• 한국군사과학기술학회지
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• 제20권4호
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• pp.558-565
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• 2017

The vehicle-mounted mine detection system with large detection sensor modules can search wide areas with a fast detection speed. To mount the heavy mine detectors on a manned or unmanned vehicle, it is necessary to design the detector driving mechanism and control system based on the considerations driven from the characteristic analysis and the operation requirements of the detection system. Furthermore, while operating the mine detector mounted on a mobile vehicle, it is significant to keep the height from the ground to sensors within a certain distance in order to get a qualified detection performance. As the mine detection sensor, we used ground penetrating radar widely used to geotechnical exploration, mine detection and etc. In this paper, we introduce a driving mechanism through analyzing the characteristics of the vehicle-mounted mine detection system. We also suggest a method to automatically control the distance between the ground and GPR by utilizing the GPR output values, used to detect mines at the same time.

• Journal of Biosystems Engineering
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• 제37권5호
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• pp.287-295
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• 2012

Purpose: Some of the most representative approaches are to apply next generation technologies to save energy consumption, fully automated control system to appropriately maintain environmental conditions, and autonomous assistance system to reduce labor load and ensure operator's safety. Nevertheless, improvement of upcoming method for soil cultured greenhouse has not been sufficiently achieved. Geometrical complexity of ground in protected crop cultivation might be one of the most dominant factors in design of autonomous vehicle. While there is a practical solution fairly enough to promise an accurate travelling, such as autonomous sprayer guided by rail or induction coil, for various reasons including the limitation of producer's budget, the previously developed sprayer has not been widely distributed to market. Methods: In this study, we developed an autonomous sprayer considering travelling performance on geometrical complexity of ground in soil cultured greenhouse. To maintain a stable travelling and to acquire a real time feedback, common wire with 80 mm thick and body frame and sprayer boom. To evaluate performance of the prototype, tracking performance, climbing performance and spraying boom's uniform leveling performance were individually evaluated by corresponding experimental tests. Results: The autonomous guidance system was proved to be sufficiently suitable for accurate linear traveling with RMS as lower than approximately 10 cm from designated path. Also the prototype could climb $10^{\circ}$ of ground's slope angle with 40 kg of water weight. Uniform leveling of spraying boom was successfully performed within $0.5^{\circ}$ of sprayer boom's slope. Conclusions: Considering more complex pathways and coarse ground conditions, evaluations and improvements of the prototype should be performed for promising reliability to commercialization.

• Earthquakes and Structures
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• 제5권4호
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• pp.395-416
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• 2013

The magneto-rheological (MR) damper contributes to the new technology of structural vibration control. Its developments and applications have been paid significant attentions in earthquake engineering in recent years. Due to the shortages, however, inherent in deterministic control schemes where only several observed seismic accelerations are used as the trivial input and in classical stochastic optimal control theory with assumption of white noise process, the derived control policy cannot effectively accommodate the performance of randomly base-excited engineering structures. In this paper, the experimental and analytical studies on stochastic seismic response control of structures with specifically designed MR dampers are carried out. The random ground motion, as the base excitation posing upon the shaking table and the design load used for structural control system, is represented by the physically based stochastic ground motion model. Stochastic response analysis and reliability assessment of the tested structure are performed using the probability density evolution method and the theory of extreme value distribution. It is shown that the seismic response of the controlled structure with MR dampers gain a significant reduction compared with that of the uncontrolled structure, and the structural reliability is obviously strengthened as well.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2011년도 정기총회 및 추계학술대회 논문집
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• pp.1066-1076
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• 2011

The subsystems of HSR train control system in each country has developed and operated till early 2000, however 2001/16/EC ERTMS is issued for inter-operability among European train control systems in 2001. So it is trend that ERTMS/ETCS has been applied to not only low-speed train system but high-speed train system over 300km/h in many countries of Europe. According to the government policies of the Honam HSR, metropolitan HSR and test lines, incoming on-board signal control system has been required caused by speed limit to 160km/h on the ground signal system. As ETCS-Level 1 system has applied in our railways from 2003, so our train control system has depended on foreign technologies. In this paper, we analyzed to localize train control system for being ready to protect foreign policies and obtaining core technologies of HSR train control system for instance ETCS-Level2.

• 한국항공우주학회지
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• 제39권11호
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• pp.1042-1051
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• 2011

본 논문에서는 복수 무인기의 편대 비행을 위한 탑재 무선 통신 및 임무통제 네트워크 (지상관제시스템)를 포함하는 통합 운영 시스템의 구성 방안을 제시한다. 이를 위해 편대비행을 위한 무인기에 탑재되는 시스템들의 구성 형태에 따라 다양한 운영 시스템들을 분류하였다. 또한 각각의 운영 시스템에 대한 장단점 및 고장에 대한 신뢰성을 파악하였다. 이 결과를 바탕으로 편대기의 임무비행을 수행하는데 있어 적절한 운영 시스템의 형태를 결정하고 구성 요소들을 개발하였다. 제안된 운영 시스템을 이용하면, 이종의 비행체로 편대를 구성할 수 있으며, 복잡한 임무를 여러 무인기에 나누어 수행 가능하고, 단일 임무의 협업 또는 다양한 임무의 동시 수행이 가능하다.

