KUAV). In this problem, dynamic model inversion based on the linearized model and Sigma-Phi neural network with adaptive weight update are involved to realize the waypoint following algorithm for the vehicle in the helicopter flight mode (nacelle angle=0 deg). This algorithms consists of two main parts: outer-loop system as a command generator and inner-loop system as stabilizing controller. In this waypoint following problem, the position information in the inertial axis is given to the outer-loop system. From this information, Attitude Command/Attitude Hold logic in the longitudinal channel and Rate Command/Attitude Hold logic in the lateral channel are realized in the inner-loop part of the overall structure of the waypoint following algorithm. The nonlinear simulation based on the TR-KUAV is carried out to evaluate the stability and performance of the algorithm. From the numerical simulation results, the algorithm shows very good tracking performance of passing the waypoints given. Especially, it is observed that ACAH/RCAH logic in the inner-loop has the satisfactory performance due to adaptive neural network in spite of the model error coming from the linear model based inversion.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.531-536
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• 2003

In this paper, a redesigned guidance and control system for a lunar lander is presented. In past studies, the authors developed a trajectory and attitude control system which achieves the vertical soft landing on the lunar surface. It is confirmed that the system has a good tracking ability to a predefined profile and good robustness against a thruster failure mode where a partial failure of clustered engines was assumed. However, under the previous control laws, the landing point tends to be shifted, in response to the system parameter values, from a target point. Also, an unbalanced moment due to a thruster failure mode was not considered in the simulation. Therefore, in this study, the downrange control is added to the system to enable the vehicle to land at a pre-assigned target point accurately. Furthermore, inhibiting the effect of the unbalanced moment is attempted thorough redesigning the attitude control system. A numerical simulation was performed to confirm the ability of the proposed system with regard to the above problems. Moreover, in the past simulations, a low initial altitude was assumed as an initial condition: in this study, however, the performance of the proposed system is examined over the whole trajectory from an initial altitude of 10 [km] to the lunar surface.

• ETRI Journal
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• 제25권5호
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• pp.387-400
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• 2003

Since its launching on 21 December 1999, the Korea Multi-Purpose Satellite-I (KOMPSAT-I) has been successfully operated by the Mission Control Element (MCE), which was developed by the ETRI. Most of the major functions of the MCE have been successfully demonstrated and verified during the three years of the mission life of the satellite. This paper presents the operational performances of the various functions in MAPS. We show the performance and analysis of orbit determinations using ground-based tracking data and GPS navigation solutions. We present four instances of the orbit maneuvers that guided the spacecraft form injection orbit into the nominal on-orbit. We include the ground-based attitude determination using telemetry data and the attitude maneuvers for imaging mission. The event prediction, mission scheduling, and command planning functions in MAPS subsequently generate the spacecraft mission operations and command plan. The fuel accounting and the realtime ground track display also support the spacecraft mission operations.

• Transactions on Control, Automation and Systems Engineering
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• 제4권2호
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• pp.169-175
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• 2002

A sliding mode control of spacecraft attitude tracking with actuator, especially reaction wheel, is presented. The sliding mode controller is derived based on quaternion parameterization for the kinematic equations of motion. The reaction wheel dynamic equations represented by wheel input voltage are presented. The input voltage to wheel is calculated from the sliding mode controller and reaction wheel dynamics. The global asymptotic stability is shown using a Lyapunov analysis. In addition the robustness analysis is performed for nonlinear system with parameter variations and disturbances. It is shown that the controller ensures control objectives for the spacecraft with reaction wheels.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.92.1-92
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• 2001

Sliding mode control of spacecraft attitude tracking with actuator, especially reaction wheel, is presented. The sliding mode controller is derived based on quaternion parameterization for the kinematic equations of motion. The reaction wheel dynamic equations represented by wheel input voltage are presented. The input voltage to wheel is calculated from the sliding mode controller and reaction wheel dynamics. The global asymptotic stability is shown using a Lyapunov analysis. In addition the robustness analysis is taken for nonlinear system with parameter variations and disturbances. It is shown that the controller ensures control objectives for the spacecraft with reaction wheels.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2002년도 ICCAS
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• pp.68.6-68
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• 2002

$\textbullet$ We solved the attitude regulation and tracking problems of spacecrafts. $\textbullet$ We developed a PC-based 3D spacecraft simulator using OpenGL. $\textbullet$ We considered the rigid spacecrafts with gas-jet and reaction wheel actuator. $\textbullet$ In order to verify the effectiveness of the simulator, we applied the output-based controller $\textbullet$ Spacecraft models are animated by roll-pitch-yaw angles, constantly processed by numerical method.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.425-429
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• 1996

Our unicycle has simple mechanical structure. But unicycle's dynamic system is a very sensitive unstable nonlinear system. In this paper, a fuzzy inference control mechanism was established throughout an inquiry into human riding a unicycle, and we developed a direct fuzzy controller to control our unicycle robot. This proposed fuzzy controller is consisted with fuzzy logic controllers for attitude stability and wheel's velocity. Computer simulation results show that our fuzzy controller has very powerful performance to unstable nonlinear unicycle robot system.

