• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.50 no.7
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• pp.479-487
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• 2022

This paper presents the control and guidance algorithm of a KAU-SPUAV(Korea Aerospace University - Solar Powered Unmanned Aerial Vehicle) which is designed and developed in Korea Aerospace University. Aerodynamic coefficients are calculated using the vortex-lattice method and applied to the aircraft's six degrees of freedom equation. In addition, the thrust and torque coefficients of the propeller are calculated using the blade element theory. An altitude controller using thrust was used for longitudinal control of KAU-SPUAV to glide efficiently when it comes across the upwind. Also describes wind estimation technic for considering wind effect during flight. Finally, introduce some guidance laws for endurance, mission and coping with strong headwinds and autonomous landing.

• The Journal of the Acoustical Society of Korea
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• v.40 no.6
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• pp.571-577
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• 2021

This study is a study on System On Chip (SOC) that implements virtual engine sound in electric vehicles without engines, and realizes vivid engine sound by combining Adaptive Difference PCM (ADPCM) method and frequency modulation method for satisfaction of driver's needs and safety of pedestrians. In addition, by proposing an electronic sound synthesis algorithm applying Musical Instrument Didital Interface (MIDI), an engine sound synthesis method and a constitutive model of an engine sound generation system are presented. In order to satisfy both drivers and pedestrians, this study uses Controller Area Network (CAN) communication to receive information such as Revolution Per Minute (RPM), vehicle speed, accelerator pedal depressed amount, torque, etc., transmitted according to the driver's driving habits, and then modulates the frequency according to the appropriate preset parameters We implemented an interaction algorithm that accurately reflects the intention of the system and driver by using interpolation for the system, ADPCM algorithm for reducing the amount of information, and MIDI format information for making engine sound easier.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.21 no.4
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• pp.18-29
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• 2022

Since the operation of an reft-turn actuated signal driven mainly by vehicles may increase the waiting time for walking, this signal causes inconvenience or stress to pedestrians. Therefore, in this study, the change in waiting time for walking before and after the application of an reft-turn actuated signal and the stress on the pedestrians were investigated through a questionnaire. The investigation showed that the waiting time for walking increased by 37% during non-peak time. Also the waiting time for walking of 62.1% of pedestrians became longer and 78% of them were stressed because of it. Meanwhile, simulation(VISSIM) showed that the vehicle travel speed slightly decreased to 1.07km/h(a 2.5% decrease), and the average waiting time for walking decreased by 15.51sec(a 28% decrease) with a pedestrian priority actuated signal. Therefore, it is expected that the pedestrian priority actuated signal can reduce the waiting time for walking and relieve pedestrian stress.

• Journal of Korean Tunnelling and Underground Space Association
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• v.25 no.3
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• pp.245-259
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• 2023

The purpose of this paper is to examine the most recent tunnel scanning systems to obtain insights for the development of non-contact mobile inspection system. Tunnel scanning systems are mostly being developed by adapting two main technologies, namely laser scanning and image scanning systems. Laser scanning system has the advantage of accurately recreating the geometric characteristics of tunnel linings from point cloud. On the other hand, image scanning system employs computer vision to effortlessly identify damage, such as fine cracks and leaks on the tunnel lining surface. The analysis suggests that image scanning system is more suitable for detecting damage on tunnel linings. A camera-based tunnel scanning system under development should include components such as lighting, data storage, power supply, and image-capturing controller synchronized with vehicle speed.

• Journal of the Korean Society for Precision Engineering
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• v.13 no.9
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• pp.114-129
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• 1996

This paper describes the whole development phase for the underwater vehicle actuating system with high hydroload torque disturbance. This includes requirement analysis, system modeling, control algorithm design, real time implementation, test and performance evaluations. As for driving control algorithms, fuzzy logic, variable structure and PD(Proportional-Differential) algorithm were designed and implemented on board controller using a single chip microprocessor. Intel 8797. And test and performance evaluation is carried out both single test and wystem integration test. We could confirm the basic performance of actuating system through the single test and gereral developing work of any actuating systems was finished with a single performance test of actuating system without system integration test. But, we suggested that system integration test be needed. System integration test is carried out using G/C HILS(Guidance and Control Hardware-In-the -Loop Simulation) which is constituted flight motion simulator, load simulator, real time host computer and the related subsystems such as inertial navigation system, power supply system and Guidance and Control Computer etc.. The most important practical contribution of this paper is that full system characteristics such as minimal control effort, enhancement of guidance and autopilot performance by the actuating system using G/C HILS technique are investigated. Through full running G/C HILS, in spite of the passing to single tests, some control algorithm resulted in failure as to stability of full system and system time frame.

