• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2003.09a
• /
• pp.346-349
• /
• 2003

For a traveling crane, various control methods such as neural network predictive control and TDOFPID(Two Degree of Freedom Proportional Integral Derivative) are studied. So in this paper, we proposed improved navigation method to reduce transfer time and sway with anti-collision path for avoiding collision in its movement to the finial coordinate. And we constructed the NNPPID(Neural Network Predictive PID) controller to control the precise move and speedy navigation. The proposed predictive control system is composed of the neural network predictor, TDOFPID controller, and neural network self-tuner. We analyzed ASC(Automated Stacking Crane) system and showed some computer simulations to prove excellence of the proposed controller than other conventional controllers.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2000.04a
• /
• pp.47-56
• /
• 2000

In this study, as the preliminary step for developing an unmanned vehicle to deliver a container-box, we designed and implemented Automatic Guided Vehicle(AGV) Simulator for the purpose of Port Facilities Automation. It is preferable to research the intelligent AGV for delivery all day long. For complementing AGV simulator driving, we used multiple-sensor systems with vision, ultrasonic, IR and adapted the high-speed wireless LAN that satisfies the IEEE 802.11 Standard for bi-directional communication between main processor in AGV and Host computer. Here, we mounted on bottom frame in AGV Pentium-III processor, which combine and compute the information from each sensor system and control the AGV driving, and used the 80C196KC micro-controller to control the actuating and steering motors.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2002.12a
• /
• pp.89-92
• /
• 2002

최근 들어 급증하고 있는 해양 충돌 사고 증가의 원인은 선박을 조종하는 항해사의 잘못된 판단 에 의한 부주의가 대부분이다. 이러한 문제를 해결하기 위한 가장 적극적인 방법은 선박에 자동화 및 지능화를 부여하여 항해사의 실수를 최소화하는 것이다. 대표적인 연구는 선박의 자율운항시스템(autonomous navigation system)이 있는데, 이는 선박운항에 있어 항해계획을 수립하고 현재의 선박의 상태를 파악하여 선박을 적절히 제어하는 항해 전문가시스템이다. 선박 자율운항시스템은 실세계의 선박에 장착되어 실험하여야하나, 선박은 고가의 운송수단이고, 자율운항시스템을 장착하기 위한 하부장치 인터페이스를 설계 및 구현에 많은 시간이 소요되므로 실제 선박을 모방하는 선박시뮬레이터를 이용하는 방법이 타당하다. 선박시뮬레이터는 선박의 물리적 운항특성을 모방하는 선박운동시뮬레이터와 선박 운항 주변에 변화하는 장애물을 시뮬레이터 하는 주변 객체시뮬레이터로 구성된다. 본 연구에서는 선박 운항 주변에 등장하는 장애물 변화를 시뮬레이션하고, 이에 기반한 ARPA RADAR를 모의 가동하는 주변객체시뮬레이터를 개발한다.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 2006.11a
• /
• pp.105-108
• /
• 2006

유비쿼터스 사회는 초고속 인터넷, 모바일, 디지털 컨버전스 단계를 거치면서 점차 가시화되어, 현재 일상적이 커뮤니케니션뿐만 아니라 경제활동 및 산업 분야로 다양하게 확산되고 있다. 특히 RFID와 네비게이션은 국내외적으로 이슈화되고 있으며 점점 발전하고 경제적/산업적으로 국가 경쟁력 향상에 도움을 줄 것으로 보고 있다. 하지만 이러한 FRID와 네비게이션의 쓰임새를 살펴보면 가장 일반적인 경우에 치중되어 있다. 본 논문에서는 FRID와 네비게이션을 사용하여 개별화된 특성을 반영하고 그것을 사용하는 사용자들의 특성을 고려하여 변화하는 환경에 적응하기 쉬운 시스템을 제안하고자 한다. 그리고 특정 환경에서 어떠한 정보가 이에 활용될 수 있는지를 고찰해 보았다. 또한 이러한 정보를 해결하기 위한 퍼지 로직을 적용한다.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.27 no.5
• /
• pp.544-557
• /
• 2024

This paper theoretically analyzes the effect of the velocity and attitude errors of Master Inertial Navigation System(MINS) on the accuracy of Slave Inertial Navigation System(SINS) transfer alignment in velocity and attitude matching, and validates the analysis through simulation. Theoretical analysis involves deriving a new state equation that considers the velocity and attitude errors of MINS from the state equation of the transfer alignment filter, and deriving the state estimation equation of the Kalman filter based on this. The analysis confirms that MINS's velocity and attitude errors induce the same level of velocity and attitude errors in SINS. A reference inertial navigation system model is added to the simulation model, and the transfer alignment accuracy is analyzed by comparing the navigation information of MINS and SINS with the reference inertial navigation system. It is confirmed that the accuracy analysis results through simulation are consistent with the theoretically analyzed results, and through this, the validity of the theoretically analysis in this paper is verified. The research findings indicate that when performing transfer alignment using MINS, which is likely to be operated for prolonged periods in pure inertial navigation mode, the navigation errors of MINS are transferred to SINS. This implies that initial correction navigation is necessary to be considered for SINS

