• Journal of the Society of Naval Architects of Korea
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• v.40 no.1
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• pp.8-19
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• 2003

Special purpose vessels such as drillship and ocean research vessels install the DPS(Dynamic Positioning System) to maintain the position and heading for long-time operation. This paper deals with the design parameters for the control theory and filter algorithms of DP system. for the environmental loadings wind forces, current forces and wave forces were considered. In order to estimate the low frequency motions without first-order wave motion, the Kalman filter was used and it was assumed that the first-order wave forces correspond to system noises and first-order wave motions are measurement noises. In this simulation, the length of research vessel is 65 meters and it has four thrusters to maintain the position. The ability of keeping position and heading was confirmed. For the calculation of thruster input the LQR and LOI control theory were adopted and the effects of gain were investigated.

• Proceedings of the Korean Society for Agricultural Machinery Conference
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• 2000.11b
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• pp.325-332
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• 2000

The objective of this research work is to develop an autonomous levee-weeding robot. In this paper, pathway control system for the robot is developed and simulated. A prototype autonomous vehicle for levee weeding is also developed and used in the actual test. The results obtained in this research work is summarized as follows; 1) The simulated typical time history of lateral displacements and heading angle of the vehicle in straight run shows that the vehicle tendency is always to achieve the target path from any of its deviated position and heading angle. 2) The test run on an asphalt surface by the prototype crawler-type vehicle is in good agreement with the simulation results.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.175-175
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• 2000

In this Paper we propose a navigation algorithm which can be used to estimate state vectors such as position and velocity for its motion control using multi-sensor output measurements. The output measurement we will use in estimating the state is a series of known multi-sensor asynchronous outputs with measurement noise. This paper investigates the Extended Kalman Filtering method to merge asynchronous heading, heading rate, velocity of DVL, and SSBL information to produce a single state vector. Different complexity of Kalman Filter, with biases and measurement noise, are investigated with theoretically data from KRISO's AUV. All levels of complexity of the Kalman Filters are shown to be much more close and smooth to real trajectories then the basic underwater acoustic navigation system comment)'used aboard underwater vehicle.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.2
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• pp.118-124
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• 2008

Recently fishing industry is interested in efficiency and automation to acquire the international competitive power of national fishing industry. As an automation device of fishing boat, there are electric compasses using GPS and terrestrial magnetic sensor. Electric compass can be minimum size, high effectiveness with keeping the characteristic of a magnetic compass. This can be used a heading angle sensor to construct auto-navigation system in a small size ship. This paper develop electronic compass system that has serial output signal in NMEA 0183 and demonstrates the possibility of the electronics compass in navigation system for a small sized ship.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.361-366
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• 1991

A ground and airborne control system for remotely piloted vehicle (RPV) is described. 1) Ground control system 2) airborne control system 3) the method of measuring aircraft attitude and heading 4) autopilot 5) the method of treating emergency status 6) the method of transmitting and receiving communication data 7) the method of displaying aircraft status 8) the characteristics of the aircraft control system are discussed in some detail.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.463-467
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• 2005

In this paper, the guidance law applicable to formation flight of UAV in three-dimensional space is proposed. The concept of miss distance, which is commonly used in the missile guidance laws, and Lyapunov stability theorem are effectively combined to obtain the guidance commands of the wingmen. The propose guidance law is easily integrated into the existing flight control system because the guidance commands are given in terms of velocity, flight path angle and heading angle to form the prescribed formation. In this guidance law, communication is required between the leader and the wingmen to achieve autonomous formation. The wingmen are only required the current position and velocity information of the leader vehicle. The performance of the proposed guidance law is evaluated using the complete nonlinear 6-DOF aircraft system. This system is integrated with nonlinear aerodynamic and engine characteristics, actuator servo limitations for control surfaces, various stability and control augmentation system, and autopilots. From the nonlinear simulation results, the new guidance law for formation flight shows that the vehicles involved in formation flight are perfectly formed the prescribed formation satisfying the several constraints such as final velocity, flight path angle, and heading angle.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.62 no.6
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• pp.852-862
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• 2013

This paper proposes a target tracking control method for wheeled mobile robots with nonholonomic constraints by using a backstepping-like feedback linearization. For the target tracking, we apply a vision system to mobile robots to obtain the relative posture information between the mobile robot and the target. The robots do not use the sensors to obtain the velocity information in this paper and therefore assumed the unknown velocities of both mobile robot and target. Instead, the proposed method uses only the maximum velocity information of the mobile robot and target. First, the pseudo command for the forward linear velocity and the heading direction angle are designed based on the kinematics by using the obtained image information. Then, the actual control inputs are designed to make the actual forward linear velocity and the heading direction angle follow the pseudo commands. Through simulations and experiments for the mobile robot we have confirmed that the proposed control method is able to track target even when the velocity sensors are not used at all.

