• 한국항해항만학회지
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• 제27권4호
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• pp.375-381
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• 2003

일본을 중심으로 과거 10여전부터 수행되어온 선박충돌회피연구는 최근 눈부신 IT산업의 발전에 힘입어 실용화 단계에 까지 접어들 수 있는 환경을 맞이하고 있다. 본 논문에서는 이러한 연구의 일환으로 선박충돌회피지원시스템의 주요 핵심 기술인 자동회피 알고리즘을 구성하기 위한 연구를 수행하였다. 선박운동방정식은 간편히 선체운동을 수학식으로 표현하는 KT모델을 이용하였으며, 선박이 정해진 항로를 유지해 나가는 Track Control System의 구현을 위해서는 퍼지 이론을 이용한 자동제어 시스템을 적용하였다. 또한 충돌회피 추론 부분에서는 위험도 판정을 위하여 TCPA와 DCOPA를 이용한 퍼지 추론이 이용되었다. 충돌회피거동 기능면에서는 국제해상충돌예상규칙을 기초로 하여, 두 선박의 다양한 조우 상황을 분석하였다. 이 분석에 기초한 피항거동이 이루어질수 있도록 알고리즘을 구축하였다. 제안된 시스템의 유효성을 검증하기 위하여, 다양한 상황을 시뮬레이션이 수행되었다. 그 결과 적절한 선박충돌회피 동작이 이루어지는 것을 확인하였으며, 향후 더욱 연구가 발전된다면 선박충돌회피지원시스템으로 실 선박에 적용할 수 있는 가능성을 확인하였다.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2015년도 추계학술대회
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• pp.246-247
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• 2015

자동전압조정장치(AVR)의 종류는 Analog Type과 Digital Type으로 나눌 수 있다. 브러쉬리스형의 동기발전기의 자동전압조정장치는 전 부하에 대하여 전압변동을 작게 하여야 한다. 일반적인 제어기법으로는 PID 제어방식이 일반적으로 많이 사용되고 있다. 본 연구에서는 제어대상의 파라미터변동에 대하여 제어기의 파라미터를 재설정 하지 않는 iPID(intelligent PID:지적 PID)제어기를 이용하여 동기발전기 Digital 자동전압조정장치(AVR)에 적용하여 전부하시에도 전압변동이 작고, 속응성이 향상된 제어기를 연구 하였다.

• 제어로봇시스템학회논문지
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• 제9권10호
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• pp.836-843
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• 2003

The automatic train control (ATC) system development project for the Automated Guideway Transit (AGT) system has high technical risk because the system is unmanned train control system using wireless technology which was unprecedented in train control industry of Korea. To overcome the technical risk during concept design phase of the ATC system development project, the integrated product team(IPT) carried out a reverse and reengineering process using a systems engineering design model. The generic systems engineering process is incorporated in the both reverse and reengineering process. As a result of the systems engineering effort, the IPT has built top layer systems engineering design model of the ATC subsystem. The purpose of this paper is to deliver the reverse and reengineering process which was used to develop the systems engineering design model of ATC system using a computer aided systems engineering tool. This study also shows that the model based reverse and reengineering process can reduce the technical risk by identifying the differences of requirement, functional and physical architecture between a reference system and a target system.

• 한국자동차공학회논문집
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• 제10권2호
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• pp.234-242
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• 2002

In this research, a transmission control unit was developed for a wheel loader on the basis of 16-bit microcontroller system. The TCU has the basic functions which include shifting control algorithm, actuation of six proportional solenoid valves, signal conditioning for four speed sensors, remote data monitoring capability with RF-module and duty cycle identification system which could identify the duty cycles from PWM signals. In order to design the control system, the overall transmission structure of the wheel loader was investigated and its characteristics of shifting were analyzed in advance. For the purpose of identifying the existing control algorithm and acquire some information about the shifting performance, the shifting experiments were performed for various shifting conditions with the conventional TCU. From the previous work on the conventional TCU, the shifting scheme was designed with the open-loop control which is based on the experimental data only to verify the feasibility of the developing TCU's shilling capability. The experimental results show comparable shifting characteristics to that of conventional TCU though the tests were performed at restricted shilling conditions. Hence, we could have the confidence for the development of the wheel loader automatic transmission TCU and its shifting quality could be improved with the adoption of appropriate feedback control scheme.

