• Journal of the Society of Naval Architects of Korea
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• v.60 no.3
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• pp.165-174
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• 2023

Unmanned Surface Vehicle (USV)'s berthing and unberthing is the most difficult maneuvering tasks and have the highest risk of accidents. In this paper, we designed a berthing/unberthing control algorithm given human joystick command for an USV equipped with a waterjet and a bow thruster. The berthing and unberthing maneuvers are performed remotely by a joystick operator at the Ground Control Center (GCC) where the status of USV and environmental situation can be monitored. We interpret the human joystick commands into USV's desired speed, yaw rate, and heading angle commands. next, we developed a control algorithm for the desired target values of MIMO actuators (engine speed, bucket step, nozzle angle, and bow thruster state) to follow the interpreted commands. The validity of the control algorithm is confirmed through simulations and sea trials at Gwang Am port.

• Journal of KIISE:Databases
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• v.35 no.6
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• pp.459-468
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• 2008

A data stream which is a massive unbounded sequence of data elements continuously generated at a rapid rate. Many recent research activities for emerging applications often need to deal with the data stream. Such applications can be web click monitoring, sensor data processing, network traffic analysis. telephone records and multi-media data. For this. data processing over a data stream are not performed on the stored data but performed the newly updated data with pre-registered queries, and then return a result immediately or periodically. Recently, many studies are focused on dealing with a data stream more than a stored data set. Especially. there are many researches to optimize continuous queries in order to perform them efficiently. This paper proposes a query optimization algorithm to manage continuous query which has multiple join operators(Multi-way join) over data streams. It is called by an Extended Greedy query optimization based on a greedy algorithm. It defines a join cost by a required operation to compute a join and an operation to process a result and then stores all information for computing join cost and join cost in the statistics catalog. To overcome a weak point of greedy algorithm which has poor performance, the algorithm selects the set of operators with a small lay, instead of operator with the smallest cost. The set is influenced the accuracy and execution time of the algorithm and can be controlled adaptively by two user-defined values. Experiment results illustrate the performance of the EGA algorithm in various stream environments.

• International Journal of Control, Automation, and Systems
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• v.6 no.5
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• pp.639-650
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• 2008

Electricity price forecasting has become an integral part of power system operation and control. In this paper, a wavelet transform (WT) based neural network (NN) model to forecast price profile in a deregulated electricity market has been presented. The historical price data has been decomposed into wavelet domain constitutive sub series using WT and then combined with the other time domain variables to form the set of input variables for the proposed forecasting model. The behavior of the wavelet domain constitutive series has been studied based on statistical analysis. It has been observed that forecasting accuracy can be improved by the use of WT in a forecasting model. Multi-scale analysis from one to seven levels of decomposition has been performed and the empirical evidence suggests that accuracy improvement is highest at third level of decomposition. Forecasting performance of the proposed model has been compared with (i) a heuristic technique, (ii) a simulation model used by Ontario's Independent Electricity System Operator (IESO), (iii) a Multiple Linear Regression (MLR) model, (iv) NN model, (v) Auto Regressive Integrated Moving Average (ARIMA) model, (vi) Dynamic Regression (DR) model, and (vii) Transfer Function (TF) model. Forecasting results show that the performance of the proposed WT based NN model is satisfactory and it can be used by the participants to respond properly as it predicts price before closing of window for submission of initial bids.

• Journal of Electrical Engineering and Technology
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• v.12 no.1
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• pp.363-372
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• 2017

This paper presents a novel face recognition algorithm based on the deep convolution neural network and key point detection jointed local binary pattern methodology to enhance the accuracy of face recognition. We firstly propose the modified face key feature point location detection method to enhance the traditional localization algorithm to better pre-process the original face images. We put forward the grey information and the color information with combination of a composite model of local information. Then, we optimize the multi-layer network structure deep learning algorithm using the Fisher criterion as reference to adjust the network structure more accurately. Furthermore, we modify the local binary pattern texture description operator and combine it with the neural network to overcome drawbacks that deep neural network could not learn to face image and the local characteristics. Simulation results demonstrate that the proposed algorithm obtains stronger robustness and feasibility compared with the other state-of-the-art algorithms. The proposed algorithm also provides the novel paradigm for the application of deep learning in the field of face recognition which sets the milestone for further research.

• Journal of Applied Tourism Food and Beverage Management and Research
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• v.9
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• pp.213-242
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• 1998

Even in the best of economic environments, restaurants menu pricing is a serious concern to those in the food service industry. During times of rapid inflation, closer government regulation of compensation practices, and limited gains in worker productivity, the decisions regarding the proper charge for menu items become increasingly important. In addition to many operational and managerial factors, an important ingredient in the food service enterprise's success is its ability to meet the market by providing the value expected. The contribution-margin approach to pricing described above is familiar to cost accountants, who will also recognize that it admits of much elaboration before it can become a tool for day-to-day decisions. But the system probably has the greatest promise for multi-unit companies, where the cost benefit ratio of additional refinements improves in proportion to the number of operations. For example, the analysis required to specify the demand function better becomes less expensive if the findings can be applied to the pricing structure of numerous units. In any of its many adaptations, the essence of the integrated menu pricing system remains its ability to bring together the relevant revenues and costs with the operator's sense of the market and competitive environment to suggest prices that maximize profits.

