• International Journal of Safety
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• v.10 no.2
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• pp.10-15
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• 2011

The reconfigurable control systems based on feedback controls are utilized to compensate for damages of actuators in control systems. Such systems have multiple feedback controls and switch them in accordance with the degrees of the failures of the actuators. In order to be able to assess those systems, this paper develops a method to obtain reliabilities of reconfigurable dynamical systems which are interconnected in parallel / series configuration. By calculating reliabilities of interconnected dynamical systems, it is possible to assess many dynamical systems by comparing their reliabilities. Firstly, reliabilities of subsystems are obtained according to the definitions of the failures in terms of robust reliability for each subsystem. Then, the reliability of overall system is calculated from reliabilities of subsystems, using the methodology employed for probabilistic safety assessment. Failure rates of subsystems with feedbacks for reconfiguration change in certain time periods because of the switching of feedback controls. In order to deal with this, combinations of subsystems which compose overall system for each time period are derived by the methodology mentioned above and then integrated to calculate the reliability of overall system for a specific time. An illustrative example shows the validity and details of the proposed method.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.44 no.4
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• pp.363-372
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• 2016

SIGMA(Scientific cubesat with Instruments for Global Magnetic field and rAdiation) CubeSat has been developed for magnetic field measurement of the Earth and space radiation measurement at Kyung Hee university. The flight software plays important roles in controlling the satellite and processing the data in the space mission. In this paper, the Flight Software has been implemented to process all the tasks in the one thread without RTOS(Real Time Operating System). This is an effective mothed not only to concentrate the space mission of CubeSat but also to reduce the overhead of the Flight Software by considering the mission perform procedures and the system control methods.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.2
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• pp.75-82
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• 2016

Visible light communication (VLC) using LED lamps is suitable for implementing an indoor positioning system in an indoor environment where the global positioning system (GPS) signal does not reach. In this paper, we present an indoor positioning system for mobile robots using a VLC beacon and fuzzy rules. This system consists of an autonomous mobile robot, VLC modules, and device application software. Fuzzy rules are applied to plan the global and local paths along which the mobile robot navigates indoors. The VLC transmitter modules are attached to the wall or the ceiling as beacons to transmit their own location information. The variable pulse position modulation (VPPM) algorithm is used to transmit data, which is a new modulation scheme for VLC providing a dimming control mechanism for flicker-free optical communication. The mobile robot has a receiver module to receive the location information while performing its mission in the environment where VLC transmitters are deployed.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.36 no.5
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• pp.448-454
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• 2008

This paper deals with a behavior based decentralized control strategy for UAV swarming utilizing the artificial potential functions and the sliding mode control technique. Individual interactions for swarming behavior are modeled using the artificial potential functions. The motion of individual UAV is directed toward the negative gradient of the combined potential. For tracking the reference trajectory of UAV swarming, a swarming center is considered as the object of control. The sliding-mode control technique is adopted to make the proposed swarm control strategy robust with respect to the system uncertainties and the varying mission environment. Numerical simulation is performed to verify the performance of the proposed controller.

• Nuclear Engineering and Technology
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• v.50 no.4
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• pp.613-618
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• 2018

We are developing a shared remote control mobile robot for aerial work in nuclear power plants (NPPs); a robot consists of a mobile platform, a telescopic mast, and a dual-arm slave with a working tool. It is used at a high location operating the manual operation mechanism of a fuel changer of a heavy water NPP. The robot system can cut/weld a pipe remotely in the case of an emergency or during the dismantling of the NPP. Owing to the challenging control mission considering limited human operator cognitive capability, some remote tasks require a shared control scheme, which demands systematic software design and integration. Therefore, we designed the architecture of the software systematically.

