• 제어로봇시스템학회논문지
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• 제19권2호
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• pp.164-170
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• 2013

Quadrotor UAV (Unmanned Aerial Vehicle) is a flying robotic platform which has drawn lots of attention in the recent years. The attraction comes from the fact that it is able to perform agile VTOL (Vertical Take-Off Landing) and hovering functions. In addition, the efficient modular structure composed of four electric rotors makes its design easier compared to other single-rotor type helicopters. In many cases, a quadrotor often utilizes vision systems in order to obtain altitude control and navigation solution in hostile environments where GPS receivers are not working or deniable. For carrying out their successful missions, it is essential for flight control systems to have fast and stable control responses of heading angle outputs. This paper presents a Fuzzy Logic based lateral PI controller to stabilize and control the quadrotor vehicle equipped with vision systems. The advantage of using the fuzzy based PI controller lies in the fact that it could acquire a desired output response of a heading angle even in presence of disturbances and uncertainties. The performance comparison of the newly proposed Fuzzy-PI controller and the conventional PI controller was carried out with various simulation results.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2011년도 추계학술대회
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• pp.3-4
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• 2011

본 연구에서는 Manta type UUV의 비선형 수학모델과 유체력 미계수를 소개하고, 자유항주실험용으로 제작된 Manta type UUV의 슬라이딩 모드 제어기 설계를 다루고 있다. 비선형운동에 대해 강인한 제어기를 설계하기 위해서 슬라이딩 모드 제어 기법을 사용하였고, 조류의 영향을 고려한 6자유도 운동 수학모델을 기반으로 하는 심도 및 방위제어기를 설계하였다. 또한, 설계된 심도 및 방위제어기의 성능을 컴퓨터 시뮬레이션으로 확인하였다.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2003년도 춘계학술대회 논문집
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• pp.57-62
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• 2003

This paper describes the design and simulation of a multivariable optimal control system for the combined speed, heading and depth control of a Semi-Autonomous Underwater Vehicle (SAUV) developed in Korea Ocean Research and Development Institute (KRODI). The SAUV is a test-bed for the evaluation of the navigation and manipulator technologies developed for a mine disposal vehicle (MDV) in military use and for a light working underwater vehicle in scientific use. The vehicle was designed to control its cruising speed, heading and depth with 4 horizontal thrusters installed at the rear of the hull. Therefore, the decoupled control methods are limited to apply to the SAUV because the thrust forces are highly coupled with the surging, yawing, and pitching motion of the vehicle. The multivariable Linear Quadratic (LQ) control method is chosen to control steering and diving in variable speed motion automatically. A series of simulation is carried out with fully nonlinear six degree of freedom dynamic model to validate the controller.

• 제어로봇시스템학회논문지
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• 제11권8호
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• pp.726-732
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• 2005

This paper proposes an autolanding guidance and control algorithm with the lateral guidance law. This algorithm is basically formulated and designed in feedback linearization based on singular perturbation. Main features of this algorithm are two facts. One of those is that when a certain situation happens that airplane must realign to the runway suddenly assigned due to unexpected environment change around the landing site, the heading guidance in this algorithm is very valuable, and the other is the fact that the inner loop control of this algorithm is able to be designed directly based on the Handling Quality Requirements that most flight control systems must be satisfied with. To illustrate the potential of this algorithm, 6-DOF nonlinear simulation based on the nonlinear airplane model shown in Ref.[11] is carried out. The simulation results showed that the altitude response to the given landing trajectory is accurate, and the airplane heading alignment to the assigned runway from the lateral deviation is successful. It is noted that this algorithm is also applicable to unmanned aerial vehicle, which can be retrieved in autolanding technique, where the runway far retrieving the vehicle is in any direction for example at war field.

• 한국항해항만학회지
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• 제35권5호
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• pp.359-363
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• 2011

본 연구에서는 만타 형상을 가진 무인잠수정(Manta-type unmanned underwater test vehicle)의 제어 성능 평가를 수행 하였다. 제어 방법으로서 PID제어, Fuzzy 제어가 적용되었으며, 6자유도 운동 수학모델과 Matlab Simulink을 이용하여 조종 운동 시뮬레이션을 수행하였다. 또한, 설계된 제어기로 수심제어 및 방위제어에 적용하여, 조류의 외란 하에서 제어 성능을 평가하였다.

• 수산해양기술연구
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• 제54권2호
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• pp.181-187
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• 2018

In order for the probe to perform ocean exploration and survey research, it is necessary to adjust the position of the ship as desired by dynamic positioning system. The dynamic positioning system of T/S NARA is applied to K-POS dynamic positioning system of Kongsberg, which makes maintaining the ship's position, changing position and heading control possible. T/S NARA is not capable of dynamic positioning if one or more propulsive forces are lost with DP Level One. However, it is predicted that dynamic positioning can be achieved even at the time of missing one thrust in a good sea condition. Therefore, we want to analyze the effect of each propulsion on the performance of dynamic position system. When one of the bow thruster and azimuth thrusters lost their propulsion, maintaining the ship's position, changing position and heading control performance were compared and analyzed. If the situation occurred disable from using the bow thruster, they can not maintain ship's position. Azimuth thruster was influential for the ship's position control and bow thruster was influential in heading control. The excellent dynamic positioning performance can be achieved, considering the propulsion power that will have a impact on each situation in the future.

