• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1992년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 19-21 Oct. 1992
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• pp.424-429
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• 1992

A practical adaptive tracking filter for a maneuvering target is proposed in this paper by combining a modified input estimation technique with pseudo-residuals and a decoupled tracking filter in line-of-sight Cartesian coordinate system. Since the adaptive tracking filter has decoupled structure and computes maneuver input estimates for each axis separately, it requires much less computations compared with the coventional tracking filter with MIE technique without degrading performance. Also, since pseudo-measurement noises in line-of-sight Cartesian coordinate system are much less correlated compared with those of inertial Cartesian coordinate system, the proposed tracking filter produces less false alarms or miss detections to improve the performance.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1995년도 Proceedings of the Korea Automation Control Conference, 10th (KACC); Seoul, Korea; 23-25 Oct. 1995
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• pp.47-50
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• 1995

This paper concerns an adaptive control scheme which is an extension of the simplified adaptive control. Originally, the SAC approach was developed based on the command generator tracker (CGT) theory for perfect model tracking. An attractive point of the SAC is that a control input can be synthesized without any prior knowledge about plant structure. However, a feedforward dynamic compensator of the CGT is removed from the basic structure of the SAC. This deletion of the compensator makes perfect model tracking difficult against even a step input. In this paper, an adaptive control system is redesigned to achieve perfect model tracking for as long as possible by reviving the dynamic compensator of the CGT. The proposed method is applied to slewing control of a flexible space structure and compared to the SAC responses.

• 제어로봇시스템학회논문지
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• 제13권3호
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• pp.268-272
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• 2007

These days many scientists make studies of feedback control system for stability on non-linear state and for the maneuver of flying objects. These feedback control systems have to satisfy trajectory condition and angular conditions, that is to say, controllability and stability simultaneously to achieve mission. In this paper, a design methods using model based control system which consists of spiral predictive model, Q-function included into generalized-work function is shown. It is made a clear that the proposed algorithm using SPM maneuvers for controllability and stability at the same time is successful in attaining our purpose. The feature of the proposed algorithm is illustrated by simulation results. As a conclusion, the proposed algorithm is useful for the control of moving objects.

• 대한조선학회논문집
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• 제45권5호
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• pp.495-501
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• 2008

Samsung Heavy Industries (SHI) and NRC's Institute for Ocean Technology (IOT) collaborated on a project to predict the performance of a new design for a Suezmax size tanker that had acceptable open water performance but was also capable of operating in ice. The resulting hull form was a single screw, single rudder design with a bulbous bow, modified for operation in ice. An important design consideration is the ability of the ship to maneuver in different ice conditions. This paper presents the results of maneuvering experiments in pack ice and level ice, using a free running model.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1992년도 춘계학술대회 논문집
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• pp.369-373
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• 1992

Force control of a planar two-link structurally flexible robotic manipulator is considered in this study. The dynamic model is obtained by using the extended Hamilton's principle and the Galerkin criterion. A method is pressented toobtain the linearized equations of motion in Cartesian space for use in designing the control system. The approachto solving the control problem is to use feedforward and feedback control torques. The feedforward torques maneuver the flexible manipulatro along a nominal trajectory and the feedback torques minimize any deviations from the nominal trajectory. The linear quadratic Gaussian/loop transfer recovery (LQG/LTR) design methodology is explotied to design a robust feedback control system that can handle modeling errors and sensor noise, and operates on Cartesian space trajectory errors. The Lqg/LTR compenstaor together with a feedforward ollp is used to control the flexible manipulator. Simulated results are presented for a numerical example.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1995년도 추계학술대회 논문집 학회본부
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• pp.192-194
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• 1995

An improved filter for tracking a maneuvering target is presented. The proposed filter consists of two kalman filters based on different dynamic models and double decision logic. The use of double decision logic for the maneuver onset and ending detection leads to reduction in estimation error. This decision rule is based on evidence theory, Dempster-Shafer theory, which is extended in order to be applicable in the tracking problem. Simulation results show that the proposed filter performs better than IMM at a lower computational load.

• 척추신경추나의학회지
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• 제9권2호
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• pp.115-124
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• 2014

Objectives: The purpose of this study is to investigate the safety, injury mechanism, complication and adverse reactions associated with Chuna manual theraphy(CMT), to report one case of adverse reaction with CMT. Methods: A 39-year-old woman presented with low back pain and left leg pain. The patient undertook a lumbar Chuna manual theraphy. After this maneuver, the patient complained of dorsalgia. The patient's dorsalgia didn't improve. In CT study, T5-6 hard disc bulging was diagnosed. Results and Conclusions : It is supposed that this patient suffered dorsalgia secondarily due to a lumbar Chuna manual theraphy. From this case, we can understand the etiology of dorsalgia to some extent and consider the complication of Chuna manual theraphy. In the future, more study, research and prospective trial for complications of a lumbar Chuna manual theraphy is required.

• 자동차안전학회지
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• 제7권2호
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• pp.50-54
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• 2015

Rollover accidents are a common occurrence on the highway ramp section. At highway ramp section, unexpected situations might occur due to demand on complex steering control unlike routine driving maneuver in the main streamline. Commercial vehicles have higher risk of rollover due to their high center of gravity. In this study, the lateral acceleration causing rollover would be found. In addition, sections would be classified as dangerous and safe ones by confirming the maximum lateral acceleration for various speed and curvature.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 1998년도 춘계학술발표회 논문집
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• pp.101-110
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• 1998

The safe passing maneuver of a large vessel along the designed course through a narrow channel in the flow of strong current is greatly related with her maneuvering characteristics. This paper treats maneuvering characteristic of a large vessel changing her course with the use of her control surface in a narrow channel with strong current. In this paper, the author proposed mathematical models of calculating maneuvering motions of the very large LNG tanker altering course using her control surface and calculated passing tracks of the vessel through the channel and compared the calculated results with those of maneuvering simulations by a desk-top simulator. In general the motions with the calculated values and the simulated motions are well coincided with each other.

• 한국항공우주학회지
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• 제41권10호
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• pp.770-778
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• 2013

태양돛은 태양복사압을 이용하여 연료소모 없이 우주선에 지속적인 추력을 제공하는 방식으로, 심우주 임무나 지속적인 궤도기동이 필요한 임무에 적합하다. 본 논문에서는 태양돛의 기본 원리를 소개하고 태양중심, 행성중심 궤도에서의 국소최적제어 기법을 연구하였다. 각각의 최적제어 기법에 대한 시뮬레이션을 수행하였다. 핼리혜성 랑데부 궤적을 생성하였으며, 여러 가지 행성탈출 기법을 비교하였다.