• 한국산학기술학회:학술대회논문집
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• 한국산학기술학회 2001년도 춘계학술대회 발표논문집
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• pp.265-268
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• 2001

Robust control for DC motor is needed according to the highest precision of industrial automation. It is a quite quality concerning to control temperature of single crystalline growth as it does when you get most of heat treating products. It is also Important factor to control temperature when you make the A1203(sing1e crystalline) used to artificial Jewels, glass of watches, heat resistant transparent glasses. Thus, it is a major interest to get the proper temperature in accordance with the time process while you are making mixture of oxygen and hydrogen to have the right temperature. In this paper, we will study of electrical valve positioning system f3r the gas mixture to improve the quality of products.

• 융복합기술연구소 논문집
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• 제2권1호
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• pp.43-48
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• 2012

Generally, in-plane position of moving object is measured referring to the reference pattern attached to the object. From optical camera to magnetic reluctance probe, there are many ways detecting a variation of the periodical pattern. In this paper, the various operating principles developed for in-plane positioning are reviewed and compared each other. And, a novel method measuring large rotation as well as x, y linear displacements is suggested, including a detailed description of the overall system layout. It is a modified version of the surface encoder, which is a robust digital measuring method. From the surface encoder, the rotation of an object is measured indirectly through a compensated input of optical servo and independently of linear displacements. So, the operating range can be extended simply by enlarging the reference pattern, without magnifying the decoding units.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.296-300
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• 2003

The autopilot system targets decreasing labor, working environment improvement, service safety security and elevation of service efficiency. Ultimate purpose is minimizing number of crew for guarantee economical efficiency of shipping service. Recently, being achieving research about Course Keeping Control, Track Keeping Control, Roll-Rudder Stabilization. Dynamic Ship Positioning and Automatic Mooring Control etc. which compensate nonlinear characteristic using optimizing control technique. And application research is progressing using real ship on actual field. Relation of Rudder angle which adjusted by Steering Machine and ship-heading angle are non-linear. And Load Condition of ship as non-linear element that influence to Parameter of ship. Also, because the speed of a current and direction of waves, velocity and quantity of wind etc. that is disturbance act in non-linear from, become factor who make serv ice of shipping painfully. Therefore, service system of shipping requires robust control algorithm that can overcome nonlinearity. In this paper, Using fuzzy algorithm ,Design autopilot system of ship that could overcome the non-linear factor of ship and disturbance and examined result through simulation.

• 한국레이저가공학회지
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• 제12권1호
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• pp.19-24
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• 2009

Because of its fast and precise welding performance, laser welding is becoming a new excellent welding method. However, the precise focusing and robust seam tracking are required to apply laser welding to the practical fields. In order to laser weld a type of T joint like a circular pipe on a square pipe, which could be met in the three dimensional structure such as an aluminum space frame, a visual sensor system was developed for automation of focusing and seam tracking. The developed sensor system consists of a digital CCD camera, a structured laser, and a vision processor. It is moved and positioned by a 2-axis motorized stage, which is attached to a 6 axis robot manipulator with a laser welding head. After stripe-type structured laser illuminates a target surface, images are captured through the digital CCD camera. From the image, seam error and defocusing error are calculated using image processing algorithms which includes efficient techniques handling continuously changed image patterns. These errors are corrected by the stage off-line during welding or teaching. Laser welding of a circular pipe on a square pipe was successful with the vision tracking system by reducing the path positioning and de focusing errors due to the robot teaching or a geometrical variation of specimens and jig holding.

• 전자공학회논문지
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• 제50권6호
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• pp.267-275
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• 2013

GPS가 가지는 특징과 비선형, 비가우시안의 시스템에서도 강인한 특성을 지닌 파티클 필터(PF, Particle Filter)를 이용하여 위치 추정 성능을 향상시키는 방법에 대해 제안한다. 그리고 제안한 알고리즘으로 보정한 GPS 데이터와 관성센서를 저가형 시스템에 적합한 약결합 방식을 이용하여 결합하였으며 정확도 향상을 위해 자세에 관한 칼만필터를 추가시켜 구현하였다. 구현된 시스템의 성능확인을 위해 NovAtel사의 고정밀 GPS와 비교 분석하였다.

• 한국정보통신학회논문지
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• 제7권4호
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• pp.833-838
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• 2003

차량의 수가 급격히 증가함에 따라 보다 지능적인 번호판 자동인식체계가 요구된다. 따라서 본 논문은 주행하는 차량에서 기울어진 번호판을 포함한 효율적인 자동차 번호판 인식방법을 제안하였다. 실험결과로서 일반적인 환경에서 획득된 인식 비율은 약 99%의 높은 성공률을 나타내었으며, 번호판이 차량에 비례하여 많이 기울어지게 위치해 있을 경우에도 97%의 성공률을 나타내었다. 논문에서는 CCD 카메라를 통해 전송되는 영상 시퀀스를 대상으로 움직이는 물체의 형태가 보행중인 사람, 혹은 자동차인지를 식별하고 이의 이동 방향을 판단하여, 이를 추적하는 무인 감시 시스템을 위한 효율적인 알고리즘을 제안한다.