• Journal of The Korean Society of Grassland and Forage Science
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• v.18 no.3
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• pp.259-266
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• 1998

A field experiment was carried out to determine the effects of mechanical and chemical drying agents at mowing on the field drying rate and hay quality of orchardgrass dominant pasture plants. The mower conditioner /chemical drying agent ($K_2CO_3$ 2% conditioning, $K_2CO_3$ 2% + conditioning and control) were treated at different harvest stages (late boot, heading and bloom stage) for hastening hay manufacture in 1996. After field dry, four square bales were made by hay baler, and the visual estimation and nutritive value of hay were evaluated after storing two months. The field drying rate of pasture plants was higher with delayed stage of harvest, and mechanical and mechanical + chemical, but chemical alone was very low. In mower conditioning, the duration of field dry was shortened by 0.5 to 1 day compared with $K_2CO_3$ and 1.5 to 2 days compared with control. The dry matter loss of hay was reduced by late harvest and mechanical, and mechanical + chemical, but the score by chemical alone was very low. The visual score (leafiness, green color, odor and softness) of hay after storage was high in mechanical and mechanical + chemical, but the score by chemical alone was very low. Nutritive value (ADF, NDF, digestibility, and relative feed value) of hay was also high with treatment of mechanical and mechanical + chemical, but the quality by chemical alone was similar compared with control. The quality of hay was very low when harvested at bloom stage. In conclusion, mower conditioning can enhance the field drying rate of orchardgrass dominant pasture plants, however the drying efficiency of chemical drying agent was very low. Harvesting at early heading to heading stage was recommened for manufacture of high quality hay.

• Korean Journal of Weed Science
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• v.12 no.1
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• pp.31-38
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• 1992

This study was conducted to investigate the effect of plant growth retardants on the growth and characters related with lodging in rice. The results are summarized as follows. Plant height which is closely related to lodging was significantly inhibited by the application of inabenfide, paclobutrazol, and uniconazole. Among the tested application times, inabenfide, paclobutrazol, and uniconazole were the most effective in inhibiting plant height at 30, 20, 20 days before heading respectively. Inabenfide was markedly effective in reducing the lower (4th) internode length, whereas paclobutrazol and uniconazole were more effective in reducing the upper (3rd and 2nd) internode length. Internode wall of rice plant treated with chemicals was tended to be thickened as compared with control. Heading date was not influenced by inabenfide, but paclobutrazol and uniconazole were inhibited 1 or 2 days in heading date as compared with control. Lodging index was the most reduced when inabenfide was applied 30 days before heading with 160g ai whereas paclobutrazol and uniconazole were applied 15 days before heading with 12, 1.2g ai per 10a, respectively. All the treatments inhibited the lodging of rice but control was completely lodged. Yield treated with these chemicals was prevented by 10-12% of yield decrease occurred by lodging. As a conclusion, inabenfide with 120 or 160g ai at 40 or 30 days before heading, paclobutrazol with 12g ai at 15 days before heading, arid uniconazole with 1.2g ai at 15 days before heading appear to be the most practical application time and rate for preventing lodging in paddy rice.

• Journal of the Korean Society of Marine Environment & Safety
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• v.22 no.1
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• pp.129-137
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• 2016

In the present study we verified performance of feed-forward control algorithm using short term prediction of ship motion information by taking advantage of developed numerical simulation model of FPSO motion. Up until now, various studies have been conducted about thrust control and allocation for dynamic positioning systems maintaining positions of ships or marine structures in diverse sea environmental conditions. In the existing studies, however, the dynamic positioning systems consist of only feedback control gains using a motion of vessel derived from environmental loads such as current, wind and wave. This study addresses dynamic positioning systems which have feedforward control gain derived from forecasted value of a motion of vessel occurred by current, wind and wave force. In this study, the future motion of vessel is forecasted via Brown's Exponential Smoothing after calculating the vessel motion via a selected mathematical model, and the control force for maintaining the position and heading angle of a vessel is decided by the feedback controller and the feedforward controller using PID theory and forecasted vessel motion respectively. For the allocation of thrusts, the Lagrange Multiplier Method is exploited. By constructing a simulation code for a dynamic positioning system of FPSO, the performance of feedforward control system which has feedback controller and feedforward controller was assessed. According to the result of this study, in case of using feedforward control system, it shows smaller maximum thrust power than using conventional feedback control system.