• International Journal of Aeronautical and Space Sciences
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• 제16권1호
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• pp.64-76
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• 2015

This paper suggests applying pseudospectral model predictive method for exo-atmospheric guidance. The method is a fusion of pseudospectral law and model predictive control, in which a two point boundary value problem is formulated using model predictive approach and solved by applying pseudospectral law. In this work, the method is applied to exo-atmospheric guidance with specific target requirement. The existing exo-atmospheric guidance methods suffice general requirements for guidance, but cannot ensure specific target constraints; whereas, the presented method is able to do so. The proposed guidance law is assessed through simulation of perturbed cases, and the tests suggest that the method is able to operate semi-autonomously under control and thrust vector perturbations.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.351-354
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• 1996

A new target adaptive guidance (TAG) algorithm is proposed to engage the aim point formed by adding a bias to the information from an infrared (IR) seeker for improving passive homing guidance effectiveness. The TAG algorithm utilizes an observability enhancing mid-course guidance algorithm to obtain convergent estimates of state variables involved particularly in range channel otherwise unavailable from passive sensors. Simulation results indicate that the TAG algorithm provides improved terminal effectiveness without computational complexities.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.141.2-141
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• 2001

An approximate target adaptive guidance algorithm(TAG) is proposed on the basis of the assumption that angular acceleration of missile to target line-of-sight and start time for TAG can be obtained by IR seeker. The algorithm does not use any target state estimator. Instead, it avoids the problem of determining target attitude by using the observation that the missile using LOS rate guidance is nearly on the collision course in the later point of engagement. Computer simulation results show that the proposed algorithm can effectively perform target adaptive guidance.

• 한국항공우주학회지
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• 제36권7호
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• pp.658-665
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• 2008

본 논문에서는 유도탄 응답지연을 고려한 실용적인 유도법칙을 제시한다. 유도탄의 속도벡터 방향을 조종할 수 있는 자세제어방식 autopilot을 갖는 유도탄을 고려하고, 최적제어이론을 적용하여 유도탄 응답특성에 따른 여러 가지 최적유도법칙을 유도할 수 있었으며, 실제적용 시의 문제점을 고려한 효율적인 유도법칙을 제안한다.

• 로봇학회논문지
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• 제9권3호
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• pp.147-153
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• 2014

In this paper, we proposed a new algorithm of the guidance line extraction for autonomous weeding robot based on infrared vision sensor in wet paddy. It is the critical process for guidance line extraction which finds the central point or area of rice row. In order to improve accuracy of the guidance line, we are trying to use the morphological characteristics of rice that the direction of rice leaves have convergence to central area of rice row. Using Hough transform, we were represented the curved leaves as a combination of segmented straight lines on binary image that has been skeletonized and segmented object. A slope of the guidance line was gotten as calculate the average slope of all segmented lines. An initial point of the guidance line was determined that is the maximum pixel value of the accumulated white columns of a binary image which is rotated the slope of guidance line in the opposite direction. We also have verified an accuracy of the proposed algorithm by experiments in the real wet paddy.

• 전기학회논문지
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• 제68권1호
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• pp.129-139
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• 2019

In order for a gun-launched guided projectile to glide to the maximum range, when to deploy the fin and start flight with guidance and control should be considered in range optimization process. This study suggests a solution to the optimal guidance problem for flight range maximization of the flight model of a guided projectile in vertical plane considering the aerodynamic properties. After converting the nonlinear Multi-Phase Optimal Control Problem to Two-Point Boundary Value Problem, the optimized guidance command and the best fin deployment timing are calculated by the proposed numerical method. The optimization results of the multiple flight rounds with various initial velocity and launch angle indicate that determining specific launch condition incorporated with the guidance scheme is of importance in terms of mechanical energy consumption.