• 제어로봇시스템학회논문지
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• 제17권5호
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• pp.505-511
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• 2011

In this paper, we have developed an automatic velocity control system of a small-sized commercial treadmill (belt length of 1.2 m and width of 0.5 m) which is widely used at home and health centers. The control objective is to automatically adjust the treadmill velocity so that the subject's position is maintained within the track when the subject walks at a variable velocity. The subject's position with respect to a reference point is measured by a low-cost sonar sensor located on the back of the subject. Based on an encoder sensor measurement at the treadmill motor, a state feedback control algorithm with Kalman filter was implemented to determine the velocity of the treadmill. In order to reduce the unnatural inertia force felt by the subject, a predefined acceleration limit was applied, which generated smooth velocity trajectories. The experimental results demonstrate the effectiveness of the proposed method in providing successful velocity changes in response to variable velocity walking without causing significant inertia force to the subject. In the pilot study with three subjects, users could change their walking velocity easily and naturally with small deviations during slow, medium, and fast walking. The proposed automatic velocity control algorithm can potentially be applied to any locomotion interface in an economical way without having to use sophisticated and expensive sensors and larger treadmills.

• 제어로봇시스템학회논문지
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• 제9권10호
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• pp.844-851
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• 2003

We introduces a development result of semi-automatic karyotyping system using image processing method to improve a long time working of the manual method and 5% error of traditional automatic karyotying system for analyzing karyotying. The karyotyping procedures have many routine tasks such as searching metaphases, taking pictures, developing, editing, etc. There are several automatic karyotyping systems in order to reduce the task in advanced countries. However, they are very expensive, applicable to only human chromosome, and have too many functions to use easily. This paper takes aim at high quality image resolution and development of interface that can adjust brightness and contrast of image on-line. The system can be applied to animal and plants as well as human's chromosome. The system developed in this paper is applied to pig and human. The effectiveness of the system is proved by hospitals in Korea.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 ISIS 2003
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• pp.676-678
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• 2003

Microtunneling techniques play a crucial role in the construction of pipelines. This paper shows the automatic tunneling algorithm of microtunneling system using fuzzy logic technology to assist operators to assure the quality of microtunneling construction. To have effective output value of fuzzy controller, we slightly modified the conventional defuzzification methods. The proposed automatic tunneling algorithm shows good tunneling results comparable with those of experts.

• 한국항해학회지
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• 제19권3호
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• pp.11-19
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• 1995

When an automatic course keeping is introduced, as is quite popular in modern navigation, the closed-loop control system consists of autopilot device, power unit, steering gear, ship dynamics, and magnetic or gyrocompass. We derive mathematical models of each element of the automatic steering system. We provide a method of theoretical analysis on the propulsive energy loss related to automatic steering of ships in the open seas, taking account of the on-off(non-linear) characteristics of power unit. Also we paid attention to non-linear element installed in autopilot device, which is normally called weather adjuster. Next we make numerical calculation of the effects of autopilot control constants on the propulsive energy loss for two kinds of ship, a fishing boat and an ore carrier. Realistic sea and wind disturbances are employed in the calculation.

• 한국컴퓨터정보학회논문지
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• 제23권7호
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• pp.1-10
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• 2018

In this paper, we propose the principles and design details of Automatic cable assembly test system and show its utility. Testing the cable assembly is required periodically or non-periodically in the system that the cable assembly performance is quite important like military equipment. There are several weaknesses when humans test the cable assembly manually. It not only takes much time but also could happen human error. To improve these disadvantages, I developed Automatic cable assembly test system. The system can be implemented by building switching control system that connect and disconnect the cable assembly and measuring devices. Through the result of the cable assembly test with this test system, we show this system makes test time short and improves of test reliability as compared with manual test.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.178.1-178
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• 2001

The ATO(Automatic Train Operation) System is used for train operation instead of dreivers. It is interfaced with TCMS(Train Control and Monitoring System) and ATC/TWC system in the train and wayside facilities. In this paper describes configuration of ATO, Specification of ATO hardware, construction of ATO software and the algorithm for automatic train speed regulation in the carborn ATO system. This paper is mainly concerned with the development of the ATO System. The ATO system is used for automatic or driverless operation of a train using various informations from TCMS, ATC, TWC. In this paper, the general architecture of the ATO system, implementation of ATO application software and the algorithm using servo-controller for automatic train speed controller.