• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.52-56
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• 2004

Unmanned Aerial Vehicles (UAVs) are remotely piloted or self-piloted aircraft by inputted program in advance or artificial intelligence. In this study Aileron and Elevator are used to control the movement of airplane for horizontal and vertical flights about its longitudinal and lateral axis. In an introduction, the drone was linearly modeled by extracting aerodynamic parameter through flight test and simulation, lift and drag coefficient corresponding to angle of attack, changes of pitching moment coefficient. In the main subject, the flight simulation was performed after constructing hardware using TMS320F2812 from TI company and PID with lateral and longitudinal controller for horizontal and vertical flights. Flying characteristics of two system were estimated and compared through real flight test with hardware equipped algorithm and adaptive algorithm that was applied to consider external factors such as turbulence. In conclusion the control performance of the controller with proposed algorithm was streamlined at lateral and longitudinal controller respectively, we will discuss guidance command to pass way point.

• Journal of Computing Science and Engineering
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• 제7권2호
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• pp.122-131
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• 2013

The MPI CyberMotion Simulator provides a unique motion platform, as it features an anthropomorphic robot with a large workspace, combined with an actuated cabin and a linear track for lateral movement. This paper introduces the simulator as a tool for studying human perception, and compares its characteristics to conventional Stewart platforms. Furthermore, an experimental evaluation is presented in which multimodal human control behavior is studied by identifying the visual and vestibular responses of participants in a roll-lateral helicopter hover task. The results show that the simulator motion allows participants to increase tracking performance by changing their control strategy, shifting from reliance on visual error perception to reliance on simulator motion cues. The MPI CyberMotion Simulator has proven to be a state-of-the-art motion simulator for psychophysical research to study humans with various experimental paradigms, ranging from passive perception experiments to active control tasks, such as driving a car or flying a helicopter.

• Journal of Communications and Networks
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• 제17권4호
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• pp.384-393
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• 2015

This paper proposes an insect behavior-inspired routing algorithm for large-scale wireless mesh networks. The proposed algorithm is adapted from the behavior of an insect called Bombyx mori, a male silkmoth. Its unique behavior is its flying technique to find the source of pheromones. The algorithm consists of two steps: the shortest-path algorithm and the zigzag-path algorithm. First, the shortest-path algorithm is employed to transmit data. After half of the total hops, the zigzag-path algorithm, which is based on the movement of the male B. mori, is applied. In order to adapt the biological behavior to large-scale wireless mesh networks, we use a mesh topology for implementing the algorithm. Simulation results show that the total energy used and the decision time for routing of the proposed algorithm are improved under certain conditions.

• 한국CDE학회논문집
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• 제10권5호
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• pp.339-348
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• 2005

In this paper, LOD (Level Of Detail) for flocking, which is the real-time simulation on the movement or some groups such as fighting soldiers, moving fishes and flying birds, is presented. And a flocking LOD algorithm that uses factors such as the speed of fish, direction, and shape is proposed. Model data is modified for LOD in advance, so as to reduce strange edge collapse and unwanted holes. The errors of model data were identified by transforming polygonal model into octree-based cubes and revised before rendering. Experimental results show that the proposed algorithm considering flocking characteristics shows fast frame rates as compared with the conventional continuous LOD algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.210-214
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• 1998

Radio-Controlled helicopter has superior movement abilities like as hovering or backward move. So it has been used as a sprinkler of agricultural medicines or an observer of dangerous area such as a volcano, etc. But its operation is not simple because it has many control factors and they interfere with each other. Therefore the helicopter is not controlled by simple theory in the case of automatic operation. Then fuzzy sliding mode control, which has fastness, fineness and robustness, is thought to be suitable to satisfy various requirements of the helicopter operation. In this work, the fuzzy sliding mode control was applied to the flying of RC helicopter, As tile result, it was controlled with good performance.

• 한국컴퓨터정보학회논문지
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• 제24권1호
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• pp.115-120
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• 2019

In this paper, we propose a system and an intuitive interface that can create an athletic scene among athletes. We allow you to enter motion as if you were playing a game, so that the user's action becomes the player's action. The user can take various actions in front of the motion sensor and control the object flying to him. When a user specifies an opponent to pass or attack, and takes appropriate action in front of the motion sensor, the movement trajectory of the object is automatically generated by the physical optimization technique in accordance with the motion. In this way, you can create scenes where multiple players play together in a virtual environment. The method of this paper will be very useful for rapid prototyping for cinematic trailers of based on athletics games or animations.

• 한국산학기술학회논문지
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• 제19권9호
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• pp.62-68
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• 2018

본 연구는 군 포병 전력의 핵심 장비인 자주포의 급속장전장치에 장착된 밀대 시스템 개선을 통해 탄의 장전 안정성향상을 목표로 하는 것이다. 종래의 자주포에는 수동 장전장치가 적용되어 있었다. 군에서 운용하는 장비의 현대화와 연속사격 속도 향상을 위해 급속 장전장치를 설치하였으며, 이러한 급속 장전장치를 통해 탄이 장전되는 과정에서 약실 내부와 간섭되는 현상을 줄이고, 비행시간을 감소하도록 설계되었다. 그러나 기본적으로 밀대를 통해 탄의 급속장전이 이루어지는 슈팅 방식의 장전시스템에서는 탄 흐름(fall-back) 현상이 간헐적으로 발생할 수 있다고 보고되고 있다. 그래서 이러한 문제를 해결하기 위해서 장전 과정의 실제 조건을 반영한 전산모사(C.A.E.)를 통해 탄이 장전되는 과정에서 비행 거리를 감소시키면 탄 흐름 현상을 방지할 수 있는 것을 이론적으로 확인 하였고, 탄의 비행거리를 줄이는 최적의 설계 방안을 도출하였다. 최종적으로 이러한 결과를 바탕으로 야전에 배치된 자주포에 장착하여 시험한 결과 개선효과가 있음을 확인하였다.