• 항공우주기술
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• 제5권2호
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• pp.1-7
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• 2006

본 논문에서는 무인헬기에 적합한 새로운 형태의 점항법 유도법칙을 소개한다. 본 점항법 유도법칙은 미래의 예측 위치에 기반하여 자동제어부에서 사용할 속도와 방위각 명령을 생성해낸다. 무인기의 뱅크각을 통해 간접적으로 비행방향을 변경하는 기존의 점항법 유도법칙과 달리 본 유도법칙은 무인헬기의 속도벡터를 직접 변경하도록 속도 명령을 생성해낸다. 제안된 유도법칙의 검증을 위해 소형 무인헬기용 비행제어시스템을 개발해 비행 시험을 수행하였으며, 개발된 비행제어시스템은 비행제어 컴퓨터와 항법센서, 그리고 지상관제국으로 구성되어 있다. 비행시험을 통해 제안된 유도법칙이 성공적으로 작동함을 확인하였으며, 향후 경로추종 비행에 확장.적용할 계획이다.

• 전기학회논문지
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• 제68권1호
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• pp.172-181
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• 2019

This paper deals with the problem of generating the energy optimal trajectory which is intended to enhance the target tracking performance of a passive homing missile. Noticing that the essence of passive target tracking is the range estimation problem, the target information gathered by passive measurements can be readily analyzed by introducing the range estimator designed in line-of-sight(LOS) frame. Moreover, for the linear filter structure of the suggested range estimator, the cost function associated with the target information is clearly expressed as a function of the line-of-sight rate. Based on this idea, the optimal missile trajectory maximizing the target information is obtained by solving the saddle point problem for an indefinite quadratic cost which consists of the target information and the energy. It is shown that, different from the previous heuristic approaches, the guidance command producing the optimal passive homing trajectory is produced by the modified proportional navigation guidance law whose navigation constant is determined by the weighting coefficient for target information cost.

• 아동학회지
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• 제34권2호
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• pp.83-99
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• 2013

The premise underpinning this research is that cognitive evaluation is the starting point of children's emotional experience. It then went on to investigate how parents' person-oriented guidance affects children's emotional intelligence. Additionally, children's ego-resilience was analyzed as a variable that affects children's emotional intelligence and as a mediator between parents' person-oriented guidance and children's emotional intelligence. A purposive sampling was conducted in 4 elementary schools in metropolitan areas and made use of 466 students in 4th and 5th grade as research subjects. The results are summarized as follows：firstly, the more frequently parents used person-oriented guidance, the more children exhibited higher levels of ego-resilience and emotional intelligence. Secondly, vitality, peer relations, optimism, curiosity, emotional regulation, maternal person-oriented guidance were found to affect emotional intelligence in the order of relative significance of that influence. Thirdly, children's ego-resilience was found to intermediate parents' person-oriented guidance and children's emotional intelligence. In conclusion, individual children's evaluations of parental verbal stimuli was found to influence children's emotional intelligence, especially more significantly through the mediation of children's ego-resilience.

• 구강회복응용과학지
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• 제25권3호
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• pp.201-210
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• 2009

중심위는 교합적, 교정적, 보존적 관점에서 진단과 치료에 중요한 요소이며, 중심위에 대한 정의와 채득방법에 대하여서는 학자들마다 다양하게 주장하고 있다. 중심위를 채득하는 방법에는 여러 가지가 있고 임상적으로 가장 중요한 부분 중 하나가 재현성과 정확성을 확보하는 것이다. 이에 저자는 중심위 채득시 하악 과두의 운동접번축(kinematic axis)을 인식하는 Arcus $Digma^{(R)}$의 EPA test를 이용하여 중심위 채득 방법에 따른 재현성을 비교하였다. 구강 악안면계의 기능이상이 없으며 교합이 정상이고 치아의 교모 및 마모가 심하지 않은 성인 10명를 대상으로 5가지 중심위 채득 방법 (Self-guided method, Bimanual manipulation, Chin-point guidance, Leaf gauge method, Gothic arch tracer)에 따른 중심위의 재현성을 Arcus $Digma^{(R)}$를 이용하여 비교 연구한 결과 다음과 같은 결론을 얻었다. 첫째, 중심위 채득 방법에 따라 하악과두의 위치는 상이한 양상을 나타냈다. 둘째, 재현성은 bimanual manipulation이 가장 높게 나타났으며 다음으로 chin point guidance, Gothic arch tracer, leaf gauge를 이용한 방법 그리고 unguided method 순이었다. 셋째, 임상에서 양손조작법이나 chin-point guidance이 재현성면에서 비교적 매우 훌륭한 방법이라는 것을 미루어 알 수 있다.