• Journal of the Society of Naval Architects of Korea
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• v.54 no.2
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• pp.102-112
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• 2017

Many studies on dynamic positioning control algorithms using fixed feedback gains have been carried out to improve station keeping performance of dynamically positioned vessels. However, the control algorithms have disadvantages in that it can not cope with changes in environmental disturbances and response characteristics of vessels motion in real time. In this paper, the Fuzzy Gain Scheduling - PID(FGS - PID) control algorithm that can tune PID gains in real time was proposed. The FGS - PID controller that consists of fuzzy system and a PID controller uses weighted values of PID gains from fuzzy system and fixed PID gains from Ziegler - Nichols method to tune final PID gains in real time. Firstly, FGS - PID controller, control allocation algorithm, FPSO and environmental disturbances were modeled using Matlab/Simulink to evaluate station keeping performance of the proposed control algorithm. In addition, simulations that keep positions and a heading angle of vessel with wind, wave, current disturbances were carried out. From simulation results, the FGS - PID controller was confirmed to have better performances of keeping positions and a heading angle and consuming power than those of the PID controller. As a consequence, the proposed FGS - PID controller in this paper was validated to have more effectiveness to keep position and heading angle than that of PID controller.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.41 no.10
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• pp.1247-1255
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• 2016

The safety and autonomous flight function of micro UAV or drones is crucial to its commercial application. The requirement of own building stable drones is still a non-trivial obstacle for researchers that want to focus on the intelligence function, such vision and navigation algorithm. The paper present a GCS using commercial drone and hardware platforms, and open source software. The system follows modular architecture and now composed of the communication, UI, image processing. Especially, lane-keeping algorithm. are designed and verified through testing at a sports stadium. The designed lane-keeping algorithm estimates drone position and heading in the lane using Hough transform for line detection, RANSAC-vanishing point algorithm for selecting the desired lines, and tracking algorithm for stability of lines. The flight of drone is controlled by 'forward', 'stop', 'clock-rotate', and 'counter-clock rotate' commands. The present implemented system can fly straight and mild curve lane at 2-3 m/s.

• The KIPS Transactions:PartA
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• v.9A no.4
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• pp.413-420
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• 2002

It it essential to get the exact location information of products for a warehouse management. It is very hard, however, to know the location of products which change their location in warehouse frequently This causes the effective warehouse management to be almost impossible. In this paper, we suggest a new location management system for such a SKU(Stock Keeping Unit) with high mobility. The system is composed of RFID (Radio Frequency IDentification), a management terminal with wireless LAN, mobile devices (Cellular Phone & PDA), and a central management system. As a model of a SKU with high mobility, we selected a used-car stored in a large-scale warehouse. We designed and implanted used-car location management system. After analyzing the operations of each position in used-car warehouse where the system will run, we implemented each function. This research shows that an embedded system with wireless LAN is able to know the status of coming in and cut and location of a SKU with high mobility in warehouse very accurately in real time. Therefore, it makes the warehouse to be controlled systematically.

• Journal of Auto-vehicle Safety Association
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• v.10 no.4
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• pp.33-39
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• 2018

Recently, the automobile industry has developed ADAS (Advanced Driver Assistance System) to prevent traffic accidents and reduce driver's driving burden. Among the ADAS, the LKAS (Lane Keeping Assistance System) is a support system for the convenience and safety of the driver, and the main function is to maintain the driving lane of the vehicle. LKAS is a system that uses radar sensor and camera sensor to collect information about the position of the vehicle in the lane and to support keeping the lane through control if necessary. In many countries, LKAS has already been commercialized and the convenience and safety of drivers have been improved. The international LKAS evaluation test procedure is being developed and discussed by standardization committees such as the ISO (International Organization for Standardization) and the Euro NCAP (New Car Assessment Program). In Korean, the LKAS test method is specified in the KNCAP (Korean New Car Assessment Program), but the evaluation method is not defined. Therefore, the LKAS test procedure that meets international standards and is suitable for domestic road environment is necessary. In this paper, development of LKAS test evaluation scenarios that meets international standards and considering domestic road environment, and the formula that can evaluate the result value after control as the relative distance of lane and the front wheel are suggested. And a comparative analysis was conducted to verify the validity of the suggested scenario and formula. The test evaluation was conducted using the vehicle equipped with the LKAS.

• Journal of Korean Clinical Nursing Research
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• v.15 no.1
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• pp.19-28
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• 2009

Purpose: The purpose of this study was to examine the effect of position change on discomfort and bleeding in patients undergone coronary angiography with a vascular device and required bed-rest. Method: This study utilized nonequivalent control group non-synchronized design. Data were collected from 118 inpatients after coronary angiography and stayed in general ward at Y hospital in Seoul, from June 5 to August 12, 2008. After coronary angiography, position change was performed to the experimental group who consisted of 59 patients. They stayed in supine position just after angiography and then head-up position with 15 degrees was applied 1 hour later. After that, they could change the position alternatively into lateral position with leg down and supine position. The control group was positioned keeping the affected leg immobile with supine position for 4 hours. Results: The experimental group reported significantly more comfortable than control group after position change. There were no significant differences in the grades of bleeding or hematoma at puncture site between the two groups. Conclusion: The position change in patients undergone angiography could be applied without any harm such as bleeding or hematoma, but effective in reducing back pain and subjective patients' discomforts.

