• 한국정보통신학회논문지
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• 제24권11호
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• pp.1417-1423
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• 2020

본 논문에서는 수중에서 운동하는 무인잠수정의 경로점 유도법칙을 제안한다. 시선각 유도법칙과 수선경로 오차를 줄여가는 경로추종 유도법칙을 조합하여 효과적인 경로점 유도법칙을 설계하였고, 수선경로 오차의 거리에 따라 제어이득을 변화시켜 시스템의 안정성을 증가시켰다. 또한, 관성항법장치와 도플러속도계를 이용한 복합항법 시스템의 성능을 확인할 수 있는 HILS를 구성하였다. 같은 경로점 및 목표점을 입력 후 HILS 수행결과와 실해역 주행시험 결과를 비교하여, 제안한 유도법칙 및 HILS가 올바르게 구성되어 있음을 확인하였다.

• 한국초등수학교육학회지
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• 제15권2호
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• pp.333-359
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• 2011

본 연구는 교육대학교 3학년 학생들을 대상으로 이뤄진 수업실습에서 실습지도 교사가 예비교사에게 어떤 지도활동을 하는지를 살펴보는데 그 목적이 있다. 이러한 연구 목적을 위해 교육실습에서 예비교사가 한 차시의 수학수업을 준비해서 수업하기까지 실습지도 교사와 예비교사 사이에 이뤄지는 지도활동을 살펴보고자 한다. 이를 통해서 교육실습에서 실제로 지도교사는 어떤 역할을 하며 예비교사는 수업준비과정에서 지도교사로부터 어떤 도움과 지도를 받는지를 살펴봄으로써 이후의 교육실습의 개선방향을 살펴보고자 한다. 연구를 위해 G시에 소재한 교육대학교 3학년 두 학급 54명의 예비교사들을 대상으로 4주간 이뤄진 수업실습에서 수학수업을 하도록 한 후 수업준비과정에서 실습지도 교사의 지도활동을 일기형태로 기록하도록 하여 자료를 수집한 후 이를 분석하였다. 연구를 통해 다음과 같은 결과를 얻을 수 있었다. 첫째, 실습지도 교사는 지도활동 중, '수업 단계, 학생수준을 고려한 수업 설계하기'와 관련된 지도활동의 비중이 가장 높았다. 그러나 이와 함께 단순히 지도안작성을 위해 형식을 통일시키는 것과 같은 지도활동의 비중이 두 번째로 높은 것도 확인할 수 있었다. 이를 통해 좀 더 실질적인 교육실습 지도활동이 필요함을 알 수 있었다. 둘째, 실습지도 교사의 지도활동을 바탕으로 실습지도 교사의 역할을 방임형, 관리형, 지도형, 협력형의 네가지로 유형화할 수 있었다. 이 중 지도형의 비중이 가장 높았으며 지도활동이 거의 이뤄지지 않는 관리형과 방임형도 나타났다. 이런 결과를 통해서 보다 성공적인 교육실습을 위해서는 체계적인 계획과 관리가 필요함을 알 수 있었다.

• 초등상담연구
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• 제7권1호
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• pp.111-133
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• 2008

The purpose of this study was closely to explore the guidance experiences of senior elementary teachers who have had over 30 years of teaching experiences in elementary school based on interpretive(or hermeneutic) inquiry. The entry research question was 'What are the guidance experiences of senior elementary teachers like?' Seven senior elementary teachers working for O elementary School in G city participated in this study voluntarily. Each participant was interviewed twice in a consecutive manner. 14 periods of interview were completed all together and each period took about 40-60 minutes. In conclusion, this study conceptualized the guidance experiences of the senior elementary teachers(participants) as follows: First, the concepts of guidance held by the participants were conceptualized as 1) supporting and caring activity helping students to lead joyful school life, 2) assisting activity helping students to grow on good basic life habits, 3) character building activity helping students to lead integrative growth. Second, the fields and contents of guidance held by the participants were conceptualized as basic life habits, manners, and health & safety. Interestingly, these concepts were evolved in connection with their personal, practical teaching experiences rather than in-service teacher education. Third, the guidance methods frequently used by the participants were co-work with parents, exemplary storytelling, counselling, and praise. The participants applied these methods differently according to the grade, individual difference, and school curriculum policy to some degree. Fourth, the participants have experienced a lot of struggles with students, teachers, and parents in doing their guidance practices throughout the whole teaching career. Their guidance experiences commonly shifted from more teacher-centered or authoritative to more student-centered or relational way as their teaching years accumulated. Interestingly, all the participants more or less lived as lifelong learners to create their own right space as senior teachers in today's competitive and challenging landscape. This study strongly suggests that responsible teacher education can playa great role of enabling senior teachers to cope with guidance issues successfully. Compared with the speedy social change, the teacher education in Korea had been so authoritative, provider-based, subject-based until recently and it have not met the needs and wants of the elementary teachers in field. This trend has significantly hindered them from catching up with the needs of the speedy social change in terms of contemporary guidance issues. This study is limited in that the data is solely collected based on interview. So, an observational research is strongly suggested in order to uncover the situated understanding of the guidance experiences of elementary senior teachers.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.1822-1825
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• 2003

A practical range estimator based on the robust Kalman filter is proposed to solve the range estimation problem for surface to air missile(SAM) homing guidance. Apart from the previous works based on the extended Kalman filter(EKF) with bearing only measurement, the proposed scheme makes use of line-of-sight(LOS) rate to ensure the fast convergency at long-range. In this reason, the robust Kalman filter is considered to deal with LOS rate measurement error. The recursive linear structure of proposed filter is easy to implement and make it possible to reduce computational burdens. Moreover, it shows good estimation performance without specific guidance law such as oscillation proportional navigation guidance(OPNG).

