• The Journal of Korea Robotics Society
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• v.11 no.1
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• pp.1-8
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• 2016

In this paper, we propose a new algorithm of the guidance line extraction for autonomous agricultural robot based on vision camera in paddy field. It is the important process for guidance line extraction which finds the central point or area of rice row. We are trying to use the central region data of crop that the direction of rice leaves have convergence to central area of rice row in order to improve accuracy of the guidance line. The guidance line is extracted from the intersection points of extended virtual lines using the modified robust regression. The extended virtual lines are represented as the extended line from each segmented straight line created on the edges of the rice plants in the image using the Hough transform. We also have verified an accuracy of the proposed algorithm by experiments in the real wet paddy.

• International Journal of Aeronautical and Space Sciences
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• v.10 no.1
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• pp.30-36
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• 2009

Many formation guidance laws have been proposed for VAV formation flight. Since most autonomous formation flight methods require various active communication links between the vehicles to know motion information of other vehicles, damage to the receiver or the transmitter and communication delay are critical problem to achieve a given formation flight mission. Therefore, in this point of view, the method that does not need an inter-vehicle communication is preferred in the autonomous formation flight. In this paper, we first summarize the formation guidance law without an inter-vehicle communication using feedback linearization and sliding mode control proposed in previous study. We also propose the modified formation guidance law with robust disturbance observer, which can provide significantly better performance than previously mentioned guidance law in case that other vehicles maneuver with large accelerations. The robust disturbance observer can estimate uncertainties generated by acceleration of leader vehicle. By eliminating the uncertainties using the estimated uncertainties, VAVs are able to achieve the tight formation flight. The performance of the proposed approach is validated by numerical simulations.

• International Journal of Aeronautical and Space Sciences
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• v.7 no.2
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• pp.1-13
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• 2006

The Lyapunov stability theory has been known inadequate to prove capturability of guidance laws because the equations of motion resulted from the guidance laws do not have the equilibrium point. By introducing a proper transformation of the range state, the original equations of motion for a stationary target can be converted into nonlinear equations with a specified equilibrium subspace. Physically, the equilibrium subspace denotes the direction of missile velocity to the target. By using a single Lyapunov function candidate, capturability of several PN laws for a stationary target is then proved for examples. In this approach, there is no assumption of the constant speed missile. The proposed method is expected to provide a unified and simplified scheme to prove the capturability of various kinds of guidance laws.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.22 no.50
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• pp.333-340
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• 1999

An ideal traffic control system should consider simultaneously both route guidance of vehicles and signal policies at intersection of a traffic network. It is known that an iterative procedure gives an optimal route to each vehicle in the network. This paper presents an iterative procedure to find an optimal signal plan for the network. We define the optimal solution as a signal equilibrium. From the definition of signal equilibrium, we prove that the fixed point solution of the iterative procedure is a signal equilibrium, when optimal signal algorithms are implemented at each intersection of the network. A combined model of route guidance and signal planning is also suggested by relating the route guidance procedure and the signal planning procedure into a single loop iterative procedure.

• Journal of the HCI Society of Korea
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• v.8 no.2
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• pp.1-8
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• 2013

In previous study, we developed a guidance system outdoors for person with visual impairment to be able to walk safely to the destination. The volunteers are exposed to dangerous situations since they are performed to the experiments in the outdoors. In order to solve the problem, we propose an interactive application that monitors the volunteer wearing guidance system and warns remotely the volunteer about dangerous situations. The application is used to remote wireless communication with guidance system through Bluetooth module that is built in a laptop computer, without additional device. Therefore, we can monitor in real time user's location and guided contents to user, and it is possible to check a path to the destination and POI (Point of Interest) coordinate values. As using a proposed monitoring application, it is possible to perform safe experiment with the rapid situation awareness and fast detection of dangerous.