• Journal of Communications and Networks
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• 제18권1호
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• pp.65-74
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• 2016

Ship ad-hoc network (SANET) extends the coverage of the maritime communication among ships with the reduced cost. To fulfill the growing demands of real-time services, the SANET requires an efficient clock time synchronization algorithm which has not been carefully investigated under the ad-hoc maritime environment. This is mainly because the conventional algorithms only suggest to decrease the beacon collision probability that diminishes the clock drift among the units. However, the SANET is a very large-scale network in terms of geographic scope, e.g., with 100 km coverage. The key factor to affect the synchronization performance is the signal propagation delay, which has not being carefully considered in the existing algorithms. Therefore, it requires a robust multi-hop synchronization algorithm to support the communication among hundreds of the ships under the maritime environment. The proposed algorithm has to face and overcome several challenges, i.e., physical clock, e.g., coordinated universal time (UTC)/global positioning system (GPS) unavailable due to the atrocious weather, network link stability, and large propagation delay in the SANET. In this paper, we propose a logical clock synchronization algorithm with multi-hop function for the SANET, namely multi-hop clock synchronization for SANET (MCSS). It works in an ad-hoc manner in case of no UTC/GPS being available, and the multi-hop function makes sure the link stability of the network. For the proposed MCSS, the synchronization time reference nodes (STRNs) are efficiently selected by considering the propagation delay, and the beacon collision can be decreased by the combination of adaptive timing synchronization procedure (ATSP) with the proposed STRN selection procedure. Based on the simulation results, we finalize the multi-hop frame structure of the SANET by considering the clock synchronization, where the physical layer parameters are contrived to meet the requirements of target applications.

• 디지털융복합연구
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• 제13권1호
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• pp.297-304
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• 2015

최근 들어 무인 자율주행 기반의 수요응답형 순환교통(PRT)시스템에 대한 수요가 증가하고 있다. 이에 따라 유형 궤도 및 일반적인 도로에서 운용 가능한 PRT 시스템의 적용이 다양하게 검토되고 있다. 유형 궤도가 없이 일반 도로 상에서 운행되는 무인자동 차량의 경우, 실시간으로 차량의 위치 정보를 계측하는 것은 무인 차량의 자동안내를 위해 매우 중요하다. 위성항법장치(GPS)는 차량의 위치 확인을 위해 상업적으로 적용되어 활용되고 있다. 하지만 터널 또는 빌딩 등의 실내 환경에서 적용될 수 없다. 본 논문에서는 이러한 환경적 제약을 극복할 수 있는 자기표지 기반의 PRT 차량 무인운전 시스템의 구성장치와 제어시스템에서 사용하기 위한 차량의 주행제어 모델을 제시하였다. 또한 차량의 주행중 실시간 위치를 추정하기 위해 개발된 자기검출센서를 제시하였고 차량의 무인운전에 필요한 지령을 생성하기 위한 제어SW와 이를 통한 제어시험 결과를 제시하였다.

• 한국해양공학회지
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• 제29권4호
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• pp.300-308
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• 2015

With the increases in oil and gas prices, and energy consumption, drillship construction has increased during the last decade. A drillship using a dynamic positioning (DP) system to maintain its position and heading angle during drilling operations. In addition, a drillship is equipped with a moonpool structure to allow its drilling systems to be operated in the midship section. A drillship for the North Sea is specially designed to endure harsh environmental loads. For safe operation in the North Sea, the drillship should have good motion response and robust hull strength. A break water should be considered on the bow and side deck to prevent the green water on deck phenomenon from incoming waves. In addition, the moonpool should be designed to reduce the speed loss and resonance motion. In this study, the hydrodynamic characteristics of a drillship for the North Sea were examined in relation to the motion, wave loads, green water, and moonpool resonance in the initial design stage.

• 한국통신학회논문지
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• 제33권12A호
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• pp.1217-1224
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• 2008

갈릴레오 위성시스템의 정확한 위치 확인을 위해서는 기본적으로 정화한 반송파 추적이 이루어져야 한다. 주파수 오차를 추적하기 위한 FLL은 전파 도달 시간의 변화를 발생시키는 동적 음력에 강인하지만 정확한 반송파 추적이 어렵다. 반면 위상 오차를 추적하기 위한 PLL은 정확한 반송파 추적이 가능하지만 동적음력에 약하고 높은 동적음력에서 반송파 추적성능이 저하된다. 본 논문에서는 갈릴레오 L1F 신호에서 높은 동적응력에서도 정확한 반송파 추적이 가능하도록 FLL과 PLL의 상호 보완적인 운용과 FLL지원의 PLL 루프필터를 적용한 반송파 추적루프를 설계하였으며, 모의실험을 통하여 제안한 기법의 성능을 입증하였다.