• 한국항해항만학회지
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• 제42권2호
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• pp.87-96
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• 2018

A trajectory control system plays an important role in controlling motions of marine vehicle when a series of way points or a path is given. In this paper, a sliding mode control (SMC)-based trajectory tracking controller for marine vehicles is presented. A small-sized unmanned ship is considered as a control object. Both speed and heading angle of a ship should be controlled for tracking control. The common point of related researches was to separate ship's speed and heading angle in control methods. In this research, a new control law from a general sliding mode theory that can be applied to MIMO (multi input multi output) system is derived and both speed and heading angle of a ship can be controlled simultaneously. The propulsion force and rudder force are also applied in modeling stage to achieve accurate simulation. Disturbance induced by wind is also tackled in the dynamics considering robustness of the proposed control scheme. In the simulation, we employed a way-point method to generate ship's trajectory and applied the proposed control scheme to ship's trajectory tracking control. Our results confirmed that the tracking error was converged to zero, thus demonstrating the effectiveness of the proposed method.

• Smart Structures and Systems
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• 제22권1호
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• pp.81-94
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• 2018

Automatic Generation Control (AGC) has functionally controlled the interchange power flow in order to suppress the dynamic oscillations of frequency and tie-line power deviations as a perturbation occurs in the interconnected multi-area power system. Furthermore, Flexible AC Transmission Systems (FACTS) can effectively assist AGC to more enhance the dynamic stability of power system. So, Static Synchronous Series Compensator (SSSC), one of the well-known FACTS devices, is here applied to accurately control and regulate the load frequency of multi-area multi-source interconnected power system. The research and efforts made in this regard have caused to introduce the Fractional Order Proportional Integral Derivative (FOPID) based SSSC, to alleviate both the most significant issues in multi-area interconnected power systems i.e., frequency and tie-line power deviations. Due to multi-objective nature of aforementioned problem, suppression of the frequency and tie-line power deviations is formularized in the form of a multi-object problem. Considering the high performance of Multi Objective Bees Algorithm (MOBA) in solution of the non-linear objectives, it has been utilized to appropriately unravel the optimization problem. To verify and validate the dynamic performance of self-defined FOPID-SSSC, it has been thoroughly evaluated in three different multi-area interconnected power systems. Meanwhile, the dynamic performance of FOPID-SSSC has been accurately compared with a conventional controller based SSSC while the power systems are affected by different Step Load Perturbations (SLPs). Eventually, the simulation results of all three power systems have transparently demonstrated the dynamic performance of FOPID-SSSC to significantly suppress the frequency and tie-line power deviations as compared to conventional controller based SSSC.

• 디지털융복합연구
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• 제13권7호
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• pp.341-347
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• 2015

애플사의 아이폰 탄생과 함께한 스마트폰의 발전 속도는 매우 짧은 주기로 새로운 기술과 개념을 쏟아내고 있다. 이러한 기술의 발전 속도는 '무어의 법칙'과 같이 점점 빨라지고 있으며, 스마트폰 역시 인간생활의 많은 부분을 빠르게 변화 시키고 있다. 특히 스마트폰을 이용한 오브젝트 제어 기술은 로봇, 홈오토매이션, 스마트오브젝트 등 많은 분야에서 활용되고 있다. 하지만, 현재 스마트폰의 오브젝트 제어 기술에는 다중제어의 한계성을 가지고 있다. 본 연구는 스마트폰을 이용한 다중오브젝트 제어를 위해 블루투스모듈과 지그비모듈의 혼합 이용을 제안하며 그것을 위해 필요한 어플리케이션의 디자인 요소와 지그비 통신을 위한 방법을 제시한다. 이를 통해 현재 스마트폰에 내장된 무선통신기술중 하나인 블루트스모듈을 이용해 다중 오브젝트제어를 가능하게 한다. 이는 스마트오브젝트 시대에 스마트폰을 활용할 수 있는 새로운 방법의 제안으로 디자인 영역확장의 시도라 할 수 있을 것이다.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 2002년도 추계학술대회 논문집
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• pp.219-224
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• 2002

This paper aims to derive a mathematical model of the dynamics of handling tasks in robot finger which stable grasping and manipulates a rigid object with some dexterity. Firstly, a set of differential equation describing dynamics of the manipulators and object together with geometric constraint of tight area-contacts is formulated by Lagrange's equation. Secondly, problems of controlling both the internal force and the rotation angle of the grasped object under the constraints of area-contacts of tight area-contacts are discussed. The effect of geometric constraints of area-contacts on motion of the overall system is analyzed and a method of computer simulation for overall system of differential-algebraic equations is presented. Thirdly, simulation results are shown and the effects of geometric constraints of area-contact is discussed. Finally, it is shown that even in the simplest case of dual single D.O.F manipulators there exists a sensory feedback from sensing data of the rotational angle of the object to command inputs to joint actuators and this feedback connection from sensing to action eventually realizes secure grasping of the object, provided that the object is of rectangular shape and motion is confined to a horizontal plane.