• Journal of Mechanical Science and Technology
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• 제16권6호
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• pp.770-775
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• 2002

In this paper, a game optimal receding horizon guidance law (GRHG) is proposed, which does not use information of the time-to-go and target maneuvers. It is shown that by adjusting design parameters appropriately, the proposed GRHG is identical to the existing receding horizon guidance law (RHG), which can intercept the target by keeping the relative vertical separation less than the given value, within which the warhead of the missile is detonated, after the appropriately selected time in the presence of arbitrary target maneuvers and initial relative vertical separation rates between the target and missile. Through a simulation study, the performance of the GRHG is illustrated and compared with that of the existing optimal guidance law (OGL).

• Journal of Biosystems Engineering
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• 제15권2호
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• pp.79-87
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• 1990

An automatic guidance system based upon two position-measurement systems was designed to record where the tractor traveled and to guide the tractor along the predetermined path. An algorithm, using the kinematic behavior of tractor movement, was developed to determine the steering angle to reduce lateral position error. The algorithm was based upon constant travel speed, constant steering rate, and zero slip angles of the tractor wheels. The algorithm was evaluated through use of computer simulation and verified in field experiments. Results showed that the distance interval between position measurements was an important factor in guidance system performance. The position-measurement error of the guidance system must be less than 5 cm to be acceptably precise for field operations. An algorithm based upon a variable steering rate might improve the stability of the guidance system. More accurate measurement of tractor position and yaw angle, and faster error processing are required to improve the field performance of the guidance system.

• International Journal of Aeronautical and Space Sciences
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• 제4권2호
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• pp.26-36
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• 2003

The objective of this study is to enhance neural-network guidance to consider the impact condition. The optimal impact condition in this study is defined as an head-on attack. Missile impact-angle error, which is a measure of the degree to which the missile is not steering for a head-on attack, can also have an influence on the final miss distance. Therefore midcourse guidance is used to navigate the missile, reducing the deviation angle from head on, given some constraints on the missile g performance. A coordinate transformation is introduced to simplify the three-dimensional guidance law and, consequently, to reduce training data. Computer simulation results show that the neural-network guidance law with the coordinate transformation reduces impact-angle errors effectively.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.482-485
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• 1996

We design a homing guidance law based on the proportional navigation for the fast-rolling, single-axis control missiles and analyse the misdistance of the designed guidance system. The guidance law includes a compensation scheme which compensates for the phase-shift between the commanded and achieved acceleration which is peculiar to the fast rolling airframe with single-axis control. In the error analysis of the guidance system, we calculate the misdistance with respect to the target maneuver on the 3-dimensional space via direct simulations. Also, we conduct adjoint simulation on the 2-dimensional plane in case that phase-shift is perfectly compensated. Finally we approximate the linear time-varying dynamics of the missile with autopilot to a linear time-invarient system, and as a result we can find the misdistance as a closed-form.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.156.3-156
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• 2001

This paper handles synthesis and investigation of a neural network guidance law based on pursuit-evasion games. This work considers two-dimensional pursuit-evasion games solved by using the gradient method. The procedure of developing a guidance law from the game-optimal solutions is deeply examined, and important features of the neural network guidance are investigated. The proposed neural network guidance law takes the range, range rate, line-of-sight rate, and heading error as its input variables. By reconstructing the trajectory, the accuracy of the neural network approximation is verified. Afterwards, robustness of the neural network guidance to the autopilot lag, which results from its feedback structure, is investigated ...

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.419-424
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• 1991

In this paper, a fuel minimizing closed loop explicit inertial guidance algorithm for the orbit injection of a rocket is developed. In this formulation, the fuel burning rate and magnitude of thrust are assumed constant, and the motion of a rocket is assumed to be subject to the average inverse-square gravity, but with negligible atmospheric effects. The optimum thrust angle for obtaining the given velocity vector in the shortest time with minimizing fuel consumption is first determined, and then the additive thrust angle for targeting the final position vectors is determined by using Pontryagin's Maximum Principle. To establish the real time processing, many algorithms of the onboard guidance software are simplified. Simulations for the explicit guidance algorithm, for the 2nd-stage flight of the N-1 rocket, are carried out. The results show that the guidance algorithm works well in the presence of the maximum .+-.10 % initial velocity and altitude error. The effects of the guidance cycle time is also examined.