• Fire Science and Engineering
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• v.25 no.5
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• pp.100-107
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• 2011

In this study, a simulated situation in which the visions of the evacuees were blocked by the smoke, which is one of the most dangerous factors that cause casualties in case of an emergency, was conducted for the evaluation of the performance of an evacuation guidance system. For this purpose, the behavior and time taken by the experiment subjects in simulated evacuation test were measured and analyzed. When the evacuation guidance sound signals were given by 4 speakers at the same time, most of the subject were disoriented and took generally longer in getting to the pre-designated evac point. And, using only one speaker instead of two showed a better result in terms of the evacuation behavior or and orientation. Also, when there were two or more speakers used for the broadcasting of the guidance message, it turned out that using Hass effect, and placing the speakers closer, could result in higher awareness of the guidance message and maintenance of the orientation, while it also made the subjects took short to get to the evac point.

• Journal of the East Asian Society of Dietary Life
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• v.15 no.5
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• pp.623-631
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• 2005

The purpose of this study was to investigate the nutrition knowledge of day-care center teachers and their guidance activities during meal time. Self-administered questionnaires were completed by 302 day care center teachers from September to November, 2004. The average score of nutrition knowledge was $12.9\pm2.3$ out of possible 20 points. As the teachers older(p<0.01) and the teaching careers longer(p<0.05), the scores of the nutrition knowledge was significantly higher. Those who had dietitian license showed significantly higher scores than others(p<0.01). Guidance activities during meal time were evaluated by the 5-point Likert scale on 24 items and the average score turned out to be $4.3\pm0.4$. The score showed significant difference only according to the length of the teaching career(p<0.05). These findings suggested that nutritional guidance and nutrition education program for day care center teachers should be developed so that they can effectively manage meal service and provide good nutrition for young children.

• Journal of Aerospace System Engineering
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• v.13 no.2
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• pp.1-9
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• 2019

This paper elaborates on the directional axis guidance and control algorithm used in mission flight for high altitude long endurance UAV. First, the directional axis control algorithm is designed to modify the control variable such that a strong headwind prevents the UAV from moving forward. Similarly, the guidance algorithm is designed to operate the respective algorithms for Fly-over, Fly-by, and Hold for way-point flight. The design outcomes of each guidance and control algorithm were confirmed through nonlinear simulation of high altitude long endurance UAV. Finally, the penultimate purpose of this study was to perform an actual mission flight based on the design results. Consequently, flight tests were used to establish the flight controllability of the designed guidance and control algorithm.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.6
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• pp.505-516
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• 2011

The concept of the IGC(Integrated Guidance and Control) has been introduced to overcome the performance limit of the SGC(Separated Guidance and Control) loop. A new type of IGC with impact angle constraint has been proposed in this paper. Angle of attack, pitch angle rate, pitch angle and line of sight angle are considered as state variables. A controllability analysis and equilibrium point analysis have been carried out to investigate the control characteristic of the prposed IGC. The LQR(Linear Quadratic Regulator) has been adopted for the control law and detailed explanations about the adoption has been provided. The performance comparison between the IGC and the SGC has been carried out. The result of numerical simulations shows that the IGC guarantees better guidance performance than the SGC when the agile maneuver is needed for a specific guidance geometry.

• Journal of Aerospace System Engineering
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• v.18 no.2
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• pp.1-11
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• 2024

This paper applies a relative impact angle control guidance law to a communication-based multi-missile network system with uncertainties and disturbances. The multi-missile network system is represented as a transitive reduction directed acyclic graph. Furthermore, this paper introduces both centralized and decentralized guidance laws based on the graph's structure. The relationship between these guidance laws is analyzed by comparing them based on the communication structure and the presence of system noise. To analyze the effects of decentralized optimal cooperative guidance law, this paper assumes uncertainty in missile dynamics and predicted impact point information for the relative impact angle control mission. Monte Carlo simulations are conducted for various mission environments to analyze the impact of communication and its structure on the system.