• Proceedings of the Korean Society of Computer Information Conference
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• 2020.07a
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• pp.257-258
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• 2020

기존의 드론 조작은 초보자에게 어려웠다. 초보자의 경우 드론을 조종하다가 드론이 추락하거나 장애물에 걸려 프로펠러 등의 부품들이 손상되는 경우를 빈번하게 마주한다. 본 연구에서는 초보자 또한 드론 파손의 걱정 없이 드론의 조작을 더욱 쉽게 개선시키는 것을 전제로 뇌파와 보조입력인 음성인식을 이용한 드론 컨트롤러 기술을 적용하고자 한다. 현재 대중적으로 출시되어 있는 드론의 경우 호버링 기능을 포함시켜 드론의 추락 위험을 줄여주는 기능을 탑재하고 있다. 하지만 속도가 빠른 드론의 조작에 있어 미숙한 초보자들은 장애물과의 충돌 그리고 드론 착륙 시 기체손상 등의 위험에 대비하기 힘들다. 본 논문은 이러한 문제점들을 개선하기 위해 기존의 드론 컨트롤러 대신 특정한 동작을 상상할 때 발현되는 동작상상뇌파와 음성입력을 적용한 '동작상상뇌파와 음성인식을 이용한 드론 컨트롤러' 기술을 제안한다. 기존의 드론 컨트롤러와는 다르게 빅 데이터 처리기술인 머신러닝을 이용하여 뇌파 데이터를 처리하고 그 데이터들과 입력되는 뇌파 값을 비교하여 드론을 제어한다. 또한 뇌파의 발현이 안정적이지 못하는 상황을 대비한 보조입력인 음성인식을 이용하여 드론의 기체손상을 최소화 시킬 수 있다.

• Journal of the Korean Institute of Gas
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• v.18 no.1
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• pp.46-51
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• 2014

The purpose of this paper is to study of the vehicle lamp manufacturing system composing ultrasonic waves connection process. Making lamp assembly plant, it was produced in the separate process as the injection molding, ultrasonic waves bonding, annealing in the constant temperature, lamp assembling and packing. But the improvement method producing the lamp was added with one-step process by one automation technique. As a result, welding with ultrasonic waves process, the method decreased the energy consumption and noise during ultrasonic waves welding. Therefore, this method used the mathematics modeling for checking validity, it selected the stability and suitable controller using transfer function of plant and bode chart. In this study, the $180^{\circ}$ revolution control system to turn injection part upside down was $M_{eq}\;lcos{\theta}(t)$ because of gravity influence. It effected to unstable condition a system. For solving this problem, it aimed the linearization and stabilization of system by elimination $M_{eq}\;lcos{\theta}(t)$ as applying Free-forward control technique.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.12 no.3
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• pp.19-28
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• 2013

This study evaluated the quantitative effects of the deployment of semi-actuated signal systems using field data. For this, a semi-actuted signal system was deployed in the regional roadway network extensively. This paper investigated an operating strategy of semi-actuated signal systems for field application, and implemented the functional strategy into the standard signal controller. The performance was evaluated using three measures of effectiveness such as traffic volume, travel time, and the number of delayed vehicle. From the analysis results, traffic volume increased about 9.4% and 11.3% for morning and evening peak periods, respectively. The average travel time was reduced about 6.3% and 7.8% during morning and evening peak periods, respectively because of the expansion of bandwidths for major streets. In addition, the number of delayed vehicles was reduced about 36.4% and 23.9% for morning and evening peak periods, respectively. It is expected that the effectiveness of signal control system can be improved by incorporating a properly designed semi-actuated signal system in regional roadways with directional demand variation.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.3
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• pp.64-69
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• 2007

Motion control of the system is a position control of motor. Motion control of an uncertain robot system is considered as one of the most important and fundamental research directions in the robotics. Some distinguished works using linear control, adaptive control, robust control strategies based on computed torque methodology have been reported. However, it is generally recognized within the control community that these strategies suffer from the following problems : the exact robot dynamics are needed and hard to implement, the adaptive control cannot guarantee the performance during the transient period for adaptation under the variation, the robust control algorithms such as the sliding mode control need information on the bounds of the possible uncertainty and disturbance. And it produces a large control input as well. In this dissertation, a motion control for the unmanned intelligent robot system using disturbance observer is studied. This system is affected with an impact vibration disturbance. This paper describes a stable motion control of the system with the consideration of external disturbance. To obtain the stable motion independently against the external disturbance, the disturbance rejection is strongly required. To address the above issue, this paper presents a Disturbance OBserver(DOB) control algorithm. The validity of the suggested DOB robust control scheme is confirmed by several computer simulation results. And the experiments with a motor system is performed to give the validity of applicability in the industrial field. This results make the easier implementation of the controller possible in the field.

• Journal of the Korea Society of Computer and Information
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• v.18 no.10
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• pp.109-119
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• 2013

An unmanned ground vehicle(UGV) today plays a significant role in both civilian and military areas. Predominantly these systems are used to replace humans in hazardous situations. To take unmanned ground vehicles systems to the next level and increase their capabilities and the range of missions they are able to perform in the combat field, new technologies are needed in the area of command and control. For this reason, we present war field simulator based on information fusion technology to efficiently control UGV. In this paper, we present the war field simulator which is made of critical components, that is, simulation controller, virtual image viewer, and remote control device to efficiently control UGV in the future combat fields. In our information fusion technology, improved methods of target detection, recognition, and location are proposed. In addition, time reduction method of target detection is also proposed. In the consequence of the operation test, we expect that our war field simulator based on information fusion technology plays an important role in the future military operation significantly.