• 한국항해항만학회지
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• 제39권4호
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• pp.307-312
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• 2015

ARPA(Automatic Radar Plotting Aid)는 자동레이더 플로팅 장치로써, 레이더 물표의 상대침로와 상대방위로 구성된 운동벡터에 본선의 침로와 방위로 구성되는 운동벡터를 가감 연산(벡터연산)하여, 물표의 진침로와 진방위 및 최근접점과 근접시간을 계산하는 장치를 말한다. 본 연구의 목적은 ARPA 레이더를 구현하기 위한 물표의 획득 및 추적 기술을 개발하는 것으로, 이에 관한 여러 선행 연구를 검토하여 적용 가능한 알고리듬 및 기법을 조합하여 기초적인 ARPA 기능을 개발하였다. 주요 연구내용으로, 레이더 영상에서 물표를 획득하기 위하여, 회색조 변환, 가운시안 평활 필터 적용, 이진화 및 라벨링(Labeling)과 같은 순차적 영상 처리 방법을 고안하였고, 이전 영상에서의 물표가 다음 영상에서의 어느 물표인지를 결정하는데 근접이웃탐색알고리듬을 사용하였으며, 물표의 진침로와 진방위를 계산하는 거동해석에 칼만필터를 사용하였다. 또한 이러한 기법을 전산 구현하여 실선실험을 수행하였고, 이를 통해 개발된 ARPA의 기능이 실용상 사용가능함을 검증하였다.

• 수산해양기술연구
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• 제59권1호
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• pp.44-54
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• 2023

In this study, the second-order Nomoto's nonlinear expansion model was implemented as a Tagaki-Sugeno fuzzy model based on the heading angular velocity to design the automatic steering system of a ship considering nonlinear elements. A Tagaki-Sugeno fuzzy PID controller was designed using the applied fuzzy membership functions from the Tagaki-Sugeno fuzzy model. The linear models and fuzzy membership functions of each operating point of a given nonlinear expansion model were simultaneously tuned using a genetic algorithm. It was confirmed that the implemented Tagaki-Sugeno fuzzy model could accurately describe the given nonlinear expansion model through the Zig-Zag experiment. The optimal parameters of the sub-PID controller for each operating point of the Tagaki-Sugeno fuzzy model were searched using a genetic algorithm. The evaluation function for searching the optimal parameters considered the route extension due to course deviation and the resistance component of the ship by steering. By adding a penalty function to the evaluation function, the performance of the automatic steering system of the ship could be evaluated to track the set course without overshooting when changing the course. It was confirmed that the sub-PID controller for each operating point followed the set course to minimize the evaluation function without overshoot when changing the course. The outputs of the tuned sub-PID controllers were combined in a weighted average method using the membership functions of the Tagaki-Sugeno fuzzy model. The proposed Tagaki-Sugeno fuzzy PID controller was applied to the second-order Nomoto's nonlinear expansion model. As a result of examining the transient response characteristics for the set course change, it was confirmed that the set course tracking was satisfactorily performed.

• 정보처리학회논문지A
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• 제11A권4호
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• pp.285-296
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• 2004

IT 관련 기술의 발전은 'Any Time, Any Where, Any Service'를 사용자에게 제공할 수 있는 제반 여건을 마련하였으며, 무선 인터넷 서비스는 인터넷 기반의 서비스를 이동 중에도 이용 가능하도록 하였다. 웹 기반의 학사정보시스템을 무선 인터넷 기반의 학사정보시스템으로 활용한 기존의 시스템은 표준화된 환경에서 구축되지 않아 모바일 기기의 플랫폼에 종속적이었다. 또한, 선택과목의 수가 많은 학부제에서는 교육과정의 제작과 관리에 관련된 업무를 담당하고 학생들에게 조언을 해 주는 코스 코디네이터의 역할이 매우 중요하지만, 학생들은 코스 코디네이터를 통해 자신에게 가장 적합한 분야는 무엇이고, 어떠한 과목을 이수해야 하는 지에 대한 도움을 받고 있지 못하다. 본 논문은 JAVA를 이용하여 플랫폼에 독립적이며, 심화된 전공 분야의 학습을 할 수 있도록 도와주는 코스 코디네이터의 역할을 대신하기 위한 WIPI기반의 모바일 코스 코디네이터 시스템을 제안한다. 모바일 코스 코디네이터 시스템은 심화된 전공 분야의 학습을 위해 학부제의 각 분야별 과목에 대한 정보를 담고있는 수강 과목 트리와 학생의 과거 수강이력을 고려한 추론엔진을 포함한다. 학부 내 모든 분야를 고려하였을 때 특정 과목의 중요도와 사용자가 해당과목의 선수과목을 이수하였는지 여부 및 사용자의 학부 내 분야 적합도를 가중치로 나타내어, 수강 신청 시 개별 학생이 자신에게 가장 적합한 과목을 추천받아 선택할 수 있도록 하였다. 모바일 코스 코디네이터 시스템은 학생들에게 조언을 해 주는 코스 코디네이터의 역할을 보조할 수 있을 것이다. 또 학생들은 언제 어디서나 개인 휴대폰을 이용하여 수강신청에 관한 학사정보를 관리할 수 있고, 시스템의 추론에 따른 추천 과목을 수강하여 전공 분야에 대한 깊은 지식을 갖출 수 있을 것이다.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.417-420
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• 2004

Recently, the applications of unmanned system are steadily increasing. Unmanned automatic system is suitable for routine mission such as reconnaissance, environment monitoring, resource conservation and investigation. Especially, for the ocean environment monitoring mission, many ocean engineers had scoped with the routine and even risky works. The automatic system can replace the periodic and routine missions: water sampling, temperature and salinity measuring, etc. In this paper, an unmanned surface vessel was designed for routine and periodic ocean environmental missions. An autonomous control system was designed and tested for the unmanned vessel. A GPS and gyro compass was used for navigation. A linear autopilot model for course control can be derived from the maneuvering model. Nomoto's 2nd-order response equation was derived. The design methodologies and performance of the surface vessel were illustrated and verified with this linearized equation of motion. A linear controller was designed and automatic route tracking performance was verified for yaw subsystem.