• International Journal of Control, Automation, and Systems
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• 제2권4호
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• pp.509-515
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• 2004

In this paper we present the linear combination of a fuzzy opening and closing filter with locally adaptive structuring elements that can preserve the geometrical features of an image. Based on the adaptation algorithm of linear combination of the fuzzy opening and closing filter, the optimal structuring element for image representation is obtained. The optimal structuring element is an indicator of the shape and direction of an object's image, which is useful in filtering, multi resolution, segmentation, and recognition of an image.

• 한국철도학회:학술대회논문집
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• 한국철도학회 1998년도 추계학술대회 논문집
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• pp.202-209
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• 1998

This paper presents a modelling of railway facilities and signalling system based on object-oriented software development technique to simulate multi-train movements on the complex railway network. Block and interlocking functions of signalling system is modelled using Node-Link model of railway network and signal control logic, which can be used to set the train routes and control the train movement. A brief explanation of class design about these model is provided.

• International Journal of Control, Automation, and Systems
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• 제4권2호
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• pp.165-171
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• 2006

This paper proposes a data fusion algorithm of nonlinear multi sensor dynamic systems of synchronous sampling based on filtering step by step. Firstly, the object state variable at the next time index can be predicted by the previous global information with the systems, then the predicted estimation can be updated in turn by use of the extended Kalman filter when all of the observations aiming at the target state variable arrive. Finally a fusion estimation of the object state variable is obtained based on the system global information. Synchronously, we formulate the new algorithm and compare its performances with those of the traditional nonlinear centralized and distributed data fusion algorithms by the indexes that include the computational complexity, data communicational burden, time delay and estimation accuracy, etc.. These compared results indicate that the performance from the new algorithm is superior to the performances from the two traditional nonlinear data fusion algorithms.

• 한국실천공학교육학회논문지
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• 제5권1호
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• pp.40-44
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• 2013

본 연구에서는 학습자가 가상공간 내에서 교육 컨텐츠를 자연스럽게 조작할 수 있는 멀티모달 인터페이스 제어모듈을 제시한다. 제안하는 모듈은 사용자가 가상공간과 인터랙션을 할 때 사용자의 모션을 인식하고 인식된 정보를 무선통신을 통하여 가상공간으로 전달한다. 제안하는 입력장치는 햅틱 액츄에이터를 탑재하고 있어 교육 컨텐츠와 사용자의 인터랙션에 따른 햅틱 감각을 생성하여 사용자가 교육용 컨텐츠들을 쉽게 조작할 수 있게 해 준다.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 1994년도 봄 학술발표회 논문집
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• pp.25-32
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• 1994

The pre-processor for finite to element structural analysis considering the user-friendly device is developed by using GUI. This can be used on WINDOWS' environment which is realized the multi-tasking and the concurrency by object-oriented paradigm. Data input can be done easily through menu, dialog box, automatic stepwise input and concurrent representation with the structural geometry on multiple windows. It in designed to control integratedly the pre-processing, execution and the post-processing of the finite element structural analysis program on multiple windows, and input data can be seen with result outputs at the same time. In addition, the object-oriented programming environment makes convenient revision and addition of the program components for expanding the scope of analysis and making better user environment.

• 한국정보통신학회논문지
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• 제8권7호
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• pp.1480-1487
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• 2004

본 연구에서는 원격 카메라 로봇 제어를 위한 새로운 제스처 인식 방법을 제안하였다. 제스처 인식의 전처리 단계인 동적 제스처의 세그먼테이션이며, 이를 위한 기존의 방법은 인식 대상에 대한 많은 칼라정보를 필요로 하고, 인식단계에서는 각각 제스처에 대한 많은 특징벡터들을 요구하는 단점이 있다. 이러한 단점을 개선하기 위해, 본 연구에서는 동적 제스처의 세그먼테이션을 위한 새로운 Max-Min 탐색법과 제스처 특징 추출을 위한 평균 공간 사상법과 무게중심법, 그리고 인식을 위한 다층 퍼셉트론 신경망의 구조 둥을 제안하였다 실험에서 제안된 기법의 인식율이 90%이상으로 나타났으며, 이 결과는 원격 로봇 제어를 위한 휴먼컴퓨터 인터페이스(HCI : Human Compute. Interface)장치로 사용 가능함을 보였다.