• 대한임베디드공학회논문지
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• 제13권6호
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• pp.321-328
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• 2018

This paper presents an automatic target tracking flight system using a PID controller based on velocity command of a multirotor UAV. The automatic flight system includes marker based onboard target detection and an automatic velocity command generation replacing manual controller. A quad-rotor UAV is equipped with a camera and an image processing computer to detect the marker in real time and to estimate the relative distance from the target. The marker tracking system consists of PID controller and generates velocity command based on the relative distance. The generated velocity command is used as the input of the UAV's original flight controller. The operation of the proposed system was verified through actual flight tests using a marker on top of a moving vehicle and tracks it to successfully demonstrate its capability using a quad-rotor UAV.

• Journal of Advanced Marine Engineering and Technology
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• 제25권1호
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• pp.199-208
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• 2001

In this paper, an automatic route tracking algorithm using the position variables and the yaw angle of a ship is suggested, Since most autopilot systems paly only a role of course-keeping by integrating the gyrocompass output, they cannot cope with position errors between the desired route and real route of the ship resulted from a drifting and disturbances such as wave, wind and currents during navigation. In order for autopilot systems to track the desired route, a method which can reduce such position errors is required and some algorithms have been proposed[1,2]While such were turned out effective methods, they have a shortage that the rudder control actions for reducing the position errors are occurred very frequently. In order to improve this problem it is necessary to convert that error into the corresponding yaw angle and necessary to treat only yaw angle control problem. To do this a command generation algorithm which converts the rudder angle command reducing the current position error into they yaw angle command is suggested. To control the ship under disturbances and nonlinearities of the ship dynamics, the adaptive fuzzy controller is developed. Finally, through computer simulations for two ship models, the effectiveness of the suggested method and the possibility of the automatic route tracking are assured.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2015년도 전력전자학술대회 논문집
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• pp.361-362
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• 2015

This paper proposes a Direct Power Control (DPC) scheme of improved command tracking capability for Permanent Magnet Synchronous Generator (PMSG) Medium Voltage (MV) Wind Turbines. Benchmarking is performed based on a neutral point clamped three-level back-to-back type voltage source converter. It is introduced to design the DPC modeling and propose DPC scheme of a three-level NPC (3L-NPC) converter. During the fault condition in wind farms, the proposed control scheme directly controls the generated output power to the command value from the hierarchical wind farm controller. The proposed control scheme is compared with conventional control scheme as respect to loss and thermal analysis. The DPC scheme of improved command tracking capability is confirmed through PLECS simulations. Simulation result shows that proposed control scheme achieves a much shorter transient time in a step response of generated output power. The proposed control scheme makes it possible to provide a good dynamic performance for PMSG MV wind turbine to generate a high quality output power under grid fault condition.

• 전기학회논문지
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• 제67권10호
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• pp.1395-1400
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• 2018

EO TGP(Electro-Optical Targeting Pod) is an optical tracking system which has various functions such as target tracking and image stabilization and LOS(Line of Sight) change. Especially, it is very important to move the LOS into a interest point for joystick command. When pilot move joystick in order to observe different scene, EO TGP gimbals should be operated properly. Generally, most EOTS just operate corresponding gimbal for joystick command. For example, if pilot input horizontal command in order to observe right hand screen, it just drive azimuth gimbal at any position. But in the screen, the image dosen't move in a horizontal direction because gimbal structure is Euler angle. And image rotation is occurred by elevation gimbal angle. So we need to move Pitch gimbal. So in the paper, we designed LOS moving algorithm which convert LOS command to gimbal velocity command to move LOS properly. We modeled a differential kinematic equation and then change the joystick command into velocity command of gimbals. This algorithm generate velocity command of each gimbal for same horizontal direction command. Finally, we verified performance through MATLAB/Simulink.

• 한국우주과학회:학술대회논문집(한국우주과학회보)
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• 한국우주과학회 1995년도 한국우주과학회보 제4권2호
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• pp.36-36
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• 1995

No Abstract, See Full Text

• 한국군사과학기술학회지
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• 제10권2호
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• pp.21-30
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• 2007

A practical method to design the input shaping which generates control command is proposed in this paper, We suggest an experimental technique considering human operator's target tracking error to improve aiming accuracy which significantly affects hit probability. It is known that stabilization performance is one of the most important factors for ground combat vehicle system. In particular, stabilization error of the manual target tracking system mounted on moving vehicle directly affects hit probability. To reduce this error, we applied input command shaping method using preprocessing filtering and functional curve fitting. First of all, we construct the human operator model to consider effects of human operator on our system. Input shaping curve is divided into several regions to get rid of the above problems and to improve the system performance. At example design part, we chose three steps of functional command curve and determine the parameters of the function by the proposed design method. In order to verify the proposed design method, we carried out the experiments with real plant of a fighting vehicle.

• 한국통신학회:학술대회논문집
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• 한국통신학회 1996년도 추계종합학술발표회 논문집
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• pp.915-918
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• 1996

• 한국산업융합학회 논문집
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• 제26권2_1호
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• pp.225-230
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• 2023

This research addresses sound command based human tracking problems for autonomous cleaning mobile robot in a networked AI space. To solve the problem, the difference among the traveling times of the sound command to each of three microphones has been used to calculate the distance and orientation of the sound from the cleaning mobile robot, which carries the microphone array. The cross-correlation between two signals has been applied for detecting the time difference between two signals, which provides reliable and precise value of the time difference compared to the conventional methods. To generate the tracking direction to the sound command, fuzzy rules are applied and the results are used to control the cleaning mobile robot in a real-time. Finally the experiment results show that the proposed algorithm works well, even though the mobile robot knows little about the environment.

• 정보보호학회논문지
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• 제33권5호
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• pp.721-736
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• 2023

명령 제어 프레임워크 (Command and Control Framework)는 모의 침투 및 교육용으로 개발되었으나 사이버 범죄 그룹과 같은 위협 행위자들이 악용하고 있다. 잠재적인 위협을 식별하고 선제 대응을 하는 사이버 위협 헌팅 관점에 따라 명령 제어 프레임워크가 작동하고 있는 서버를 식별하고 사전 차단하면 위험 요소 관리에 기여를 할 수 있다. 따라서, 이 논문에서는 명령 제어 프레임워크를 사전 추적할 수 있는 방법론을 제안한다. 방법론은 명령제어 프레임워크 관련 서버 목록 수집, 단계적 전달 모사, 봇넷 설정 추출, 인증서 수집 및 특징 추 출4단계로 구성된다. 또한, 상용 명령 제어 프레임워크인 코발트 스트라이크에 제안한 방법론을 적용하여 실험을 수행한다. 실험에서 수집된 비콘, 인증서에 대한 분석 내용을 공유함으로써 명령 제어 프레임워크로부터 발생할 수 있는 사이버 위협 대응 기반을 마련하고자 한다.

• 한국항공우주학회지
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• 제39권2호
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• pp.114-120
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• 2011

본 논문에서는 다수의 무인항공기가 저속으로 이동하는 지상 목표물을 추적하기 위한 협력제어 기법을 제안한다. 유도명령을 생성하기 위하여 르야프노프 안정성 이론을 이용한 벡터필드를 설계한다. 목표물과 일정한 거리를 유지하며 선회하기 위한 롤각 명령을 생성한다. 이와 동시에 목표물에 대한 항공기의 위상각을 조절하기 위한 속도 명령과 기수각 명령을 생성하고, 항공기 간 충돌방지를 고려한 기법을 제시한다. 다수의 무인항공기를 이용한 수치 시뮬레이션을 수행하여 제안된 제어기법의 성능을 검증하였다.