• Journal of Korean Society of Industrial and Systems Engineering
• /
• v.34 no.4
• /
• pp.35-41
• /
• 2011

The purpose of this study was to examine drivers' driving behaviors and eye-movements according to driving speed and navigation- position while operation of the navigation in driving. For this purpose, two driving conditions (low-speed and high-speed) and two navigation-positions (top and bottom location of the center console) were set. Drivers' driving behaviors (speed, speed variation, coefficient of variation, and the number of collisions) and eye-movements (overall eye pattern, the average scanning time of navigation, and the number of gaze-out on the road for more 2 seconds) were measured. As a result, when the navigation was located at the bottom of the console, difficulties of lateral control was appeared in low-speed driving condition, and the that of longitudinal control was appeared in high-speed driving condition. In addition, above situation made the drivers' scanning times of navigation long, increased the number of gaze-out on the road for more 2 seconds, and made overall eye pattern monotonous. These results could be interpreted that the manipulation of the navigation at the bottom of console cause reduced attention capacity due to the cognitive load.

• Journal of Korean Port Research
• /
• v.12 no.1
• /
• pp.47-53
• /
• 1998

Presently, it was faced with serious social problems as traffic accident, parking violation & traffic congestion due to change of industrial structure, expansion of economic volume, elevation of national life level and rapid motorization. Accordingly, the study is research to improve immidiate transportation problems which could be establish the rating model about consideration degree of evaluation factor based on MDPREF's method in connection with Intelligent Transportation System(ITS)

• Journal of Navigation and Port Research
• /
• v.29 no.6 s.102
• /
• pp.567-572
• /
• 2005

Trade between nations has been globalized since establishing the WTO(World Trade Organization). By lowering trading barriers under the WTO's system, trade in goods has been gradually increased It requires global logistic system that transports goods in between nations. To save cost of product, cargo of product is containerized and container ships to carry container cargo is going to be bigger: In the market, there are many vendors to provide artificial intelligent modules to operate container terminal. In order to integrate automated container terminal system easily and successfully, this thesis proposes high-level XML/ JMS( eXtensive Markup Language/Java Message Service) communication model and multi-agent based system architecture to share knowledges, solve problems, and active objectives by cooperating between autonomous and intelligent agents that are developed by 3rd party companies in the market. This thesis analyzed current situation of advanced automated container terminal with case studies on implemented systems and difficulties to develop automated container terminal system, reviewed technologies of intelligent agent, communication and automation that unmaned automated container terminal is required.

• Proceedings of the Korean Institute of Intelligent Systems Conference
• /
• 1997.10a
• /
• pp.350-355
• /
• 1997

The problem of mathematical model for an unknown system by measureing its input-output data pairs is generally referred to as state estimates. The state estimation problem is often of importance in its own right since we may want to know the value of the states. For instance, in navigation, we may take noisy positional fixes using satelite or radar navigation, and the estimator can use these measurements to provide accurate estimates of current position, hedaing, and velocity. And the state estimates can also be used for control purposes. Then it is very important to know the state of plant. In this paper, the theory of the minimization of a loss function was used to design the fuzzy system. Here, the used teory is Least Square Esimation method. This parametrization has the Linear in the parameters charcteristic that allows standard parameter estimation technique to be used to estimate the parameters of the fuzzy system. The combination of the fuzzy system and the estimation m thod then performs as a nonlinear estimator. If several fuzzy label are defined for the input variables at the antecedent part, the fuzzy system then behaves as a collection of nonlinear estimators where different regions of rules have different parameters. In simulation results, the fuzzy model controlled a difference in the structure between the actual plant and the fuzzy estimator. It is also proved that the fuzzy system is equivalent to its transformed system. therefore we was able to get the state space equation of system with the estimated paramater.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• v.1
• /
• pp.371-376
• /
• 2006

Recently the container volume in the global trade is steadily increasing. In an effort to cope with this trend, major ports of the world are stepping up the introduction of high-tech equipments, trying to establish a highly efficient information system, and improving the internal work processes of their container terminals. For speedy and effective cargo handling, they are making every effort in the diverse fields. The purpose of this study aims at developing an intelligent multi-agent system for the gate work of a container terminal, which is the place of authority transfer in a container terminal. The agent system suggested in this study has made a comparison between COPINO information by TOS (Terminal Operating System) and information on containers and trucks recognized at the gate passage, checking up their efficiency, and performing the function of controlling outside truck's input-output. Also, based on the records of outside truck's gate passage, some gates can be operated flexibly, consequently enhancing the efficiency of the gate function. The results of job performance will immediately be notified to the customers and terminal managers, thus helping them make decisions speedily.