• Proceedings of the KSRS Conference
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• 2004.10a
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• pp.452-455
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• 2004

MSC (Multi-Spectral Camera) system is a remote sensing instrument to obtain high resolution ground image. EOS (Electro-Optic System) for MSC mainly consists of PMA (Primary Mirror Assembly), SMA (Secondary Mirror Assembly), HSTS (High Stability Telescope Structure) and DFPA (Detector Focal Plane Assembly). High performance of EOS makes it possible for MSC system to provide high resolution and high quality ground images. Temperature of the EOS needs to be controlled to be in a specific range in order not to have any thermal distortion which can cause performance degradation. It is controlled by full redundant CPU based electronics. The validity of thermistor readings can be checked because a few thermistors are installed on each control point on EOS. Various kinds of thermal control logics are used to prevent 'Single Point Failure'. Control logic has a few set of database in order not to be corrupted by SEU (Single Event Upset). Even though the thermal control logic is working automatically, it can also be monitored and controlled by ground-station operator. In this paper, various ways of thermal control logic for EOS in MSC will be presented, which include thermal control mode and logic, redundancy design and status monitoring and reporting scheme.

• 제어로봇시스템학회:학술대회논문집
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• 1988.10a
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• pp.353-359
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• 1988

In this paper, the design and implementation of a multi-processor based die bonder machine for the semiconductor will be described. This is a final research results carried out for two years from June, 1986 to July, 1988. The mechanical system consists of three subsystems such as bonding head module, wafer feeding module, and lead frame feeding module. The overall control system consists of the following three subsystems each of which employs a 16 bit microprocessor MC 68000 : (i) supervisory control system, (ii) visual recognition / inspection system and (iii) the display system. Specifically, the supervisory control system supervises the whole sequence of die bonder machine, performs a self-diagnostics while it controls the bonding head module according to the prespecified bonding cycle. The vision system recognizes the die to inspect the die quality and deviation / orientation of a die with respect to a reference position, while it controls the wafer feeding module. Finally, the display system performs a character display, image display ans various error messages to communicate with operator. Lead frame feeding module is controlled by this subsystem. It is reported that the proposed control system were applied to an engineering sample and tested in real-time, and the results are sucessful as an engineering sample phase.

• Journal of Advanced Marine Engineering and Technology
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• v.28 no.4
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• pp.667-674
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• 2004

This thesis is about the Impressed Current Cathodic Protection (ICCP) control and monitoring system. which brings protection against the corrosion of the ship's hull in the sea environments. The ICCP system is composed of a power supply. anode. reference electrode and controller. AC sources from the ship's generator are converted to DC sources in terms of power supply, and a protection current is sent to ship's hull though anode. The controller fully senses whether or not the detected potential is within a range of protection of ship's hull and then it is automatically controlled to increase or decrease the amount of protective current to be sent to the anode. The monitoring system with RS 232/485 communication is also studied in order to check the normal state of the system at a long period. because an operator does not always watch over this system and thus the system cannot operate well because of his or her negligent management. Since the vessel always navigates in the sea. an characteristics experiment of the ICCP system is conducted by introducing various corrosive environmental factors such as velocity, resistivity, dissolved oxygen, PH, temperature and contamination degree. These results must be referred to when the ICCP system is set up. In short. the ICCP is a multi-system for use on ships and on land structures because it includes a safety device. It is suggested that this system can accomodate a ship's automation and will be very useful.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.31 no.3 s.258
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• pp.285-294
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• 2007

Previously, ASCI(Automation System for Curtain-wall Installation) which combined with a multi-DOF manipulator to a mini-excavator was developed and applied on construction site. As result, the operation by one operator and more intuitive operation method are proposed to improve ASCI's operation method which need one person with a remote joystick and another operating an excavator. The human-robot cooperative system can cope with various and untypical constructing environment through the real-time interacting with a human, robot and constructing environment simultaneously. The physical power of a robot system helps a human to handle heavy construction materials with relatively scaled-down load. Also, a human can feel and response the force reflected from robot end effecter acting with working environment. This paper presents the feasibility study regarding the application of the proposed human-robot cooperation control for construction robot through experiments on a 2DOF manipulator.

• Journal of Navigation and Port Research
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• v.33 no.10
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• pp.665-669
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• 2009

When maneuvering a ship in a narrow channel or under bridge, the ship operator may take actions of slowdown engine and altering course in order to avoid possible navigational dangers, which may reduce difficulties on navigation or collsion avoidance against other ship and/or bridge. In this paper, taking notice of the stress caused by these actions of slowdown engine and altering course, survey is carried out for whether it is possible to quantify the stress by time delay as an index. Based on the ship handling simulator experiment, it is verified that difficulty of navigation changes is highly correlated with the time delay, which result from compensation actions of slowdown engine and altering course.