• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.11
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• pp.1-9
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• 2016

Train control systems have changed from wayside electricity-centric to onboard communications-centric. The latest train control system, the CBTC system, has high efficiency for interval control based on two-way radio communications between the onboard and wayside systems. However, since the wayside system is the center of control, the number of input trains to allow a wayside system is limited, and due to the cyclic-path control flows between onboard and wayside systems, headway improvement is limited. In this paper, we propose a train interval-control and train-centric distributed interlocking algorithm for an autonomous train-driving control system. Because an autonomous train-driving control system performs interval and branch control onboard, both tracks and switches are shared resources as well as semaphore elements. The proposed autonomous train-driving control performs train interval control via direct communication between trains or between trains and track-side apparatus, instead of relying on control commands from ground control systems. The proposed interlocking algorithm newly defines the semaphore scheme using a unique key for the shared resource, and a switch that is not accessed at the same time by the interlocking system within each train. The simulated results show the proposed autonomous train-driving control system improves interval control performance, and safe train control is possible with a simplified interlocking algorithm by comparing the proposed train-centric distributed interlocking algorithm and various types of interlock logic performed in existing interlocking systems.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.152-152
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• 2000

In this paper, we propose a new approach to intelligent motion and autonomous maneuvering of mobile robots using hybrid system. In high Level, the discrete states are defined by using the sensor-based search windows and the reference motions of a mobile robot as a low vevel are specified in the abstracted motions, The mobile robots can perform both the motion planning and autonomous maneuvering with obstacle avoidance in indoor navigation problem. Simulation and experimental results show that hybrid system approach is an effective method for the autonomous maneuvering in indoor environments.

• Journal of the Korea Society for Simulation
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• v.8 no.1
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• pp.89-99
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• 1999

The major objective of this research is to propose a design architecture for autonomous defense systems for supporting highly intelligent behavior by combining decision, perception, and action components. Systems with such high levels of autonomy are critical for advanced battlefield missions. By integrating a plenty of advanced modeling concepts such as system entity structure, endomorphic modeling, engine-based modeling, and hierarchical encapsulation & abstraction principle, we have proposed four layered design methodology for autonomous defense systems that can support an intelligent behavior under the complicated and unstable warfare. Proposed methodology has been successfully applied to a design of autonomous tank systems capable of supporting the autonomous planning, sensing, control, and diagnosis.

• Journal of the Korean Society for Precision Engineering
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• v.20 no.7
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• pp.155-162
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• 2003

We propose a new technique far real-tine controller design of a autonomous cruise mobile robot with three drive wheels. The proposed control scheme uses a Caussian function as a unit function in the fuzzy neural network. and a back propagation algorithm to train the fuzzy neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-foray. The control performance of the proposed controller is illustrated by performing the computer simulation for trajectory tracking of the speed and azimuth of a autonomous cruise mobile robot driven by three independent wheels.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.45 no.8
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• pp.647-661
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• 2017

This paper presents a robust method for autonomously landing on small bodies. Autonomous landing is accomplished by generating and following reference position and attitude profiles. The position and attitude tracking controllers are based on discrete sliding mode control, which explicitly treats the discrete and impulsive natures of thruster operation. Vision-based inertial navigation is used for autonomous navigation for landing. Numerical simulation is carried out to evaluate the performance of the proposed method in a realistic situation with environmental uncertainties.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.8
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• pp.760-767
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• 2011

The flexibility and evolvability are critical characteristics of modern manufacturing to adapt to changes from products and disturbances in the shop floor. The technologies inspired from biology and nature enable to equip the manufacturing systems with these characteristics. This paper proposes an ant colony inspired autonomous manufacturing system in which the resources on the shop floor are considered as the autonomous entities. Each entity overcomes the disturbance by itself or negotiates with the others. The swarm of cognitive agents with the ant-like pheromone based negotiation mechanism is proposed for controlling the shop floor. The functionality of the developed system is proven on the test bed.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1697-1700
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• 2003

We propose a new technique for real-time controller design of a autonomous cruise mobile robot with three drive wheels. The proposed control scheme uses a Gaussian function as a unit function in the fuzzy neural network, and a back propagation algorithm to train the fuzzy neural network controller in the framework of the specialized learning architecture. It is proposed a learning controller consisting of two neural network-fuzzy based on independent reasoning and a connection net with fixed weights to simply the neural networks-fuzzy. The control performance of the proposed controller is illustrated by performing the computer simulation for trajectory tracking of the speed and azimuth of a autonomous cruise mobile robot driven by three independent wheels.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.9 no.4
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• pp.315-320
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• 2009

The popularity of autonomous mobile robots have been rapidly increasing due to their new emerging application areas, from room cleaning, tourist guidance to space explorations. However, the development of a satisfactory control algorithm that will enable the autonomous mobile robots to navigate safely especially in dynamic environments is still an open research problem. In this paper, a newly proposed potential field based control method is implemented, analyzed, and improvements are suggested based on experimental results obtained from simulations. The experimental results are presented to show the effectiveness of the behavior-based control using the proposed potential field generation technique.

• Journal of Electrical Engineering and Technology
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• v.7 no.2
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• pp.171-177
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• 2012

The autonomous microgrid is a system that is autonomously operated depending on the grid and internal load condition, without the operator's intervention. In this study, a control algorithm for the microsource and an operation algorithm for the microgrid are proposed to realize the autonomous microgrid system. In addition, a microgrid operation system based on the operation algorithm is proposed. The electromagnetic transient program is used by the proposed microsource control algorithm for simulation, and the validity of the algorithm is verified. The proposed operation system is verified based on a case study using a simulator and test devices.

• Journal of the Korean Society of Industry Convergence
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• v.26 no.2_2
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• pp.359-370
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• 2023

For a vehicle to follow a reference path accurately, its position must be estimated accurately and reliably. In this paper, we propose a lateral control algorithm for autonomous navigation of a vehicle via USAT(Ultrasonic Satellite System), which is an absolute position measurement system using an ultrasonic wave and INS(Inertial Navigation System) integration. In order to estimate the vehicle's parameters, a J-turn test is used. And the autonomous navigation performances of proposed lateral control algorithm and validity of proposed lateral control algorithm are verified and evaluated by simulation and experiments.