• Journal of the Korean Society for Precision Engineering
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• v.13 no.10
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• pp.94-104
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• 1996

This paper presents a new approach to the design of adaptive control system using DSPs(TMS320C31) for robotic manpulators to achieve accurate trajectory tracking by the joint angles Digital signal processors are used in implementing real time adaptive control algorithms to provide an enhanced motion control for robotic manipulators. In the proposed contorl scheme, adaptation laws are derived from the improved Lyapunov second stability analysis method based on the adaptive model reference control theory. The adaptive controller consists of an adaptive feedforward controller, feedback controller, and PID type time varying auxillary control elements. The proposed adaptive control scheme is simple in structure, fast in computation, and suitable for implementation of real-time control. Morever, this scheme does not require an accurate dynamic modeling nor values of manpipulator parameters and payload. Performance of the adaptive controller is illustated by simulation and experimental results for a SCARA robot.

• Journal of Korean Port Research
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• v.12 no.1
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• pp.95-104
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• 1998

Water pollution in a semi-enclosed sea area such as a bay due to stagnancy of water has been a serious water environmental problem. Recently, some kinds of new methods to activate the tidal exchange between an inner bay and an outer sea area by control of a tidal residual current have been proposed. However, these methods have several problems, that is, I). deterioration in a natural view due to building of huge structures, II). increase of risk of navigation in case of a submerged structure, III). limition of sea area where a tidal current can be controlled and IV). difficulty in removing those structures in case of occurrence of an unexpected impact on water environment. In this paper, a new method is proposed, which can solve all the above problems, to purify water quality in a semi-enclosed bay by creation and control of a pattern of a tidal residual current. The tidal residual current is controlled by unsymmetric structures, which change the properties of resistance according to the direction of flow, arranged on the sea bottom. In this study, several numerical and hydraulic experiments of tidal current and particle-tracking for various arrangements of bottom roughness in a semi-enclosed model bay were carried out. As a result of experiments, it becomes clear that it is possible to generate a new tidal residual current and to activate a tidal exchange by only operation of bottom roughness arrangement.

• Proceedings of the Korea Water Resources Association Conference
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• 2021.06a
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• pp.248-248
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• 2021

본 연구에서 개발한 하천흐름해석모형 HDM-2Di는 2차원 추적모형에 필요한 격자생성기(RAMS-G) 및 GUI (RAMS+)와 연계하여 요소망 생성기능 및 요소망 처리기능을 통해 실제 지형을 반영할 수 있는 전처리 과정을 수행할 수 있다. 장구간 하천에서 신속하고 정확하게 모의결과를 도출할 수 있도록 입출력 체계를 구조화하다. 또한 하천의 복잡한 지형과 자연 하천구조의 동역학적인 흐름환경을 효과적으로 재현할 수 있으며 흐름해석모의 결과인 2차원 평면상의 유속과 수심을 2차원 유해화학물질 추적모형(CTM-2D-TX)의 입력자료로 활용할 수 있도록 개발하였다. HDM-2Di 모형의 성능 검증을 위하여 정상류 및 준부정류, 부정류 조건 흐름해석 성능 테스트를 진행하였으며, 실제 자연하천의 물리적 구조를 재현한 사행수로 추적자 실험 결과와 모형 결과를 비교분석하였다. 또한 자연하천 적용을 위하여 구미보와 칠곡보 구간을 대상으로 ADCP 실측 결과와 상용모형인 Nays-2DH 모의 결과와의 비교를 통해 HDM-2Di 흐름해석모형의 정확성 및 적용성을 평가하였다.

• Annual Conference of KIPS
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• 2021.11a
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• pp.723-726
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• 2021

현재 단일 이미지에서 Object Detection 성능은 매우 좋은 편이다. 하지만 동영상에서는 처리 속도가 너무 느리고 임베디드 시스템에서는 real-time이 힘든 상황이다. 연구 논문에서는 하이엔드 GPU에서 다른 기능 없이 YOLO만 구동했을 때 real-time이 가능하다고 하지만 실제 사용자들은 상대적으로 낮은 사양의 GPU를 사용하거나 CPU를 사용하기 때문에 일반적으로는 자연스러운 real-time을 하기가 힘들다. 본 논문에서는 이러한 제한점을 해결하고자 계산량이 많은 Object Detection model 사용을 줄이는 방안은 제시하였다. 현재 Video영상에서 Object Detection을 수행할 때 매 frame마다 YOLO모델을 구동하는 것에서 YOLO 사용을 줄임으로써 계산 효율을 높였다. 본 논문의 알고리즘은 카메라가 움직이거나 배경이 바뀌는 상황에서도 사용이 가능하다. 속도는 최소2배에서 ~10배이상까지 개선되었다.

