• The Journal of Korea Robotics Society
• /
• v.19 no.1
• /
• pp.8-15
• /
• 2024

This paper proposes a linear model predictive control of 6-DOF remotely operated underwater vehicles using nonlinear robust internal-loop compensator (NRIC). First, we design a integrator embedded linear model prediction controller for a linear nominal model, and then let the real model follow the values calculated through forward dynamics. This work is carried out through an NRIC and in this process, modeling errors and external disturbance are compensated. This concept is similar to disturbance observer-based control, but it has the difference that H_∞ optimality is guaranteed. Finally, tracking results at trajectory containing the velocity discontinuity point and the position tracking performance in the disturbance environment is confirmed through the comparative study with a traditional inverse dynamics PD controller.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.17 no.2
• /
• pp.214-219
• /
• 2007

In this paper, a new magnetic position sensing mettled for autonomous vehicle and robot guidance is presented. In autonomous vehicle and robot control, position sensing is an important task for the identification of their locations, such as the current position within a trajectory. The magnet based autonomous vehicle and robot was identified position via magnetic materials. In the magnetic sensing system, the Earth field is one of the largest disturbance. To removal of the Earth field, this paper proposes 1-dimensional magnetic field sensors array and develops precise petition sensing system using linear operating region of the magnetic field sensor. This proposal is verified a feasible magnetic position sensing system for autonomous vehicle and robot guidance by the experimental results.

• The Journal of The Korea Institute of Intelligent Transport Systems
• /
• v.7 no.4
• /
• pp.49-60
• /
• 2008

The current VIPS are not effective in safety point of view, because they are originally developed for mimicking loop detectors. Therefore, it is important to identify vehicle trajectories in real time, because recognizing vehicle movements over a detection zone enables to identify which situations are hazardous, and what causes them to be hazardous. In order to improve limited safety functions of the current VIPS, this research has developed a computer vision system of monitoring individual vehicle trajectories based on image processing, and offer the detailed information, for example, incident detection and conflict as well as traffic information via tracking image detectors. This system is capable of recognizing individual vehicle maneuvers and increasing the effectiveness of various traffic situations. Experiments were conducted for measuring the cases of incident detection and abnormal vehicle trajectory with rapid lane change.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.22 no.2
• /
• pp.514-521
• /
• 2021

When calculating an intersection collision speed using a formula, it is very difficult to grasp the degree of deceleration of a vehicle after the collision unless there is road surface trace in the entire section where each vehicle moved from the point of collision to their final positions after the collision. A vehicle's motion trajectory shows an irregular curve after a collision due to the effects of inertia based on the driving characteristics of the vehicle, the eccentric force according to the collision site, and the collision speed. Therefore, it is very important to set the appropriate departure angle after a collision for accurate collision speed analysis. In this study, based on experimental collision data using a computer simulation (PC-Crash), the correlation between an appropriate vehicle departure angle and the post-collision speed was analyzed, and then, a regression analysis model was derived. Through this, we propose a method to calculate collision speed by applying only the vehicle departure angle in some types of collisions for traffic accidents at intersections.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.49 no.2
• /
• pp.155-166
• /
• 2021

In this paper, design study of a small two-stage launch vehicle is undertaken for the dedicated launch of the Compact Advanced Satellite 500 (CAS500)-class satellite into the Low Earth Orbit (LEO) by modifying the second and third stages of the Korean Space Launch Vehicle II (KSLV-II). Since the KSLV-II has three stages, velocity increment is newly distributed for the two-stage small launch vehicle. For this end, the staging design is carried out for the design parameters such as stage mass ratios, structural coefficients and engine options for each stage followed by trajectory analysis. Investigation of the results provides the combination of design parameters for the small launch vehicle for the dedicated launch of 500 kg-class satellite into LEO.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.40 no.2
• /
• pp.229-236
• /
• 2016

