• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1863-1866
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• 2005

In this paper we propose a platform that is applicable to low altitude remote sensing. Basic idea of the platform is based on the model helicopter. On big difference from the conventional model helicopter is that our platform has four main rotors. Furthermore, vision control strategy is introduced so that operator can use the platform without any specialized intensive knowledge

• 제어로봇시스템학회논문지
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• 제15권7호
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• pp.720-727
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• 2009

This paper proposes a new integrated navigation system for a mobile robot in indoor environments. This system consists of five frameworks which are classified by function. This architecture can make the navigation system scalable and flexible. The robot can recover from exceptional situations, such as environmental changes, failure of entering the narrow path, and path occupation by moving objects, using the exception recovery framework. The environmental change can be dealt with using the probabilistic approach, and the problems with the narrow path and path occupation are solved using the ray casting algorithm and the Bayesian update rule. The proposed navigation system was successfully applied to several robots and operated in various environments. Experimental results showed good performance in that the exception recovery framework significantly increased the success rate of navigation. The system architecture proposed in this paper can reduce the time for developing robot applications through its reusability and changeability.

• 한국항공우주학회지
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• 제40권7호
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• pp.608-615
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• 2012

본 연구는 무인항공기의 항전베이와 환경제어계통이 가지고 있는 시스템 특성을 분석하여 항전장비에 공급되는 적정 유량을 예측하였다. 예측된 결과를 바탕으로, 각 토출구에서 토출되는 유량과 유량 분포를 분석하여 환경제어계통에 대한 성능을 분석함과 동시에 항전베이에 대한 열해석을 수행하여 유량 분포의 적절성을 입증하였다. 분석된 결과에 대한 타당성을 검증하기 위해 실제 환경제어계통을 이용하여 유량평형 시험장비를 구축하고, 유량평형시험을 수행하였으며, 항전장비의 시스템 요구조건에 부합되는 유량을 최종 도출하였다. 또한, 중고도 운용환경에서 시스템 요구조건의 충족여부를 검증하고 환경제어계통에 대한 열교환 성능을 입증하였다.

• 대한설비공학회:학술대회논문집
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• 대한설비공학회 2005년도 동계학술발표대회 논문집
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• pp.463-468
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• 2005

An experimental study on the optimal control algorithm for central heating system for minimizing energy consumption while maintaining the comfort of indoor thermal en vironment in terms of the environmental variables such as loads and weather. experimental study has been done by one using the prototype of central heating system. As a result the optimal control algorithm shows good energy performance in comparison with conventional control one.

• Journal of Biosystems Engineering
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• 제17권4호
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• pp.344-353
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• 1992

This study was carried out to develop a fully-controlled plant growth system for studying the effects of environmental factors on plant growth. The plant growth system consists of the growth chamber, the measurement system for sensing and signal conditioning the environmental factors and the control system which includes control algorithm required for optimum operation and on-line monitoring. The results of the study on the performance of the controlled plant growth system are summarized as follows : 1. Under the light intensity of 18,000~20,000 lux, the temperature was controlled in the range of $22{\pm}0.4^{\circ}C$, the relative humidity of $70{\pm}5%$ respectively. 2. The $CO_2$ concentration was controlled in the range of $1,000{\pm}40ppm$(from 1st to 4th day) and $1,500{\pm}40ppm$(from 4th to 9th day). 3. The electric conductivity(EC) and pH of the nutrient solution were controlled in the range of $1.9{\pm}0.2mS/cm$ and $6.8{\pm}0.5pH$ respectively. 4. Under the above environmental conditions, the average fresh weight of leaf lettuce increased from 10g to 74g in 9 days with 24 hour lighting.

• The Plant Pathology Journal
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• 제32권6호
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• pp.563-569
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• 2016

The spatial patterns for temperature distribution on crape myrtle leaves infested with sooty mold were investigated using a digital infrared thermal imaging camera. The mean temperatures of the control and sooty regions were $26.98^{\circ}C$ and $28.44^{\circ}C$, respectively. In the thermal images, the sooty regions appeared as distinct spots, indicating that the temperatures in these areas were higher than those in the control regions on the same leaves. This suggests that the sooty regions became warmer than their control regions on the adaxial leaf surface. Neither epidermal penetration nor cell wall dissolution by the fungus was observed on the adaxial leaf surface. It is likely that the high temperature of black leaves have an increased cooling load. To our knowledge, this is the first report on elevated temperatures in sooty regions, and the results show spatial heterogeneity in temperature distribution across the leaf surface.

