• 제어로봇시스템학회논문지
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• 제20권11호
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• pp.1085-1091
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• 2014

This paper presents the guidance and control design for automatic carrier landing of a UAV (Unmanned Aerial Vehicle). Differently from automatic landing on a runway on the ground, the motion of a carrier deck is not fixed and affected by external factors such as ship movement and sea state. For this reason, robust guidance/control law is required for safe shipboard landing by taking the relative geometry between the UAV and the carrier deck into account. In this work, linear quadratic optimal controller and longitudinal/lateral trajectory tracking guidance algorithm are developed based on a linear UAV model. The feasibility of the proposed control scheme and guidance law for the carrier landing are verified via numerical simulations using X-Plane and Matlab/simulink.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제12권7호
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• pp.3018-3040
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• 2018

The mobility model is one of the most important factors that impacts the evaluation of any transportation vehicular networking protocols via simulations. However, to obtain a realistic mobility model in the dynamic urban environment is a very challenging task. Several studies extract mobility models from large-scale real data sets (mostly taxi GPS data) in recent years, but they do not consider the statuses of taxi, which is an important factor affected taxi's mobility. In this paper, we discover three simple observations related to the taxi statuses via mining of real taxi trajectories: (1) the behavior of taxi will be influenced by the statuses, (2) the macroscopic movement is related with different geographic features in corresponding status, and (3) the taxi load/drop events are varied with time period. Based on these three observations, a novel taxi mobility model (T-START) is proposed with respect to taxi statuses, geographic region and time period. The simulation results illustrate that proposed mobility model has a good approximation with reality in trajectory samples and distribution of nodes in four typical time periods.

• 한국중재학회지:중재연구
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• 제25권3호
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• pp.185-226
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• 2015

As in some developing countries and more recently some developed countries worldwide and in the Asian region, Australia has faced significant internal opposition and public debate especially over treaty-based investor-state dispute settlement (ISDS). As outlined in Part II(1), concerns have re-emerged and escalated since the first-ever claim was brought against Australia regarding its tobacco plain packaging legislation, in 2011 by Philip Morris Asia under an old BIT with Hong Kong. However, Australia signed bilateral FTAs with Korea in 2014 and with China in 2015, including ISDS protections, prompting several sets of parliamentary inquiries (Part II(2)). Australia's close trading partner, New Zealand, had already concluded an FTA with China in 2008 that included more expansive ISDS-backed investor protections. In 2015, the New Zealand Parliament has been debating ratification of its own FTA with Korea, with ISDS also now attracting growing scrutiny, as elaborated in Part III below. In both bilateral FTA negotiations, the present Korean government seems to have reverted to a strong preference for concluding investment agreements with extensive ISDS protections, despite public and parliamentary debate around 2011 in the context of ratifying its FTA with the United States. As mentioned briefly in the concluding Part IV, Korea's stance has significant implications for the future trajectory of treaty-based ISDS - and indeed international arbitration more generally - in the Asia-Pacific region, and perhaps even globally.

• 보건교육건강증진학회지
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• 제27권4호
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• pp.123-129
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• 2010

Objectives: The aim of this study is to seek an effective way to support smoking cessation by analyzing any change to the pattern of nicotine dependence according to the change in time. Methods: The study was conducted with 800 male smokers who had participated in smoking cessation programs at public health centers from July 16, 2005 to July 15, 2008. Latent growth curve modeling approach was used for data analysis. Results: From the developmental trajectory of individual nicotine dependence, while nicotine dependence of smokers with high nicotine dependence in the first year was slightly decreased in the third year, smokers with low nicotine dependence in the year showed dramatically lower nicotine dependence in the third year. Compared with those who did not successfully quit smoking, the initial value of nicotine dependence of those who successfully quit smoking in the first and the second year was low. Over the years, nicotine dependence was decreased. Conclusion: From this study it was demonstrated that nicotine dependence was reduced through the practice of smoking cessation and reduced nicotine dependence was a factor which affects successful smoking cessation. These results indicate that multiple attempts to quit smoking finally reduces nicotine dependence. Reduced nicotine dependence is likely to increase the possibility of successful smoking cessation.

• 대한기계학회논문집B
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• 제25권11호
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• pp.1543-1551
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• 2001

The characteristics of starting flow of a six-blade Rushton turbine mixer were investigated by using a cinematic Particle Image Velocimetry technique. The flows were quantified by measurements of velocity fields with a 4 ms time interval for a blade rotational speed of 100 r.p.m, so that the turbine Reynolds number(ND$^2$/ ν) was fixed to 6,960. The radial shedding of the trailing vortices starts from passing four blades after the beginning of rotation. It clearly shows that the vortex pairing phenomena caused by the interactions between trailing cortices firm consequtive blades. The average convection velocity of the radial flow is found to be 28 % of the tip velocity. The starting flow seems to arrive at a steady state after 8 revolutions in this study, which corresponds nearly one circulation through the bulk flow trajectory with the average radial convection velocity.