• Journal of the Korean Society of Systems Engineering
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• v.15 no.2
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• pp.98-107
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• 2019

The defense system development process is a process of developing various systems that perform functions in various functional areas such as battlefield awareness, command control, force application, and logistical support. In other words, the defense system development process is a process of developing many systems simultaneously in various functional areas. Various systems developed through this process should be interoperable so that they can be integrated and operated in a joint warfighting environment. To successfully implement this, the US Department of Defense uses the Joint Capability Integrated Development System(JCIDS) for the defense system development, and within this JCIDS processes the Capability Based Assessment(CBA) methodology as its core technology. This CBA methodology transforms the mission activity requirements to functional capability requirements logically and transforms the functional capability requirements to system requirements logically also. Smart City is a city that improves the convenience and quality of life of the citizen by integrates various systems that perform various functions of the city and smarties various functional systems with smart services by using IT technology. In other words, defense system development and smart city development have a common feature of the process of developing many systems simultaneously in various functional areas. In order to address the problem of having to develop many systems simultaneously in each functional area, it is important to logically transform the various mission scenarios into functions and logically transform the functions into systems. Therefore, a joint capability integrated development system and its core methodology, Capability Based Assessment(CBA), can be applied to smart city development. This paper proposes a method for performing a smart city concept design method using the capability based evaluation (CBA) method.

• Journal of Advanced Navigation Technology
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• v.26 no.5
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• pp.358-364
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• 2022

The Inter Communication System for avionics is in charge of processing all voice signals that internal calls between Pilot and Co-pilot, internal calls between Pilots and Crews, external calls through communication equipment such as Ultra/Very High Frequency Receiver/Transmitter(U/VHF RT), audio signal monitoring for navigation and mission equipment such as VHF Omnidirectional Range/Instrument Landing System(VOR/ILS), Tactical Air Navigation(TACAN), audio signal output for voice recording to Flight Data Recorder(FDR) and Data Transfer System(DTS), and warning/caution audio signal generate about the status and threat of aircraft. Because Inter Communication System for avionics is sensitive to noise in the case of analog audio signals, a redundant design that can protect audio signal from electromagnetic noise inside/outside of aircraft is required for the mission of pilots and crews. In this paper, Normal/Back-up operation mode and redundancy design plan based on digital method for the redundancy of the digital Inter Communication System for avionics and manufacturing, verification results are described.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.48 no.7
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• pp.529-536
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• 2020

Reaction Control System of the third stage of the Korean Space Launch Vehicle II conducts roll control and 3 axis control throughout third stage engine start, satellite separation, and collision and contamination avoidance maneuver. Reaction control system consumes its propellant in each thruster operation. Hence, loading of proper amount of the propellant is important for mission success. It is needed to have a rough estimation method of propellant consumption during the flight. In this paper, we developed a energy equation using pressure and temperature data which are acquired in the on-board reaction control system. We constructed a test system which is similar with the on-board reaction control system to verify the energy equation. Test results using deionized water were compared with estimated propellant consumption. We also conducted an error analysis of the energy equation. We also presented the propellant consumption result of a system level operation test.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.507-510
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• 1996

In this paper we present the multi-agent robot system developed for participating in micro robot soccer tournament. The multi-agent robot system consists of micro robot, a vision system, a host computer and a communication module. Mcro robot are equipped with two mini DC motors with encoders and gearboxes, a R/F receiver, a CPU and infrared sensors for obstacle detection. A vision system is used to recognize the position of the ball and opponent robots, position and orientation of our robots. The vision system is composed of a color CCD camera and a vision processing unit. Host computer is a Pentium PC, and it receives information from the vision system, generates commands for each robot using a robot management algorithm and transmits commands to the robots by the R/F communication module. And in order to achieve a given mission in micro robot soccer game, cooperative behaviors by robots are essential. Cooperative work between individual agents is achieved by the command of host computer.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.10
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• pp.979-986
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• 2011

In this paper, an embedded program of a flight control system for a small high performance UAV is introduced. The program consists of modules for device management and guidance and control. The device management system handles navigation sensors and mission equipments. The program for the guidance and control system is used to accomplish various kinds of missions and realize automation of flight control. Driver programs embedded in the device management system for operation of sensors and external devices are based on Texas Instrument's DSP/BIOS RTOS(realtime operating system). The on-board programs for the guidance and control system is obtained by using the model-based auto code generation technology.