• Environmental Engineering Research
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• 제12권5호
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• pp.197-200
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• 2007

Advanced control is getting increasingly demanded in water and wastewater treatment systems. Various case studies have shown significant savings in operating costs, including energy costs, and remarkably short payback times. It has been demonstrated that instrumentation, control and automation (ICA) may increase the capacity of biological nutrient removing wastewater treatment plants by 10-30% today. With further understanding and exploitation of the mechanisms involved in biological nutrient removal the improvements due to ICA may reach another 20-50% of the total system investments within the next 10-20 years. Disturbances are the reason for control of any system. In a wastewater treatment system they are mostly related to the load variations, but many disturbances are created also within the plant. In water supply systems some of the major disturbances are related the customer demand as well as to leakages or bursts in the pipelines or the distribution networks. Hardly any system operates in steady state but is more or less in a transient state all the time. Water and energy are closely related. The role of energy in water and wastewater operations is discussed. With increasing energy costs and the threatening climate changes this issue will grow in importance.

• 대한임베디드공학회논문지
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• 제11권1호
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• pp.15-20
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• 2016

Recently, the u-IT applications for plants and livestock become larger and control of livestock farm environment has been used important in the field of industry. We implemented wireless sensor networks and farm environment automatic control system for applying to the breeding barn environment by calculating the THI index. First, we gathered environmental information like livestock object temperature, heart rate and momentum. And we also collected the farm environment data including temperature, humidity and illuminance for calculating the THI index. Then we provide accurate control action roof open and electric fan in of intelligent farm to keep the best state automatically by using collected data. We believed this technology can improve industrial competitiveness through the u-IT based smart integrated management system introduction for industry aversion and dairy industries labor shortages due to hard work and old ageing.

• 로봇학회논문지
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• 제11권4호
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• pp.262-269
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• 2016

Flight of an autonomous unmanned aerial vehicle (UAV) generally consists of four steps; take-off, ascent, descent, and finally landing. Among them, autonomous landing is a challenging task due to high risks and reliability problem. In case the landing site where the UAV is supposed to land is moving or oscillating, the situation becomes more unpredictable and it is far more difficult than landing on a stationary site. For these reasons, the accurate and precise control is required for an autonomous landing system of a UAV on top of a moving vehicle which is rolling or oscillating while moving. In this paper, a vision-only based landing algorithm using dynamic gimbal control is proposed. The conventional camera systems which are applied to the previous studies are fixed as downward facing or forward facing. The main disadvantage of these system is a narrow field of view (FOV). By controlling the gimbal to track the target dynamically, this problem can be ameliorated. Furthermore, the system helps the UAV follow the target faster than using only a fixed camera. With the artificial tag on a landing pad, the relative position and orientation of the UAV are acquired, and those estimated poses are used for gimbal control and UAV control for safe and stable landing on a moving vehicle. The outdoor experimental results show that this vision-based algorithm performs fairly well and can be applied to real situations.

• 한국환경과학회지
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• 제21권3호
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• pp.383-390
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• 2012

For the cost-effective biological nitrogen removal (BNR) process whose characteristics of influent have low COD/N ratios, the automatic control system for the addition of external carbon based on oxidation-reduction potential (ORP) data in an anoxic reactor has been developed. In this study, it was carried out with a pilot-scale Bardenpho process which was consisted of anoxic 1, aerobic 1, aerobic 2, anoxic 2, aerobic 3 tank and clarifier. Firstly, the correlation coefficient ($R^2$) of the dosage of external carbon source and ORP value was about 0.97. Consequently, the automatic control system using ORP showed that the dosage of external carbon source was decreased by about 20% compared with a stable dosage of 75 mg/L based on the COD/N ratio of the anoxic influent.