• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.335-335
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• 2000

Applications such as unmanned aerial vehicles (UAVs), autonomous underwater vehicles (AUVs) and the time varying nature of their navigation, guidance and control systems motivate an integrated approach to trajectory general ion and trajectory tracking for autonomous vehicles. In this paper, an experimental testbed was designed for studying this integrated trajectory control approach. In this paper we apply the separating approach to an autonomous nonlinear vehicle system. A new linear matrix inequality based H$_{\infty}$ control technique for periodic time-varying systems is applied to the role of trajectory tracking. Trajectory general ion is accomplished by exploit ing the differential flatness property of the vehicle system; this at lows product ion of desired feasible nominal or reference trajectories from certain ″flat'system outputs. Simulation and experimental results are presented showing stable tracking of a periodic circular trajectory.

• Nuclear Engineering and Technology
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• v.49 no.5
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• pp.896-904
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• 2017

Several Generation IV nuclear reactor concepts have goals for optimizing investment recovery through phased introduction of multiple units on a common site with shared facilities and/or reconfigurable energy conversion systems. Additionally, small modular reactors are suitable for remote deployment to support highly localized microgrids in isolated, underdeveloped regions. The long-term economic viability of these advanced reactor plants depends on significant reductions in plant operations and maintenance costs. To accomplish these goals, intelligent control and diagnostic capabilities are needed to provide nearly autonomous operations with anticipatory maintenance. A nearly autonomous control system should enable automatic operation of a nuclear power plant while adapting to equipment faults and other upsets. It needs to have many intelligent capabilities, such as diagnosis, simulation, analysis, planning, reconfigurability, self-validation, and decision. These capabilities have been the subject of research for many years, but an autonomous control system for nuclear power generation remains as-yet an unrealized goal. This article describes a functional framework for intelligent, autonomous control that can facilitate the integration of control, diagnostic, and decision-making capabilities to satisfy the operational and performance goals of power plants based on multimodular advanced reactors.

• 제어로봇시스템학회:학술대회논문집
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• 1992.10b
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• pp.485-490
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• 1992

This paper describes a hardware structure and a communication system of a multiple autonomous robots system. Many studies have been devoted to the development of a single autonomous robot. It is, however, also necessary to investigate decentralized multiple autonomous robots system in order to make wider use of such robots. We have been studying a multiple autonomous robots system employing two mobile robots. In this paper, problems are overviewed on the developed multiple autonomous robots system from the viewpoint of hardware and communication, and an improved system is presented, which employs a new control strategy of a mobile robot and realizes reliable data communication between host computers.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1994.10a
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• pp.701-706
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• 1994

Holonic manufacturing system is a new approachto the organization and architecture of decentralized, autonomous and cooperative manufacturing system. The new paradigm combines the concepts of hierarchical systems and the integration of autonomous elements in distributed system. Today's scheduling and control techniques are mostly based on a centralized structure. Only little work has been done on scheduling and control of decentralized, autonomous and cooperative manufacturing system. This paper proposes a new approach IPM(Interactive Prediction Method) for scheduling and control of holonic manufacturing system.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.1
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• pp.1-6
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• 2012

In this paper, an adaptive fuzzy control system is proposed for the speed control of the ASV (Autonomous Surface Vehicle) with nonaffine nonlinear system dynamics. We consider the turning speed of the screw propeller to be the control input instead of thrust so that we do not have to know the exact function between turning speed and thrust. But in this case, the ASV becomes a nonaffine nonlinear system because thrust is a nonlinear function of the turning speed. To solve this problem, we propose a Takagi-Sugeno fuzzy-model-based control system and simulation studies are performed. Simulation results show the effectiveness of the proposed control scheme.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.10
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• pp.1051-1058
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• 2011

Unmanned autonomous forklifts have a great potential to enhance the productivity of material handling in various applications because these forklifts can pick up and deliver loads without an operator and any fixed guide. Especially, automation of pallet loading and unloading technique is useful for enhancing performance of logistics and reducing cost for automation system. There are, however, many technical difficulties in developing such forklifts including localization, map building, sensor fusion, control, and so on. This is because the system requires numerous sensors, actuators, and controllers that need to be connected with each other, and the number of connections grows very rapidly as the number of devices grows. This paper presents a vision sensorbased autonomous loading and unloading for network-based unmanned forklift where system components are connected to a shared CAN network. Functions such as image processing and control algorithm are divided into small tasks that are distributed over a number of microcontrollers with a limited computing capacity. And the experimental results show that proposed architecture can be an appropriate choice for autonomous loading in the unmanned forklift.

• Proceedings of the KSME Conference
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• 2007.05a
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• pp.861-866
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• 2007

This paper presents development of a vehicle lateral and longitudinal control for autonomous driving control and test results obtained using an electric vehicle. Sliding control theory has been used to develop a vehicle speed and distance control algorithm. The longitudinal control algorithm that maintains safety and comfort of the vehicle consists of a cruise and STOP&GO control depending on traffic conditions. Desired steering angle is determined through the lateral position error and the yaw angle error based on preview optimal control. Motor control inputs have been directly derived from the sliding control law. The performance of the autonomous driving control which is integrated with a lateral and longitudinal control is investigated by computer simulations and driving test using an electric vehicle. Electric vehicle system consists of DC driving motor, an electric power steering system, main controller (Autobox)

• Proceedings of the KIEE Conference
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• 1999.07g
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• pp.3105-3107
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• 1999

In this paper, we propose a new approach to autonomous wall-following of wheeled mobile robots using hybrid control system. The hybrid control approach IS introduced to the motion control of nonholonomic mobile robots in the Indoor navigation problems. In hybrid control architecture, the discrete states are defined by the user-defined constraints, and the reference motion commands are specified In the abstracted motions. The hybrid control system applied to motion planning and autonomous navigation with obstacle avoidance In indoor navigation problem. Simulation results show that it is an effective method for the autonomous navigation in indoor environments.

• Land and Housing Review
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• v.11 no.1
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• pp.103-108
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• 2020

Autonomous things system is a technology that judges and acts based on using surrounding information by itself, and it is evaluated as a future technology that can replace the current IoT technology. The current IoT technology is widely used from facility monitoring to machine control but it is shown weakness as a evaluation and prediction technique despite of smart city important technology. In this study, in order to confirm the application of the autonomous things technology, a monitoring system was installed on a real reservoir dam facility and long-term monitoring was performed that the measuring device itself judges and control as a facility monitoring technology. The autonomous things technology was confirmed during 19 months and it is possible to continuous measurement in the same way as current automated instrumentation. In addition, it was confirmed that the ICT device itself could to control autonomously measurement cycle according to the rainfall by itself.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.2
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• pp.209-218
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• 2019

This study proposes a new approach to Control the Orientation and position based on obstacle avoidance technology by multi sensors fusion and autonomous travelling control of mobile robot system for implimentation of Smart FA. The important focus is to control mobile robot based on by the multiple sensor module for autonomous travelling and obstacle avoidance of proposed mobile robot system, and the multiple sensor module is consit with sonar sensors, psd sensors, color recognition sensors, and position recognition sensors. Especially, it is proposed two points for the real time implementation of autonomous travelling control of mobile robot in limited manufacturing environments. One is on the development of the travelling trajectory control algorithm which obtain accurate and fast in considering any constraints. such as uncertain nonlinear dynamic effects. The other is on the real time implementation of obstacle avoidance and autonomous travelling control of mobile robot based on multiple sensors. The reliability of this study has been illustrated by the computer simulation and experiments for autonomous travelling control and obstacle avoidance.