• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.167.2-167
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• 2001

This paper presents guidance and control laws which guarantee a minimum fuel consumption and have obustness against various disturbances during a terminal-landing phase on the lunar surface. The nonlinear robust tracking control system is designed to track the reference profiles, which are expressed by exponential functions. An adjustment law in the tracking controller is given in the form of the differential equations with respect to the controller´s variable gains. Computer simulations are performed to examine the tracking accuracy, the robustness in a thrust failure mode, and the vertical soft landing at a pre-assigned point on the lunar surface. The results of numerical simulation show the effectiveness of the present control law.

• Journal of the Society of Disaster Information
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• v.12 no.3
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• pp.228-234
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• 2016

Recent buildings are complicated and tends to be connected each other and even underground spaces. Although the risk of disaster is increasing, it does not provide training or induction refuge. In this paper, we propose evacuation induction system using directional speaker, for providing persons in danger with useful information on the disaster situation and to evacuate people effectively as an accurate and rapid evacuation guidance.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.36 no.9
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• pp.884-890
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• 2008

A new guidance law to reach circular target area with grazing angle constraint is proposed as one of midcourse guidance laws of unmanned air vehicles. The purpose of the law is to control the grazing angle between the velocity vector of the vehicle and the line of sight to the aiming point, the center of the circular target area, when the vehicle passes any point on the circle. The optimal solution is derived based on the optimal control theory minimizing a range weighted control energy subject to the nonlinear dynamic equations of the vehicle approaching to the circular target area with grazing angle constraint. The major properties including a convergence of the solution are examined and the performance of the law applied to some typical scenarios is shown by the numerical simulation.

• Journal of Korea Multimedia Society
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• v.11 no.11
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• pp.1547-1554
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• 2008

This paper proposes a fire shunt guidance system model based on rule, it presents suitable shunt route in real-time according to collected fire information of the building inside using wireless sensor networks. So, this system model is composed of the sensor alert module, the behavior suggestion module, and the emergency device control module. The sensor alert module uses rule-base algorithm that monitored the information to collect periodically in wireless sensor networks. And, the behavior suggestion module proposed a suitable behavior, this module supports to judge the fire area with danger sensor list. Additional, the emergency device control module controls a related emergency device according to the suggested behavior and to present on a control screen. We experiment the fire shunt guidance system based on Internet Web for operation verification of the proposed system. Consequently, this study supports people safety with the behavior suggestion according to the context information when an emergency situation happens.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.9
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• pp.114-129
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• 1996

This paper describes the whole development phase for the underwater vehicle actuating system with high hydroload torque disturbance. This includes requirement analysis, system modeling, control algorithm design, real time implementation, test and performance evaluations. As for driving control algorithms, fuzzy logic, variable structure and PD(Proportional-Differential) algorithm were designed and implemented on board controller using a single chip microprocessor. Intel 8797. And test and performance evaluation is carried out both single test and wystem integration test. We could confirm the basic performance of actuating system through the single test and gereral developing work of any actuating systems was finished with a single performance test of actuating system without system integration test. But, we suggested that system integration test be needed. System integration test is carried out using G/C HILS(Guidance and Control Hardware-In-the -Loop Simulation) which is constituted flight motion simulator, load simulator, real time host computer and the related subsystems such as inertial navigation system, power supply system and Guidance and Control Computer etc.. The most important practical contribution of this paper is that full system characteristics such as minimal control effort, enhancement of guidance and autopilot performance by the actuating system using G/C HILS technique are investigated. Through full running G/C HILS, in spite of the passing to single tests, some control algorithm resulted in failure as to stability of full system and system time frame.

• 제어로봇시스템학회:학술대회논문집
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• 1993.10a
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• pp.450-455
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• 1993

Guidance commands for attitude controlled missiles inevitably take the form of attitude angle commands. On the other hand, many guidance laws compute the accelerations required to achieve their goals. Therefore some integrators must be in use for the attitude controlled missiles to implement the guidance laws. Naturally, the use of the integrator raises the problem of choosing a proper initial value. In this paper, we compute the integrator initial value which minimizes the terminal miss and show that if the total flight time of the mission is long enough, the "optimal" initial value becomes some multiple of the initial heading error or of the given impact angle to the target. We demonstrate the validity of the analysis by showing some linear and nonlinear simulation results.n results.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.7
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• pp.557-564
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• 2021

This paper describes an automatic landing approach algorithm for fixed-wing UAVs using waypoint guidance. The proposed algorithm utilizes simple 2D Dubin's vehicle pre-simulations in planning the waypoints for landing approach. The remaining time to reach the runway is also estimated in the pre-simulation, and it is used for altitude control. The performance of the designed algorithm was verified by simulations and flight tests.

• Journal of Advanced Navigation Technology
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• v.14 no.5
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• pp.596-603
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• 2010

This paper presents a homing guidance law of anti-ship missiles using flight path angle to achieve an impact time constraint as well as an impact angle constraint. the independent variable in the nonlinear engagement model is change d from the flight time to the heading angle of the missile. The proposed guidance law can home a missile to the target with zero miss distance as well as satisfying both of the impact angle and time constraints. The performance of the proposed guidance law is evaluated by the computer simulations.

• Journal of Korean society of Dental Hygiene
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• v.17 no.6
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• pp.1225-1235
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• 2017

Objectives: The purpose of this study is to examine the effects of parents' oral health management behavior towards children on children's oral health. Methods: Dental examination were done to 82 children, and a survey was conducted to 82 parents of them. This researcher conducted multiple regression analysis to figure out how parents' oral health management behavior towards their children influences their oral health condition. Results: Among the kinds of parents' oral health management behavior towards their children, when they received a lower score in guidance for dietary control, children tended to have more dt index. Among the kinds of parents' oral health management behavior towards their children, guidance for tooth brushing and guidance for oral care influenced their children's O'leary index. When they received a higher score in guidance for tooth brushing and guidance for oral care, their children's O'leary index became lower. Conclusions: This study has found that parents' dietary guidance provided to children influences their dt index, and O'leary index, one of the major causes of dental caries, is influenced by parents' guidance for tooth-brushing and guidance for oral care. Therefore, we should realize that according to the degree of parents' interest in children's oral care, children's state of oral health can be changed, and parents should acquire proper knowledge about oral health and instruct and train their children desirably.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.5
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• pp.699-705
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• 2009

This paper is represented to research of driving control for the forklift AGV. The related works that were studied about AGV as heavy equipment used two methods which are magnet-gyro and wire guidance for localization. However, they have weaknesses that are high cost, difficult maintenance according to change of environment. In this paper, we develop localization system through sensor fusion with laser navigation system and encoder, gyro for robustness. Also we design driving controller using fuzzy and proportional control. It considers distance and angle difference between forklift AGV and pallet for engaging work. To analyze performance of the proposed control system, we experiment in same working condition over 10 times. In the results, the average error was presented with 54.16mm between simulation of control navigation and real control navigation. Consequently, experimental result shows that the performance of proposed control system is effective.