• 한국생산제조학회지
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• 제20권2호
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• pp.207-213
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• 2011

In this paper, we present a study on the real-time implementation of mobile robot to which the interactive voice recognition technique is applied. The speech command utters the sentential connected word and asserted through the wireless remote control system. We implement an automatic distance speech command recognition system for voice-enabled services interactively. We construct a baseline automatic speech command recognition system, where acoustic models are trained from speech utterances spoken by a microphone. In order to improve the performance of the baseline automatic speech recognition system, the acoustic models are adapted to adjust the spectral characteristics of speech according to different microphones and the environmental mismatches between cross talking and distance speech. We illustrate the performance of the developed speech recognition system by experiments. As a result, it is illustrated that the average rates of proposed speech recognition system shows about 95% above.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.603-608
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• 2003

Recently, personal robots and home robots are developing by many companies and research groups. It is considered that a general effective interface for user of those robots is speech or voice. In this paper, Japanese speech based man-machine interface system is discussed for reflecting the fuzziness of natural language on robots, by using fuzzy reasoning. The present system consists of the derivation part of action command and the modification part of the derived command. In particular, a unique problem of Japanese is solved by applying the morphological analyzer ChaSen. The proposed system is applied for the motion control of a robot manipulator. It is proved from the experimental results that the proposed system can easily modify the same voice command to the actual different levels of the command, according to the current state of the robot.

• 산업기술연구
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• 제30권B호
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• pp.75-81
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• 2010

This paper presents the development of LED street light lamp which is controled by central command system. This system includes a lamp unit controller, data repeater and command repeater as well as the LED lamps. These devices enable the individual power control and partial on/off control of the LED lamps by the control repeater through full duplex communication line. Also, they have the ability to control the brightness and period of on/off timing by detecting the car's existence. As a result of this development, it is founded that the performances of the system have been satisfied to apply for the actual road test.

• 한국인터넷방송통신학회논문지
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• 제15권3호
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• pp.125-130
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• 2015

본 논문에서는 네트워크에뮬레이터를 활용한 지휘통제시스템의 시험환경 구성, 결과 및 설계반영사항에 대해 다룬다. 정보통신기술의 발달에 의한 정보교환능력과 연산능력의 강화는 네트워크중심전이라는 개념을 가져오게 되었는데, 네트워크중심전에서 무기체계사용자가 빠른 상황판단을 내려 적합한 명령을 내릴 수 있게 지원하는 것이 지휘통제 체계이다. 본문에서는 소프트웨어 기반 네트워크 에뮬레이터중 하나인 dummynet을 활용한 시험환경 구축을 설명하고, 개발된 지휘통제시스템의 운용개념을 요약하였다. 더 나아가 시험 케이스 및 결과에 대해 설명하고, 목표 통신망에서의 제약사항을 극복할 운용개념을 제시하였다. 제안한 방식을 활용하면 항적메시지와 같이 여러 단말기가 같은 데이터를 빠른 주기로 공유할 때 유통 데이터를 크게 감소시킬 것으로 기대된다.

• 한국항공운항학회지
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• 제23권1호
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• pp.67-73
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• 2015

The previous limited authority system capable of implementing attitude command response type and translational command response type by operating SAS actuator has the problem of early saturation of SAS actuator since SAS actuator should compensate the mechanical linkage displacement caused by control sick movement. In this paper, a limited authority system where flight control computer receives the command from the control stick which is not connected to the mechanical linkage is described. In this system the compensation by the SAS actuator is not necessary and SAS actuator saturate later. SAS actuator saturation problem can be further relaxed by using the trim actuator. This new limited authority system is applied to BO-105 model, simulation is performed for the doublet input and pirouette maneuver is also simulated and analyzed.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.54.2-54
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• 2001

In this paper two control strategies, command shaping control and optimal control, which aim to the reduction of the residual vibrations of the payload in a container crane system are investigated. Both control methods are open loop control. Due to unmodeled dynamics of the plant and disturbances like initial sway and wind, some residual sway always exists at the end of trolley movement. Command inputs are designed to achieve the control objectives including minimal residual vibration and robustness in the presence of unmodeled dynamics. Simulation results of various command inputs are compared in terms of arrival time, residual sway angle, robustness, and maximum sway distance during the traveling. Command shaping method provides a more competent tool than optimal control.

• 항공우주기술
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• 제13권1호
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• pp.44-54
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• 2014

본 논문에서는 3구 추력기 2모듈 형태의 추력기시스템 기준으로 발사체 상단 자세제어용 추력기시스템 명령생성방식 2가지를 제시한다. 하나는 혼합오차함수를 이용하는 방식이고, 다른 하나는 명령혼합함수를 이용하는 방식이다. 시뮬레이션을 통해 두 방식을 비교 분석한 결과, 제어축 간의 상호 간섭, 각축 제어기의 독립적인 설계와 분석 용이성, 비행성능 예측 가능성 등의 관점에서 명령혼합 알고리듬이 상대적으로 유리함을 보인다.

• 전기학회논문지
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• 제67권10호
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• pp.1395-1400
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• 2018

EO TGP(Electro-Optical Targeting Pod) is an optical tracking system which has various functions such as target tracking and image stabilization and LOS(Line of Sight) change. Especially, it is very important to move the LOS into a interest point for joystick command. When pilot move joystick in order to observe different scene, EO TGP gimbals should be operated properly. Generally, most EOTS just operate corresponding gimbal for joystick command. For example, if pilot input horizontal command in order to observe right hand screen, it just drive azimuth gimbal at any position. But in the screen, the image dosen't move in a horizontal direction because gimbal structure is Euler angle. And image rotation is occurred by elevation gimbal angle. So we need to move Pitch gimbal. So in the paper, we designed LOS moving algorithm which convert LOS command to gimbal velocity command to move LOS properly. We modeled a differential kinematic equation and then change the joystick command into velocity command of gimbals. This algorithm generate velocity command of each gimbal for same horizontal direction command. Finally, we verified performance through MATLAB/Simulink.

• 한국군사과학기술학회지
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• 제18권6호
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• pp.755-761
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• 2015

Satellite Air-defence Warning System receives the aircraft/ballistic track information and air defense control command obtained from Master Control & Reporting Center (MCRC) and Air Missile Defence Cell (AMD Cell) Systems. It consists of terminal and control system to propagate track information and air defense control command control via the military satellite communications. In this paper, there were described track information, air defense control command, the frame structure of modem to transmit a voice information and modulation/demodulator design, network synchronization methods via the satellite network.

• International Journal of Control, Automation, and Systems
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• 제6권3호
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• pp.327-338
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• 2008

A fault tolerant control system design technique has been proposed and analyzed for managing performance degradation in the presence of multiple faults in actuators. The method is based on a control structure with a model reference reconfigurable control design in an inner loop and command input adjustment in an outer loop. The reduced dynamic performance requirements in the presence of different actuator faults are accounted for through different performance reduced (degraded) reference models. The degraded steady-state performances are governed by the reduced levels of command input. The reconfigurable controller is designed on-line automatically in an explicit model reference control framework so that the dynamics of the closed-loop system follow that of the performance reduced reference model under each fault condition. The reduced command input level is determined to prevent potential actuator saturation. The proposed method has been evaluated and analyzed using an aircraft example against actuator faults subject to constraints on the magnitude and slew-rate of actuators.