• 한국전자파학회논문지
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• 제28권3호
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• pp.225-236
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• 2017

본 논문은 항공기용 다기능 레이다의 성능 평가를 위한 레이다/환경 통합 시뮬레이터 구축 및 검증에 대해 설명한다. 항공기 운용 시나리오 구현을 위해 6자유도 동역학 모델을 적용하였다. 항공기 6자유도 강체 동역학 모델에서 항공기의 자세 기동을 고려한 궤적 생성을 위해 정상 상태 비행 평형점 탐색, 오토파일럿 설계, 항공기 유도 명령 생성을 진행하였다. 레이다 시뮬레이터 구축을 위해 레이다의 표적 탐지 및 측정 모델, 추적 필터를 포함하는 레이다 운용 모델이 고려되었다. 이를 통해 항공기의 자세 기동을 고려한 다기능 레이다/환경 통합 시뮬레이터를 구현하였고, 특정 공대공 시나리오를 생성하여 레이다/환경 통합 시뮬레이터를 시험 및 검증하였다.

• 한국인터넷방송통신학회논문지
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• 제20권4호
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• pp.155-164
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• 2020

본 연구는 OTT(Over the Top) 서비스 상에 노출되는 간접광고의 유형에 따른 효과를 실험연구를 통해 실증적으로 검증하였다. 이를 위해 지상파채널에 실제 방영되었던 간접광고를 3가지 유형의 실험 자극물로 구성하여 실험 참가자를 대상으로 시선추적 장비를 이용해 데이터를 수집하였다. 또한 시청한 간접광고에 대한 광고태도, 브랜드 태도, 구매의도를 알아보기 위해 설문조사를 실시하였다. 연구결과 응시시간과 응시횟수 모두 맥락적 PPL, 단순노출 PPL, 일반협찬 PPL순으로 차이가 있음을 밝혀졌으며, 맥락적 PPL과 단순노출 PPL은 브랜드 태도 및 구매의도가 통계적으로 유의미한 것으로 분석되었다. 일반협찬 PPL은 단순회귀분석결과, 광고태도와 브랜드 태도, 구매의도가 통계적으로 유의미하지 않은 것으로 분석되었다. 본 연구는 이러한 연구결과를 바탕으로 OTT서비스에서 간접광고의 가능성과 OTT서비스를 통하여 마케팅을 펼치려는 기업에게 보다 효과적인 간접광고의 전략적 기준을 제시하는데 그 목적이 있다.

• 항공우주기술
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• 제12권2호
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• pp.1-6
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• 2013

저궤도 위성은 지상국과의 접속 중에 X-band 안테나를 이용해 촬영한 영상을 전송한다. X-band 안테나는 교신 시간 동안 TPF (tracking parameter file)에 따라 움직이며 지상국의 안테나를 지속적으로 지향한다. TPF 생성 소프트웨어는 위성의 궤도 및 자세 정보와 촬영 및 다운링크 임무 정보를 이용해 X-band 안테나가 지상국을 지향하도록 하는 Azimuth, Elevation 정보를 생성한다. 위성이 지상국 상공을 지나가는 경우 X-band 안테나 특성 상 방위각 속도가 급격하게 증가하며, 특정 각속도로 회전하는 경우 위성의 지터를 유발할 수 있다. 영상촬영과 다운링크를 동시에 수행하는 실시간 임무의 경우 지터에 의한 영상 열화를 방지하기 위해 Azimuth 각속도를 일정 수준 이하로 낮춰야 한다. 현재 사용하는 방법인 한 점의 가상 지상국을 지향하는 방법으로는 각속도를 낮추는데 한계가 있다. 이 논문에서는 방위각 고정 기법을 이용해 X-band 안테나의 Azimuth 각속도를 낮추는 방법을 제안한다. 시뮬레이션 결과는 제안된 방법을 이용해 방위각 속도가 현저하게 감소함을 나타낸다.