• 한국농공학회지
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• 제44권5호
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• pp.88-95
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• 2002

This study is a fundamental research for recycling waste vinyl (WV) in asphalt mixture for improving roadway pavement. Mix design was conducted by WV content and optimum asphalt content (OAC) was determined for dense-graded surface course mixture. Marshall stability test, indirect tensile strength (ITS) test and wheel tracking test were carried out to measure the characteristics of WV-added asphalt concretes. From the results of this study, recycling WV in asphalt mixture is possible. However, as WV content increased, melted WV clustering appeared in asphalt mixture. It could be considered that adding too much WV in asphalt mixture is not proper. The proper content of LDPE and HDPE WV was appeared to be 12% and 8%, respectively.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2007년도 춘계학술대회 논문집
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• pp.1008-1015
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• 2007

The primary purpose of the safety management is to prevent the loss of lives or physical damages arising from potential hazards in the railroad signaling system. Since such potential hazards may occur at any time during the system life cycle from design and development to maintenance, safety management activities have to be continuously taken in the course of the system life cycle. The identification of potential hazards is the early step of the safety management. However, such identification activities have to be continued during the system life cycle. Further, they have to be closely linked with system functions to prevent functional problems. This study provides a systematic approach to identification of potential hazards for their tracking and management during the system life cycle to assure the identification and definition of the most appropriate hazards.

• 한국조명전기설비학회:학술대회논문집
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• 한국조명전기설비학회 1999년도 학술대회논문집-국제 전기방전 및 플라즈마 심포지엄 Proceedings of 1999 KIIEE Annual Conference-International Symposium of Electrical Discharge and Plasma
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• pp.121-126
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• 1999

In this paper, to bring under robust and accurate control of auto-equipment systems which disturbance, parameter alteration of system, uncertainty and so forth exist, neural network controller called dynamic neural processor(DNP) is designed. In order to perform a elaborate task like as assembly, manufacturing and so forth of components, tracking control on the trajectory of power coming in contact with a target as well as tracking control on the movement course trajectory of end-effector is indispensable. Also, the learning architecture to compute inverse kinematic coordinates transformations in the manipulator of auto-equipment systems is developed and the example that DNP can be used is explained. The architecture and learning algorithm of the proposed dynamic neural network, the DNP, are described and computer simulations are provided to demonstrate the effectiveness of the proposed learning method using the DNP.

• 한국조명전기설비학회지:조명전기설비
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• 제13권2호
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• pp.187-187
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• 1999

in order to perform a elaborate task like as assembly, manufacturing and so forth of components, tracking control on the trajectory of power coming in contact with a target as well as tracking control on the movement course trajectory of end-effector is indispensable. In this paper, to bring under robust and accurate control of auto-equipment systems which disturbance, parameter alteration of system, uncertainty and so forth exist, neural network controller called dynamic neural processor(DNP) is designed. Also, the learning architecture to compute inverse kinematic coordinates transformations in the manipulator of auto-equipment system is developed and the example that DNP can be used is explained. The architecture and learning algorithm of the proposed dynamic neural network, the DNP, are described and computer simulation are provided to demonstrate the effectiveness of the proposed learning method using the DNP.

• 제어로봇시스템학회논문지
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• 제20권9호
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• pp.957-963
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• 2014

This paper proposes a predictive control for an efficient human following robot using Kinect sensor. Especially, this research is focused on detecting of foot-end-point and foot-vector instead of human body which can be occluded easily by the obstacles. Recognition of the foot-end-point by the Kinect sensor is reliable since the two feet images can be utilized, which increases the detection possibility of the human motion. Depth image features and a decision tree have been utilized to estimate the foot end-point precisely. A tracking point average algorithm is also adopted in this research to estimate the location of foot accurately. Using the continuous locations of foot, the human motion trajectory is estimated to guide the mobile robot along a smooth path to the human. It is verified through the experiments that detecting foot-end-point is more reliable and efficient than detecting the human body. Finally, the tracking performance of the mobile robot is demonstrated with a human motion along an 'L' shape course.

• 재활복지공학회논문지
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• 제8권1호
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• pp.27-32
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• 2014

본 연구에서는 근래 활성화되고 있는 직업재활 분야의 장애인의 1차 산업 종사에 활성화를 도모하고자 업무 수행을 보조할 수 있는 장치인 수확물 카트 혹은 업무수행 공구함과 같은 장치의 무인 추적 시스템 개발하였다. 개발된 시스템은 사용자가 원거리에서 수동으로 이동을 제어할 수 있으며 또한, 무인으로 사용자를 추적하는 기능을 탑재하고 있다. 본 연구에서 개발된 시스템의 직업재활 분야의 허용성을 평가하기 위하여 사방이 3미터 이상 개방되어 있는 공간에서 시스템을 Y자와 W자 코스를 주행하여 최종 목적지로부터 오차 범위를 5회 기간 분석하였다. 분석 결과 개발된 시스템이 사용자의 추적을 문제없이 하고 있음을 알 수 있었다.