• 융합정보논문지
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• 제8권5호
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• pp.77-83
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• 2018

동작을 기억하는 모듈라 로봇은 손으로 직접 표현하기 때문에 창의적 구조물을 쉽게 만들고, 동작시킬 수 있다. 하지만 사용자에 의하여 만들어진 동작을 저장할 충분한 저장 공간이 모듈 내에 없어서 만들어진 동작을 재사용이 불가능하며 모듈라 로봇이 다시 동작을 기억할 시에 다른 동작으로 바뀌게 된다. 또한, 다수의 모듈라 로봇을 동시에 동작시킬 수 있는 주 제어기가 없어서 직접적으로 사용자가 모듈라 로봇에 입력해야하는 단점이 있다. 이러한 단점을 극복하고자, 유선 및 무선 네트웍을 이용하고 웹 서버 및 컴퍼넌트 기반 소프트웨어를 설계하여, 주변의 스마트 기기에서 동작시킬 수 있는 원격제어기를 제안하였다. 그리고 제안된 제어기의 하드웨어 개념 및 소프트웨어의 연결 관계를 자세히 제시 하였다. 제안된 방식은 모듈라 로봇에 연결하여 다양한 형태의 구조물을 만들어 동작시키고 저장한 후 다시 재생 동작을 수행하여 동작의 재현성을 보였으며 기존의 저장된 동작을 효과적으로 재생함으로써 유용성을 확인하였다. 아울러 다운로드한 궤적 데이터를 도해적으로 표현하고 실제 동작된 궤적과의 차이를 분석하여 신뢰성을 확인하였다. 향후에는 원격제어기에 저장된 궤적을 인공지능 기법을 이용하여 표준화시켜 모듈라 로봇의 동작을 손쉽게 구현 시킬 예정이다.

• Journal of Astronomy and Space Sciences
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• 제23권3호
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• pp.269-288
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• 2006

We revised the OTFTOOL which was developed in Five College Radio Astronomy Observatory (FCRAO) for the On-The-Fly (OTF) observation. Besides the improvement of data resampling function of conventional OTFTOOL, we added a new SELF referencing mode and data pre-reduction function. Since OTF observation data have a large redundancy, we can choose and use only good quality samples excluding bad samples. Sorting out the bad samples is based on the floating level, rms level, antenna trajectory, elevation, $T_{sys}$, and number of samples. And, spikes are also removed. Referencing method can be chosen between CLASSICAL mode in which the references are taken from the OFFs observation and ELLIPSOIDAL mode in which the references are taken from the inner source free region (this is named as SELF reference). Baseline is subtracted with the source free channel windows and the baseline order chosen by the user. Passing through these procedures, the raw OTF data will be an FITS datacube. The revised-OTFTOOL maximizes the advantages of OTF observation by sorting out the bad samples in the earliest stage. And the new self-referencing method, the ELLIPSOIDAL mode, is very powerful to reduce the data. Moreover since it is possible to see the datacube at once without moving them into other data reduction programs, it is very useful and convenient to check whether the data resampling works well or not. We expect that the revised-OTFTOOL can be applied to the facilities of the OTF observation like SRAO, NRAO, and FCRAO.

• Journal of Astronomy and Space Sciences
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• 제32권3호
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• pp.257-268
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• 2015

Characteristics of delta-V requirements for deploying an impactor from a mother-ship at different orbital altitudes are analyzed in order to prepare for a future lunar CubeSat impactor mission. A mother-ship is assumed to be orbiting the moon with a circular orbit at a 90 deg inclination and having 50, 100, 150, 200 km altitudes. Critical design parameters that are directly related to the success of the impactor mission are also analyzed including deploy directions, CubeSat flight time, impact velocity, and associated impact angles. Based on derived delta-V requirements, required thruster burn time and fuel mass are analyzed by adapting four different miniaturized commercial onboard thrusters currently developed for CubeSat applications. As a result, CubeSat impact trajectories as well as thruster burn characteristics deployed at different orbital altitudes are found to satisfy the mission objectives. It is concluded that thrust burn time should considered as the more critical design parameter than the required fuel mass when deducing the onboard propulsion system requirements. Results provided through this work will be helpful in further detailed system definition and design activities for future lunar missions with a CubeSat-based payload.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1998년도 제13차 학술회의논문집
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• pp.117-122
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• 1998

The recent developments and studies in the framework of output tracking control in the field of robotics that has been studied in the Control Laboratory, are presented. An output controller based on“Hardware-ln-the-Loop Simulation”(HILS) and“Rapid Control Prototyping”(RCP) concepts is developed using dSPACE. These new concepts are shown to be particularly beneficial for manipulator control tasks. In the Elbow manipulator design, there are two kinds of manipulators, namely the serial-drive type and the parallelogram-drive manipulator, The objective of this research is to model the two Elbow manipulators and to implement the proposed controller for manipulator applications. The control goal is to force the manipulator to follow a given trajectory in the given work space. Output controllers of the two elbow manipulators that are based on the model matching control approach have been implemented in two models that represent the robot equations of motion. To reduce the efforts in evaluating the proposed algorithm, a new system configuration method, based on HILS and RCP tools, was suggested to determine the parameters of the integrated dynamic system.