For this research, the trajectory of a projectile was simulated via the multibody dynamics analysis of a self-propelled mortar. The dynamic model was composed of a mortar model and a vehicle model, and was simulated using the RecurDyn program. Interior ballistic was applied to the mortar model, and exterior ballistic was conducted by Matlab using the simulation results of the interior trajectory. Through repetitive Monte-Carlo simulations, the accuracy of the mortar was analyzed by considering variations in the aiming angle and vehicle dynamic response.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.42 no.7
• /
• pp.544-551
• /
• 2014

A program of launch vehicle performance analysis is composed for the education of the conceptual design of launch vehicles and the requirement analysis for the propulsion system design. The program is applied for the mission analysis of space launch vehicles based on KSLV-II with liquid rocket boosters. The 75-ton class liquid rocket engine is assumed for the boosters by referring the mass ratio of KSLV-II second stage. The launch performance analysis is carried out for KSLV-II with 2, 3 and 4 boosters by targeting the circular orbit of 700 km altitude. The trajectory is assumed as two-dimension considering the variation of the flight environment. Payload of advanced KSLV-II could be increased to maximum 3 tons, though it is limited by the thrust performance of the upper stage.

• Journal of the Korean Society of Propulsion Engineers
• /
• v.18 no.6
• /
• pp.27-33
• /
• 2014

2nd stage of KSLV-I, NaRo-Ho, performs CCAM not to collide with Naro Science Satellite. At that moment, the satellite should pass through the Plume Density area which was generated by KSLV-I KM residual thrust. Therefore, it is necessary to predict Plume Density field of KM residual thrust and guarantee the safety of the trajectory of payload. In this paper, DSMC method was used to simulate Plume Density by KM residual thrust and the simulation showed that the trajectory of Naro Science Satellite was safe.

• International Journal of Aeronautical and Space Sciences
• /
• v.18 no.3
• /
• pp.545-554
• /
• 2017

Among various applications of the High Altitude Long Endurance (HALE) Unmanned Aerial Vehicle (UAV), this paper has a focus on the Global Positioning System (GPS) utilizing pseudolite and its improved performance, particularly during the multi-purpose missions. In a multi-purpose mission, the HALE UAV follows a specified flight trajectory for both navigation applications and missions. Some of the representative HALE missions are remote exploration, surveillance, reconnaissance, and communication relay. During these operations, the HALE UAV can also be an additional positioning signal source as it broadcast signals using pseudolite. The pseudolite signal can improve the availability, accuracy, and reliability of the GPS particularly in areas with poor signal reception, such as shadowed regions between tall buildings. The improvement in performance of navigation is validated through simulations of multi-purpose missions of the solar-powered HALE UAV in an urban canyon. The simulation includes UAV trajectory generation at stratosphere and uses actual geographical building data. The results indicate that the pseudolite-equipped HALE UAV has the potential to enhance the performance of the satellite navigation system in navigationally degraded regions even during multi-purpose operations.

• International Journal of Control, Automation, and Systems
• /
• v.3 no.4
• /
• pp.509-523
• /
• 2005

We are developing a novel framework, PRIDE (PRediction In Dynamic Environments), to perform moving object prediction (MOP) for autonomous ground vehicles. The underlying concept is based upon a multi-resolutional, hierarchical approach which incorporates multiple prediction algorithms into a single, unifying framework. The lower levels of the framework utilize estimation-theoretic short-term predictions while the upper levels utilize a probabilistic prediction approach based on situation recognition with an underlying cost model. The estimation-theoretic short-term prediction is via an extended Kalman filter-based algorithm using sensor data to predict the future location of moving objects with an associated confidence measure. The proposed estimation-theoretic approach does not incorporate a priori knowledge such as road networks and traffic signage and assumes uninfluenced constant trajectory and is thus suited for short-term prediction in both on-road and off-road driving. In this article, we analyze the complementary role played by vehicle kinematic models in such short-term prediction of moving objects. In particular, the importance of vehicle process models and their effect on predicting the positions and orientations of moving objects for autonomous ground vehicle navigation are examined. We present results using field data obtained from different autonomous ground vehicles operating in outdoor environments.