• 제어로봇시스템학회논문지
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• 제11권11호
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• pp.930-935
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• 2005

In this paper, position tracking control of an autonomous helicopter is presented. Combining an LQR method and a proportional control forms a simple PD control. Since LQR control gains are set for the velocity control of the helicopter, a position tracking error occurs. To minimize a position tracking error, neural network is introduced. Specially, in the frame of the reference compensation technique for teaming neural network compensator, a position tracking error of an autonomous helicopter can be compensated by neural network installed in the remotely located ground station. Considering time delay between an auto-helicopter and the ground station, simulation studies have been conducted. Simulation results show that the LQR with neural network performs better than that of LQR itself.

• 제어로봇시스템학회논문지
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• 제12권3호
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• pp.289-293
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• 2006

In this paper, we developed a ground power supply system for a mobile robot moving in the constrained region. By using an external scan circuit through the electrodes, it is also possible to detect the absolute position and heading angle of the robot without any additional position sensors. Since the heavy weighted-battery for electric power and the expensive absolute position sensors are not necessary to the robot by using for proposed system, the mobile robot system becomes cost-effective and dynamically fast.

• 로봇학회논문지
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• 제10권2호
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• pp.104-111
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• 2015

In this paper, we proposed visual information to provide a highly maneuverable system for a tele-operator. The visual information image is bird's eye view from UFR(Unmanned Flying Robot) shows around UGR(Unmanned Ground Robot). We need UGV detection and tracking method for UFR following UGR always. The proposed system uses TLD(Tracking Learning Detection) method to rapidly and robustly estimate the motion of the new detected UGR between consecutive frames. The TLD system trains an on-line UGR detector for the tracked UGR. The proposed system uses the extended Kalman filter in order to enhance the performance of the tracker. As a result, we provided the tele-operator with the visual information for convenient control.

• Journal of Biosystems Engineering
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• 제23권5호
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• pp.427-438
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• 1998

In Korea, rotary implements are mainly utilized in the tillage operation. The attitude control system for rolling phenominon of tractors, which in caused due to uneven ground surfaces and sinkage of tractor wheels, is one of the most important control systems in agricultural tractors. The attitude control system of a rotary implement, attached on tractors, was designed and fabricated in this study. The control system was largely composed of four main units; a setting unit, a detection unit, a controller and a hydraulic unit. The implement was controlled by control signals from a computer proportional to controlled errors, on/off action of two directional solenoide valve and lift cylinder on the right lift rod. Response characteristic experiments for the control system fabricated in this study were carried out indoors and outdoors. The results of experiments showed the response characteristics sufficient to use as the attitude control system of rotary implements for agricultural tractors.

• 한국산림과학회지
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• 제87권4호
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• pp.571-576
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• 1998

본(本) 연구(硏究)는 솔잎혹파리가 우화(羽化)하여 지면(地面)에서 교미후(交尾後) 수상(樹上)으로 비상(飛上), 소나무 신엽(新葉)에 산란(産卵)하는 생태적(生態的) 특성(特性)을 이용(利用)하여, 성충우화기(成蟲羽化期)에 피해임지내(被害林地內)에 분무장치(噴霧裝置)(Sprinkler system)을 설치(設置)하고 저농도(低濃度)의 약제(藥劑)를 지면(地面)에 살포(撒布)함으로써 우화(羽化) 및 교미성충(交尾成蟲)의 살충(殺蟲)에 의(依)하여 솔잎혹파리의 피해(被害)를 방지(防止)할 목적(目的)으로 실시(實施)하였으며 얻어진 결과(結果)는 다음과 같다. 1. Sprinkler system에 의(依)한 fenitrothion 50% EC 및 deltamethrin 1% EC의 지면살포임분(地面撒布林分)의 평균(平均) 충영형성율(蟲癭形成率)은 각각(各各) 3.40%와 5.23%로서 무처리구(無處理區)의 45.69%에 비(比)하여 92.3% 및 88.2%의 높은 방제효과(防除效果)가 있었으며, 수관부위별(樹冠部位別) 충영형성율(蟲癭形成率)은 2개약종(個藥種) 공(共)히 상부(上部)보다는 하부(下部)에서 낮게 나타났으며 수관하부(樹冠下部)의 평균충영형성율(平均蟲癭形成率)은 0.66%로서 98% 이상(以上)의 높은 방제효과(防除效果)가 있었다. 2. Deltamethrin 1%에 의(依)한 2.000배(倍) 및 3,000배액(倍液)의 처리농도간(處理濃度間)의 평균충영형성율(平均蟲癭形成率)과 방제가(防除價)는 각각(各各) 5.23% 및 18.00%와 89.44% 및 63.66%로서 농도간(濃度間)에는 방제효과(防除效果)에 높은 차이(差異)가 있었다. 3. Deltamethrin 1% EC 2,000배액(倍液)의 살포회수별(撒布回數別) 효과비교(效果比較)에서 매일살포구(每日撒布區)의 충영형성율(蟲癭形成率)은 5.2%(방제가(防除價) 90.2%)인데 비(比)하여 2일(日) 및 3일간격살포구(日間隔撒布區)의 충영형성율(蟲癭形成率)은 각각(各各) 20.7%(방제가(防除價) 61.2%) 및 34.8%(방제가(防除價) 34.8%)로서 매일(每日) 실시(實施)하는 것이 효과적(效果的)이었다. 4. Deltamethrin 1% EC의 2,000배액(倍液) 및 3,000배액(倍液)에 의(依)한 지면약제살포(地面藥劑撒布)는 개미와 거미 등(等) 지표서식동물(地表棲息動物)의 밀도변동(密度變動)에 별(別) 영향(影響)을 주지 않았다.