• Journal of Astronomy and Space Sciences
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• 제28권3호
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• pp.203-216
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• 2011

To prepare for a future Korean lunar orbiter mission, semi-optimal lunar capture orbits using finite thrust are designed and analyzed. Finite burn delta-V losses during lunar capture sequence are also analyzed by comparing those with values derived with impulsive thrusts in previous research. To design a hypothetical lunar capture sequence, two different intermediate capture orbits having orbital periods of about 12 hours and 3.5 hours are assumed, and final mission operation orbit around the Moon is assumed to be 100 km altitude with 90 degree of inclination. For the performance of the on-board thruster, three different performances (150 N with $I_{sp}$ of 200 seconds, 300 N with $I_{sp}$ of 250 seconds, 450 N with $I_{sp}$ of 300 seconds) are assumed, to provide a broad range of estimates of delta-V losses. As expected, it is found that the finite burn-arc sweeps almost symmetric orbital portions with respect to the perilune vector to minimize the delta-Vs required to achieve the final orbit. In addition, a difference of up to about 2% delta-V can occur during the lunar capture sequences with the use of assumed engine configurations, compared to scenarios with impulsive thrust. However, these delta-V losses will differ for every assumed lunar explorer's on-board thrust capability. Therefore, at the early stage of mission planning, careful consideration must be made while estimating mission budgets, particularly if the preliminary mission studies were assumed using impulsive thrust. The results provided in this paper are expected to lead to further progress in the design field of Korea's lunar orbiter mission, particularly the lunar capture sequences using finite thrust.

• International Journal of Aeronautical and Space Sciences
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• 제18권4호
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• pp.767-779
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• 2017

Automated mission planning for unmanned aerial vehicles (UAVs) is difficult because of the propagation of several sources of error into the solution, as for any large scale autonomous system. To ensure reliable system performance, we quantify all sources of error and their propagation through a mission planner for operation of UAVs in an obstacle rich environment we developed in prior work. In this sequel to that work, we show that the mission planner developed before can be made robust to errors arising from the mapping, sensing, actuation, and environmental disturbances through creating systematic buffers around obstacles using the calculations of uncertainty propagation. This robustness makes the mission planner truly autonomous and scalable to many UAVs without human intervention. We illustrate with simulation results for trajectory generation of multiple UAVs in a surveillance problem in an urban environment while optimizing for either maximal flight time or minimal fuel consumption. Our solution methods are suitable for any well-mapped region, and the final collision free paths are obtained through offline sub-optimal solution of an mTSP (multiple traveling salesman problem).

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국제학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.1-6
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• 1992

A principle of "orthogonalization" is proposed as an extended notion of hybrid (force and position) control for robot manipulators under geometric endpoint constraints. The principle realizes the hybrid control in a strict sense by letting position and velocity feedback signals be orthogonal in joint space to the contact force vector whose components are exerted at corresponding joints. This orthogonalization is executed via a projection matrix computed in real-time from a gradient of the equation of the surface in joint coordinates and hence both projected position and velocity feedback signals become perpendicular to the force vector that is normal to the surface at the contact point in joint space. To show the important role of the principle in control of robot manipulators, three basic problems are analyzed, the first is a hybrid trajectory tracking problem by means of a "modified hybrid computed torque method", the second is a model-based adaptive control problem for robot manipulators under geometric endpoint constraints, and the third is an iterative learning control problem. It is shown that the passivity of residual error dynamics of robots follows from the orthogonalization principle and it plays a crucial role in convergence properties of both positional and force error signals.force error signals.

• Journal of Platform Technology
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• 제6권1호
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• pp.3-8
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• 2018

This paper proposes a technique for recognizing online handwritten cursive data obtained by tracing a motion trajectory while a user is in the 3D space based on a convolution neural network (CNN) algorithm. There is a difficulty in recognizing the virtual character input by the user in the 3D space because it includes both the character stroke and the movement stroke. In this paper, we divide syllable into consonant and vowel units by using labeling technique in addition to the result of localizing letter stroke and movement stroke in the previous study. The coordinate information of the separated consonants and vowels are converted into image data, and Korean handwriting recognition was performed using a convolutional neural network. After learning the neural network using 1,680 syllables written by five hand writers, the accuracy is calculated by using the new hand writers who did not participate in the writing of training data. The accuracy of phoneme-based recognition is 98.9% based on convolutional neural network. The proposed method has the advantage of drastically reducing learning data compared to syllable-based learning.

• International Journal of Aeronautical and Space Sciences
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• 제3권1호
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• pp.39-49
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• 2002

This paper presents a robust tracker design method that is specific to the trajectories of target aircraft. This method assumes that representative trajectories of the target aircraft are available. The exact trajectories known to the tracker enables the incorporation of the exact data in the tracker design instead of the measurement data. An estimator is designed to have acceptable performance in tracking a finite number of different target trajectories with a capability to trade off the mean and maximum errors between the exact trajectories and the estimated or predicted trajectories. Constant estimator gains that minimize the cost functions related to the estimation or prediction error are computed off-line from an iterative algorithm. This tracker design method is applied to the longitudinal motion tracking of target aircraft.

• 전자통신동향분석
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• 제39권3호
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• pp.36-47
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• 2024

Low Earth Orbit (LEO) satellite communications has become a crucial technology for next-generation communication networks owing to its hyperconnectivity capabilities. We examine the progress and application areas of LEO satellite communication services. The LEO satellite communication industry has transitioned from being predominantly driven by governments and institutions to being led by the private sector, following the trajectory of the NewSpace movement. Leading corporations such as SpaceX Starlink and Eutelsat OneWeb are deploying LEO satellite networks to offer internet services, while Telesat is preparing to establish its satellite communication network. LEO satellite communications is expected to have a major impact on various sectors of society, particularly for upcoming sixth-generation services. Therefore, the South Korean government must promptly formulate policy support strategies aimed at invigorating the LEO satellite communication industry. This can be achieved through initiatives such as bolstering research and development and extending corporate assistance.