• Journal of Mechanical Science and Technology
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• 제17권5호
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• pp.629-636
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• 2003

This paper introduces the developed geometry PIG (Pipeline Inspection Gauge), one of several ILI (In-Line Inspection) tools, which provide a full picture of the pipeline from only single pass, and has compact size of the electronic device with not only low power consumption but also rapid response of sensors such as calipers, IMU and odometer. This tool is equipped with the several sensor systems. Caliper sensors measure the pipeline internal diameter, ovality and dent size and shape with high accuracy. The IMU (Inertial Measurement Unit) measures the precise trajectory of the PIG during its traverse of the pipeline. The IMU also provide three-dimensional coordination in space from measurement of inertial acceleration and angular rate. Three odometers mounted on the PIG body provide the distance moved along the line and instantaneous velocity during the PIG run. The datum measured by the sensor systems are stored in on-board solid state memory and magnetic tape devices. There is an electromagnetic transmitter at the back end of the tool, the transmitter enables the inspection operators to keep tracking the tool while it travels through the pipeline. An experiment was fulfilled in pull-rig facility and was adopted from Incheon LT (LNG Terminal) to Namdong GS (Governor Station) line, 13 km length.

• 한국산업융합학회 논문집
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• 제19권2호
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• pp.81-87
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• 2016

This paper presents a new approach to control of stable motion of single wheel driving robot system of a pitch that is controlled by an in-wheel motor and a roll that is controlled by a reaction wheel. This robot doesn'thave any actuator for a yaw axis control, which makes the derivation of the dynamics relatively simple. The Lagrange equations was applied to derive the dynamic equations of the one wheel driving robot to implement the dynamic speed control of the mobile robot. To achieve the real time speed control of the unicycle robot, the sliding mode control and optical regulator are utilized to prove the reliability while maintaining the desired speed tracking performance. In the roll controller, the sigmoid-function based robust controller has been adopted to reduce the vibration by the situation function. The optimal controller has been implemented for the pitch control to drive the unicycle robot to follow the desired velocity trajectory in real time using the state variables of pitch angle, angular velocity, angle and angular velocity of the driving wheel. The control performance of the control systems from a single dynamic model has been illustrated by the real experiments.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제12권8호
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• pp.3769-3789
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• 2018

Social pedestrian groups are the basic elements that constitute a crowd; therefore, detection of such groups is scientifically important for modeling social behavior, as well as practically useful for crowd video understanding. A social group refers to a cluster of members who tend to keep similar motion state for a sustained period of time. One of the main challenges of social group detection arises from the complex dynamic variations of crowd patterns. Therefore, most works model dynamic groups to analysis the crowd behavior, ignoring the existence of stationary groups in crowd scene. However, in this paper, we propose a novel unified framework for detecting social pedestrian groups in crowd videos, including dynamic and stationary pedestrian groups, based on spatiotemporal-oriented energy measurements. Dynamic pedestrian groups are hierarchically clustered based on energy flow similarities and trajectory motion correlations between the atomic groups extracted from principal spatiotemporal-oriented energies. Furthermore, the probability distribution of static spatiotemporal-oriented energies is modeled to detect stationary pedestrian groups. Extensive experiments on challenging datasets demonstrate that our method can achieve superior results for social pedestrian group detection and crowd video classification.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1987년도 정기총회 및 창립40주년기념 학술대회 학회본부
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• pp.417-420
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• 1987

For an increased level of productivity, it is important that the end-point of a robot manipulator moves from an initial location to final position in the minimum time subject to the available maximum actuator's torque (or force) at each joints. The main issue is to develop an algorithm to compute the actuators in real-time. In this paper, a digital state feedback control algorithm has bean developed to obtain the near-minimum-time trajectory for the end-effector of a robot manipulator. In this algorithm, the poles of the linearized closed loop system are judiciously placed in the Z-plane to permit minimum-time response without violating the constraints on the actuator torques. The validity of this algorithm have been established using numerical simulations. A three-link manipulator in chosen for this purpose and results are discussed for three different combinations of initial and final station.

• International Journal of Ocean System Engineering
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• 제1권3호
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• pp.120-135
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• 2011

This paper proposes a model based trajectory tracking control scheme for under-actuated underwater robotic vehicles. The difficulty in stabilizing a non-linear system using smooth static state feedback law means that the design of a feedback controller for an under-actuated system is somewhat challenging. A necessary condition for the asymptotic stability of an under-actuated vehicle about a single equilibrium is that its gravitational field has nonzero elements corresponding to non-actuated dynamics. To overcome this condition, we propose a continuous time-varying control law based on the direct estimation of vehicle dynamic variables such as inertia, damping and Coriolis & centripetal terms. This can work satisfactorily under commonly encountered uncertainties such as an ocean current and parameter variations. The proposed control law cancels the non-linearities in the vehicle dynamics by introducing non-linear elements in the input side. Knowledge of the bounds on uncertain terms is not required and it is conceptually simple and easy to implement. The controller parameter values are designed using the Taguchi robust design approach and the control law is verified analytically to be robust under uncertainties, including external disturbances and current. A comparison of the controller performance with that of a linear proportional-integral-derivative (PID) controller and sliding mode controller are also provided.