• 한국정밀공학회지
• /
• 제26권5호
• /
• pp.23-32
• /
• 2009

• 한국해양공학회지
• /
• 제22권3호
• /
• pp.34-40
• /
• 2008

his study discusses the design of an automatic berthing control algorithm for ships with a haw thruster and a stern thruster, as well as a rudder. A nonlinear mathematical model for the law speed maneuvering of ships was used to design a MIMO (multi-input multi-output) nonlinear control algorithm. The algorithm consists of two parts, the forward velocity control and heading angle control. The control algorithm was designed based on the longitudinal and yaw dynamic models of ships. The desired heading angle was obtained by the so-called "Line of Sight" method. An optimal control force allocation method forthe rudder and the thrusters is suggested. The nonlinear control algorithm was tested by numerical simulations using MATLAB, and showed good tracking performance.

• 한국광과학회:학술대회논문집
• /
• 한국광과학회 2006년도 정기총회 및 제13회 학술대회 논문 초록
• /
• pp.66-66
• /
• 2006

• 제어로봇시스템학회논문지
• /
• 제19권10호
• /
• pp.936-940
• /
• 2013

As the ageing population grows around the world, the demand for electric wheelchairs, an important mobility assistance device for the disabled and elderly, is gradually increasing. Therefore, a number of studies related to intelligent wheelchairs are actively underway to improve safety and comfort for wheelchair users. However, previous collision avoidance studies for intelligent wheelchairs have concentrated on collision avoidance methods with the shortest distance and by only changing either velocity or heading angle, rather than considering the forces exerted on the user. If a collision avoidance algorithm that does not consider these forces is applied to an intelligent wheelchair, there is a possibility of an accident due to falling as wheelchair users are generally disabled and elderly people. In this paper, we propose a collision avoidance algorithm which minimizes the forces exerted on a wheelchair user by minimizing the variation of the wheelchair's velocity and heading angle when the sizes, positions, velocities, and heading angles of a wheelchair and a moving obstacle are known.

• 한국항해항만학회:학술대회논문집
• /
• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
• /
• pp.271-275
• /
• 2006

This paper describes the design and realization of full attitude system based on MEMS IMU and GPS carrier phase. The work can be divided into two parts: First, initial heading is determined by using two GPS receivers. And this paper discusses the usage of space geometry conditions to reduce the range of ambiguity search. The method presented in this paper was tested on the static. On the static condition, an accuracy better than 0.06 degrees for heading for 3.48m long baseline has been achieved. Integration of GPS and low cost MEMS IMU are used to realize the real-time heading attitude system. Second, level attitude (pitch and roll) is determined using the method of frequency-velocity for the feedback control. At the same time, the method using the attitude based on MEMS IMU to help determination of the range of ambiguity search is proposed. The results done on the sea show that an alternative means to provide real-time, cost-effective, accurate and reliable attitude information for attitude surveys. Though motivated by a big ships application, the design can be applied to other vehicles.

• 대한임베디드공학회논문지
• /
• 제10권4호
• /
• pp.257-264
• /
• 2015

For the tracking of the way-points of hovering AUV (HAUV), we suggest a simple PID controller. The way-points are designed to approach to a virtual underwater structure and the heading angles at each way-point are set to look at the structure in the face. The proposed controller consists of a vertical controller to maintain the depth and pitch angle, and a horizontal controller to move to the desired position as well as to adjust the heading angle of the HAUV. In the simulation using Matlab/Simulink, the HAUV with the proposed PID controller is shown to track all the way-points within 1 m range while maintaining proper heading angle at each way-point.

• Journal of Electrical Engineering and Technology
• /
• 제12권6호
• /
• pp.2399-2410
• /
• 2017

In this paper, a linear matrix inequality-based sampled-data fuzzy observer design method is proposed based on the exact discretization approach. In the proposed design technique, a numerically relaxed observer design condition is obtained by using the discrete-time fuzzy Lyapunov function. Unlike the existing studies, the designed observer is robust to the uncertain premise variable because the fuzzy observer is designed under the imperfect premise matching condition, in which the membership functions of the system and observer are mismatched. In addition, we apply the proposed method to the state estimation problem of the attitude and heading reference system (AHRS). To do this, we derive a Takagi-Sugeno fuzzy model for the AHRS system, and validate the proposed method through the hardware experiment.

• Journal of Biosystems Engineering
• /
• 제25권1호
• /
• pp.55-62
• /
• 2000

Autonomous farm operation needs to be developed for safety, labor shortage problem, health etc. In this research, an autonomous tractor for tillage was investigated using machine vision and a fuzzy logic controller(FLC). Tractor heading and offset were determined by image processing and a geomagnetic sensor. The FLC took the tractor heading and offset as inputs and generated the steering angle for tractor guidance as output. A color CCD camera was used fro the image processing . The heading and offset were obtained using Hough transform of the G-value color images. 15 fuzzy rules were used for inferencing the tractor steering angle. The tractor was tested in the file and it was proved that the tillage operation could be done autonomously within 20 cm deviation with the machine vision and the FLC.

• 한국군사과학기술학회지
• /
• 제11권4호
• /
• pp.29-35
• /
• 2008

In this paper, a new guidance law to reduce sensitivity to the initial heading errors is proposed. In order for shaping the input weights over the flight, we introduce the distribution functions expressed in terms of time-to-go and its inverse term. By applying the optimal control theory with the synthesized weights, the homing guidance law is derived. Also the characteristics of the proposed law are examined. Various computer simulations show the good performance of the proposed guidance.

• Journal of Crop Science and Biotechnology
• /
• 제10권4호
• /
• pp.243-248
• /
• 2007

Rice is a facultative short-day plant that flowers in response to reduced day lengths. This study was conducted to identify quantitative trait loci(QTL) for the early heading date(EHD) using H143 line showing extreme EHD compared to other regular cultivars in rice. The japonica H143 was crossed with a japonica cultivar 'Dongjinbyeo' as well as a tongil cultivar 'Milyang23' to measure the inheritance mode of EHD and identify major QTL conferring EHD, respectively. Pooling test revealed that segregation distortion occurred on chromosome 7 and subsequent linkage map was constructed using 10 SSR markers. QTL analysis using Q-gene 3.06 revealed that the EHD trait in H143 was largely controlled by two major QTL, EH7-1 and EH7-2, accounting for more than 40% of genetic variation that were closely related to the previously reported QTL, Hd4 and Hd2, respectively. This result suggests that these two QTL markers may be a useful source for the control of heading date in rice breeding programs.