• Ocean Systems Engineering
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• 제6권3호
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• pp.265-287
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• 2016

The change of the global performance of a turret-moored FPSO (Floating Production Storage Offloading) with DP (Dynamic Positioning) control is simulated, analyzed, and compared for two different internal turret location cases; bow and midship. Both collinear and non-collinear 100-yr GOM (Gulf of Mexico) storm environments and three cases (mooring-only, with DP position control, with DP position+heading control) are considered. The horizontal trajectory, 6DOF (degree of freedom) motions, fairlead mooring and riser tension, and fuel consumptions are compared. The PID (Proportional-Integral-Derivative) controller based on LQR (linear quadratic regulator) theory and the thrust-allocation algorithm which is based on the penalty optimization theory are implemented in the fully-coupled time-domain hull-mooring-riser-DP simulation program. Both in collinear and non-collinear 100-yr WWC (wind-wave-current) environments, the advantage of mid-ship turret is demonstrated by the significant reduction in heave at the turret location due to the minimal coupling with pitch mode, which is beneficial to mooring and riser design. However, in the non-collinear WWC environment, the mid-turret case exhibits unfavorable weathervaning characteristics, which can be reduced by employing DP position and heading controls as demonstrated in the present case studies. The present study also reveals the plausible cause of the failure of mid-turret Gryphon Alpha FPSO in milder environment than its survival condition.

• 농업과학연구
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• 제10권1호
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• pp.84-89
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• 1983

이삭도열병(病) 방제(防除)를 위(爲)한 IBP 17% 입제(粒劑)의 최적살포시기(最適撒布時期) 및 살포량(撒布量)을 구명(究明)하기 위해 실시(實施)한 이 실험(實驗)의 결과(結果)는 아래와 같다. IBP 입제(粒劑)의 최적살포시기(最適撒布時期)는 출수(出穗) 15~20일전(日前)쯤이 가장 효과적(效果的)인 경향이었다. 최적살포량(最適撒布量)은 4kg/10a 수준(水準)이었으나 살포시기(撒布時期)와 살포량(撒布量)이 복합적(複合的)으로 고려되어야 한다. 1회(回)의 IBP 유제살포(乳劑撒布)와 입제살포(粒劑撒布)로 도열병(病)의 완전방제(完全防除)는 불가능(不可能)하기 때문에 출수(出穗) 전후(前後)에 1~2회(回)의 추가약제살포(追加藥劑撒布)가 불가피하다.

• 식물병연구
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• 제9권2호
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• pp.68-71
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• 2003

이삭도열병 발병시기가 빠를수록 벼 수량은 비례하여 감소되는데 조생종인 진미벼의 경우 출수 초기에 발병된 벼는 2년간의 조사결과 83.9%와 81.6%가 각각 감수되었으며, 출수 30일과 42일 후에 발병될 경우에도 44.3%와 33.1%가 감수되었다. 이삭도열병 발생식기가 벼 수량에 미치는 영향을 추정하기 위하여 회귀 분석을 한 결과, 1999년은 y =-1.9729x + 71.878($R^2$ = 0.9764), 2000년은 y = ?1.6421x + 97.212($R^2$ = 0.8569)로 발병시기와 수량감소와는 매우 높은 부의 상관관계가 있었다. 중만생종인 추청벼의 경우에도 2년간의 조사결과 출수 초기에 발병된 벼는 64.9%와 47.8%가 감수되었으며, 출수 40일 후 발병된 경우 29.1%와 8.9%가 감수되었으며, 1999년은 y =-1-.2717x + 79.523($R^2$ = 0.9487), 2000년은 y = ?1.6872x + 74.545($R^2$ = 0.7993)로 발병시기와 수량감소와는 매우 높은 부의 상관관계가 있었다. 천립중 조사결과도 출수초기에 발별된 경우 백수가 많았으며, 건전구 대비 진미벼는 38.3%, 추청벼는 57.3% 정도였으며, 출수 40일 후 발병된 경우 건전구 대비 진미벼는 87.9%, 추청벼는 92.9%로 천립중이 가벼워 벼가 충실하게 성숙되지 않음을 알 수 있었다.

• 한국문헌정보학회지
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• 제46권2호
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• pp.157-174
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• 2012

본 연구는 온톨로지를 기반으로 접근점을 제어하기 위해, 미국 작가 마크 트웨인을 대상으로 인물과 이름간의 다양한 관계와 특질을 RDF/OWL의 공리정의를 통해 인명접근점제어 온톨로지를 기술하였다. 적용된 공리정의는 인물 이름클래스 간 서로 소 공리정의, 객체속성의 정의역 치역 공리 정의, 인물 이름클래스의 객체속성 값 출현횟수 제약 공리정의, 인물과 이름 개체 간 역함수 관계 공리정의, 인스턴스와 리터럴 간 데이터속성 공리정의 등이다. 그 결과 온톨로지 기반에서 전거와 표목의 개념을 배제하고 모든 표현형식을 대등하게 다룬 대등형접근점이 기존의 제어기능을 수용할 수 있음을 확인하였고, 다양한 공리정의로 보다 강화된 표현력으로 공유성과 유일성이 광역적으로 확보된 인명접근점제어 온톨로지를 기술할 수 있었다.