• Journal of Korean Physical Therapy Science
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• v.25 no.1
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• pp.1-10
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• 2018

Background: The purpose of this study was to ascertain the effects of core program exercise on balance in patients with chronic low back pain. Thirty-four subjects participated in this study, these subjects were assigned into two groups, a control group(n=17) and an experimental group(n=17). Methods: The subjects in the control group were received a conservative physical therapy and in the experimental group carried out the core program exercise for 30 minutes per day, three times a week during 6 weeks. In order to evaluate the progresses of balance ability, corresponding variables were measured at two times, pre and 6th week. The balance ability was assessed using GOOD BALANCE system. The collected data were analyzed by using the paired t-test and ANCOVA. In all statistical analyses, significance level, ${\alpha}$ was set by 0.05. Results: The results of this study were as follows: 1) In the position of left standing eye closed, there were significant difference of Y in the control group and X, Y, V in the experimental group. 2) In the position of right standing eye closed, there were significant difference of Y in the control group and X, Y, V in the experimental group. 3) In the position of dynamic balance 1, there were significant difference APV in experimental groups. 4) In the position of dynamic balance 2, there were significant difference MLV in experimental groups. 5) There were significances between the two group of X, V in static balance and APV in dynamic balance. Conclusion: The above results indicated that a core program exercise improved balance abilities in patients with chronic low back. The further studies should be focused at development of various modified forms of the core program exercise in keeping up the improvement effect of this exercise.

• Transactions of the Korean Society of Automotive Engineers
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• v.14 no.6
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• pp.82-88
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• 2006

The study investigated how an adaptive cruise control system induced behavioral adaptation in drivers using a full-scale driving simulator. Forty drivers with different driving styles participated in the study to compare headway-time, vehicle lateral position variation, and head and eye movement when driving with and without the adaptive cruise control system. Results showed that system induced positive behavioral adaptation by drawing consistency in driving speed and headway-time regardless of the driving styles. However, the results also showed that the drivers' reliance on the system induced negative adaptation including reduced lane keeping ability and reduced attention during driving. As a strategy to prevent negative adaptation, the study proposed information service to drivers with the adaptive cruise control system status and driving environment, and investigated effectiveness of the service. Twelve drivers participated in the experiment to compare headway-time, vehicle lateral position variation and subjective ratings when driving with and without the information service. Results showed that the information service assisted the drivers to maintain safer and more comfortable headway-time without impairing drivers' steering ability.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.53 no.3
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• pp.164-172
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• 2004

This paper presents the comparison results of some kinds of control method in circumstance of eccentric load. The plant to be controlled is a computed tomography(CT) driven by a permanent magnet synchronous motor. In a CT system, many units are attached on the rotationally part of a gantry such as x-ray tube, detector, heat exchanger, and data acquisition unit etc. Therefore keeping many components to balance which have different weight is not easy; this is inescapable problem in the all CT systems. To solve this problem against eccentric load, some kinds of control method have been compared and analysed by using protype CT. From the experimental results it is vilified that the CT drive system with model reference control method indicates higher speed regulation ability regardless of variable eccentric weight and uncertain position, and also in the limit condition of constant eccentric weight and fixed position, the compensation method with sinusoidal form is a strong candidate in view of speed ripple reduction.

• Journal of the Society of Naval Architects of Korea
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• v.38 no.2
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• pp.33-43
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• 2001

The design and construction of special purpose vessels such as drillship and shuttle tankers have been increased. These vessels install the DPS(dynamic positioning systems) to maintain the position and heading for long-time operation. This paper deals with the experimental method for model-based DP system and the control theory and filter algorithms. In this experiment, the length of model ship is 4 meters and it has three thrusters to maintain the position. The ability of tracking along the given course and keeping of heading in waves are confirmed. For the calculation of thruster input the PID control theory are adopted and the effects of PID gain were investigated. To estimate the low frequency motions Kalman filter and digital filter were used and their effects were investigated.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2003.10a
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• pp.232-236
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• 2003

The anchor is laid on seabed and the main engine is worked to against incident environmental loads in typoon. As the main engine is broken down in the storm, the anchor chain is cutted and the vessel is drifted. Although a ship is moored by two point mooring lines to keep the her position, a ship is crashed into a rock because of typoon and the accident of oil spilling may be occured. In this paper, we studied the position-keeping of a ship which is analyized based on the slow motion maneuvering equations considering wave, current and wind. The direct integration method is employed to estimate wave loads. The current forces are calculated by using mathematical of MMG. The two point mooring forces are quasisatatically evaluated by using the catenary equation. The coefficeints of wind forces are modeled from Isherwood’s emperical data and the variation of wind speed is estimated by wind spectrum. The nonlinear motions of a two point moored ship are simulated considering wave, current, wind load in time domain.