• 한국컴퓨터그래픽스학회논문지
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• 제3권1호
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• pp.57-67
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• 1997

가상공간 탐색은 근본적으로 가상카메라의 조작으로 귀결된다. 이때 가상카메라는 자유도 6을 가지고 움직인다. 그러나 우리가 주로 사용하는 마우스나 조이스틱 등의 입력장치는 2D 장치이다. 따라서 입력장치의 운동에 대응되는 카메라의 운동은 어느 한 순간에는 2D운동이다. 그러므로 카메라의 6DOF(degrees of freedom) 운동은 2D 또는 1D 운동들의 결합으로 표현할 수밖에 없다. 많은 가상공간 탐색 브라우저에서는 이 문제를 해결하기 위해 여러 가지 탐색 모드를 사용한다. 그러나 다수의 모드를 설정하는데 사용된 기준이 분명하지 않고 각 모드에서 가능한 조작들이 서로 중복되는 경향이 있을 뿐만 아니라 입력장치의 감각 대응성(kinesthetic correspondence)이 미흡하기 때문에 사용자가 공간을 탐색할 때 상황을 장악하고 있다는 느낌을 가지기 힘들다. 이 문제를 해결하기 위해서는 일관적이면서도 포괄적인 단일 탐색 메타포어가 필요한데 본 논문에서는 이를 위해 헬리콥터 조종사 메타포어를 제안한다. 헬리콥터 조종사 메타포어를 이용한다는 것은 조종장치들에 의해 사용자가 공간에서 날고있는 가상 헬리콥터의 조종사가 되어 공간 영상을 탐색 한다는 의미이다. 본 논문에서는 헬리콥터의 6DOF 운동을 직관적으로 조작하기 위해서 이를 6개의 2D 운동공간, 즉, (1) 평면상의 이동, (2) 수직면상의 이동, (3) 현위치중심의 피치, 요회전, (4) 현위치중심의 롤, 피치회전, (5) 좌우상하 선회, (6) 물체중심회전, 으로 분할하고, 각 2D 운동공간을 가시화 시켜 그 공간 자체를 메뉴화 하였다. 이렇게하면 사용자로 하여금 의식적으로 특정 모드를 선택하는 부담없이 단지 필요에 의해 적절한 2D 운동공간을 시각적으로 판단할 수 있도록 해준다. 각 운동공간에서의 헬리콥터 운동은 조이스틱의 2D 조작으로 제어한다.

• 한국환경과학회지
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• 제29권8호
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• pp.809-818
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• 2020

To conserve the population of a hesperiid butterfly, Leptalina unicolor, inhabiting the protected areas of Jaeyaksan, we provide ecological information on their behavior and propose habitat conservation measures, such as the creation of alternative habitats based on comprehensive information. The behavioral study used a method of re-capture after releasing the butterfly with enamel marks on the wings. Adult behaviors were shown in four patterns: flying, settling on a plant, nectar absorption, and water absorption. Both males and females had the highest proportion of flight movement overall; however, males had a slightly higher proportion of flight movement. As for duration, females spent more time settling on plants to select spawning sites, and males seemed to take a longer time for water absorption activities, to absorb minerals needed to form the spermatophore. The average travel distance of butterflies was 27.5 m for females and 46.7 m for males, with daily activity ranges from 11.2 m to 43.8 m, and 21.4 to 57.6 m, respectively. The most important condition to preserve the habitat of Leptalina unicolor is to maintain the community of Miscanthus sinensis, a food plant. Additionally, because this butterfly has a high rate of water absorption activities, wetlands should be maintained.

• 한국운동역학회지
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• 제14권1호
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• pp.27-40
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• 2004

The purpose of this study was to provide basic data for improving athletic performances by analyzing the kinematic variables of the Double Backward Somersault on the Parallel Bars through the 3D motion analysis. The subjects in this study were 5 male gymnasts who were ranked as national athletes. The results are as follows. 1. A total time(Mean Time) of performance showed $2.72{\pm}0.82\;sec$. and flight time to landing after releasing was 0.87sec.(mean). In order to perform better stable flying movement, the flight time should be increased. 2. In the change of velocity of the center of mass, when the increasing ascension velocity of the upper point was high, the position in the top point was high on releasing. 3. In the position variable of the center of mass, the mean of upper-bottom position in horizontal posture was $242.1{\pm}6.5cm$, $232.8{\pm}6.4cm$ in releasing, and $265.0{\pm}5.6cm$ in the highest point. This result is explained that the position of center of mass can be raised by using elastic power when wrist raised the bar in the releasing movement. 4. The angle of shoulder joint was $271.1{\pm}14.0$. Such a big angle influences a negative effect on the releasing velocity, because trunk is not a position in the enough vertical direction. 5. The ankle of hip joint in hand-standing was $191.1{\pm}5.9$, $118.8{\pm}5.3$ in releasing, and $122.3{\pm}5.3$ in taking on. Therefore, the result suggests that trunk should be straightly raised in taking on.