• Journal of the Korean Society of Systems Engineering
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• v.19 no.2
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• pp.126-134
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• 2023

Drones are emerging as a new security threat, and the world is working to reduce them. Detection and identification are the most difficult and important parts of the anti-drone systems. Existing detection and identification methods each have their strengths and weaknesses, so complementary operations are required. Detection and identification performance in anti-drone systems can be improved through the use of artificial intelligence. This is because artificial intelligence can quickly analyze differences smaller than humans. There are three ways to utilize artificial intelligence. Through reinforcement learning-based physical control, noise and blur generated when the optical camera tracks the drone may be reduced, and tracking stability may be improved. The latest NeRF algorithm can be used to solve the problem of lack of enemy drone data. It is necessary to build a data network to utilize artificial intelligence. Through this, data can be efficiently collected and managed. In addition, model performance can be improved by regularly generating artificial intelligence learning data.

• Journal of Information Processing Systems
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• v.20 no.2
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• pp.239-251
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• 2024

Coronavirus disease 2019 (COVID-19) has severely curtailed travelers' willingness to carpool and complicated the psychological processing system of travelers' carpooling decisions. In the post-COVID-19 era, a two-stage decision model under dynamic decision scenarios is constructed by tracking the psychological states of subjects in the face of multi-scenario carpooling decisions. Through a scenario experiment method, this paper investigates how three psychological variables, travelers' psychological distance to COVID-19, anticipated regret, and experienced regret about carpooling decisions, affect their willingness to carpool and re-carpool. The results show that in the initial carpooling decision, travelers' perception gap of anticipated regret positively predicts carpooling willingness and partially mediates between psychological distance to COVID-19 and carpooling willingness; in the re-carpooling decision, travelers' perception gap of anticipated regret mediates in the process of experienced regret influencing re-carpooling willingness; the inhibitory effect of experienced regret on carpooling in the context of COVID-19 is stronger than its facilitative effect on carpooling willingness. This paper tries to offer a fact-based decision-processing system for travelers.

• Journal of KIISE:Databases
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• v.31 no.5
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• pp.479-491
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• 2004

Location information of mobile objects is applied to vehicle tracking, digital battlefields, location based services, and telematics. Their location coordinates are periodically measured and stored in the application systems. The linear function is mainly used to estimate the location information that is not in the system at the query time point. However, a new method is needed to improve uncertainties of the location representation, because the location estimation by linear function induces the estimation error. This paper proposes an application method of the cubic spline interpolation in order to reduce deviation of the location estimation by linear function. First, we define location information of the mobile object moving on the two-dimensional space. Next, we apply the cubic spline interpolation to location estimation of the proposed data model and describe algorithm of the estimation operation. Finally, the precision of this estimation operation model is experimented. The experimentation comes out more accurate results than the method by linear function, although the proposed location estimation function uses the small amount of information. The proposed method has an advantage that drops the cost of data storage space and communication for the management of location information of the mobile objects.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.37 no.7
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• pp.851-856
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• 2013

Recently, as the tactical environment has changedto one of network-centric warfare, where all components are connected through a network, much emphasis has been placed on the use of an artificial satellite for achieving high communication speeds. To provide a high-quality artificial satellite link, stabilization is very important in a platform. Previous stabilization control techniques used PI control, which is commonly used for vessels. However, for ground terminals that require a higher communication speed, the antenna should move faster to track an artificial satellite within a short period of time. Moreover, the terminals must be equipped with proper sensors and algorithms so that they can detect and compensate for external disturbances while tracking the artificial satellite. In this study, through the analysis of the dynamic model of an antenna system, a stabilization algorithm for ground terminals was proposed;this algorithm shows high isolation performance in the low-frequency range and includes $PI^2$ control.

• Applied Chemistry for Engineering
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• v.7 no.2
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• pp.371-378
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• 1996

A prototype of expert system which can support the operation for the municipal waste water treatment plant located at Kyoung-Ki Do, Kwang-ju Kun was developed and tested. This system provides (i) tracking the cause of the problem, (ii) analysis, and (iii) solution Knowledge-base consists of about 100 production-rules for the biological wastewater process, such as bio-reactor and final clarifier. Rules were obtained from the analysis of the problems such as sludge bulking. The system provides stable process control and management and effectively helps inexperienced operators with advanced and standard technologies. Future works will focus to develop a statistical process control model and associate with expert system. The control model can process the operation data statistically; analyze the relationship between affecting factors and control variables; and provide optimum operation parameters.

• Journal of Korean Society of Transportation
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• v.27 no.3
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• pp.131-140
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• 2009

A diversity of railway network function enhancement projects such as the double tracking, electrification, and direct operation have been actively executed to improve the railway service. When the new rapid railway is provided, how many people will use it instead of other transports? How will the railway choice behavior be changed? Accordingly, in this paper, the applicability of diverted travel demand forecast method by Stated Preference(SP) and Transfer Price(TP) data was reviewed for Daegu metropolitan railway service. As the result of implementing the Revealed Preference(RP) and RP+SP model, the total travel time and travel cost parameters are of the right sign and are highly significant. In particular, when TP data is used as the complementary investigation of SP, the boundary value of diverted travel demand can be easily identified by railway fare and travel time service level. Therefore, it is considered that this will practically apply even in other regions as well as Daegu metropolitan railway.