• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1990년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 26-27 Oct. 1990
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• pp.469-474
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• 1990

The implementation of modern guidance law derived from optimal control theory requires accurate current states of target, for example, position, velocity and acceleration etc. But there is no sensors that measure the target states directly. So they are estimated from measurable data. For atmospheric missile engagement, direct application of the modern guidance laws may result In deterioration of Intercept performance because of poor observability associated with angles only-measurements by passive seeker and homing geometry. In this paper, a trajectory modulation method called "adaptive Intermittent maneuvers" is added to the modern guidance law, so the observability is enhanced and, consequently, improved the intercept performance. The estimation algorithm called "modified gain pseudo-measurement filter" is used for tracking filter. It is assumed that the passive seeker measure the angles between line of sight and Inertial frame. The Monte-Carlo simulation for realistic air-to-air Intercept scenario are conducted to demonstrate the effectiveness of intermittent maneuvers.ermittent maneuvers.

• 제어로봇시스템학회논문지
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• 제18권1호
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• pp.62-68
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• 2012

In this paper, a detection method of a pedestrian safety road marking was proposed. The proposed algorithm uses laser range and reflectivity of a range finder (LRF). For a detection of crosswalk marking and stop line, the DFT (Discrete Fourier Transform) of reflectivity and cross-correlation method between the reference replica and the measured reflectivity are used. A speed bump is detected through measuring an altitude difference of two LRFs which have the different tilted angle. Furthermore, we proposed a velocity constrained a detection method of a speed bump. Finally, the proposed methods are tested in on-line, on the pavement of a road. The considered road markings are wholly detected. The localization errors of both road markings are smaller than 0.4 meter.

• 제어로봇시스템학회논문지
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• 제14권9호
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• pp.898-903
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• 2008

In most cases, the trajectory of a ballistic missile is well explained by the Kepler's laws. It implies that the remaining trajectory of the ballistic missile including its final destination can be easily predicted if the position and velocity vector of the ballistic missile at any point on its path can be exactly known. Hence, an effective tracking algorithm based on an exact radar measurement model is very important for developing Ballistic Missile Defense(BMD) system. In this paper, we address to design a nonlinear filter, Unscented Kalman Filter(UKF), to track the ballistic missile.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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• pp.347-347
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• 2000

Nowadays, the Laser image is used to realize multi-media show for events, an advertising media and 3D simulation, realization of video image and so on. It is a hot issue to realize the laser image like computer graphic image. The image used in laser projector is vector graphic image that is described by linking point to point. A computer makes this continuous vector graphic images so that the image shows as an animation. A control signal converted by a computer makes the laser projector draw image. Two motors and universal joint are used to realize 2D laser image in this study. Developing a controller applied Look-ahead algorithm and software to interface with personal computer, This study is the chief aim of improving difference of moving velocity that is appeared from edge of vector graphic image and disparity of graphic density.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1987년도 정기총회 및 창립40주년기념 학술대회 학회본부
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• pp.25-28
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• 1987

Design procedure of adaptive controller with variable load condition is present and applied to velocity control of small, permanent magnet DC servo motor. The state feedback control scheme is adopted and Recursive Least Squares algorithm is used for parameter estimation. In order to reduce the time consuming. In the procedure of adaptation-gain tuning of state feedback controller, approximate curve fitting technique is applied to the relations between load condition and poles of the system, load condition and feedback gains. With this method, fast adaptation can be accomplished. It is shown that this procedure can be applied not only to variable load condition but also to variation of other system constants, for example variation of resistance and inductance etc.. Simulation results is present for both cases - variable inertia load, variable motor resistance to verify performance improvements. This design procedure produces an adaptive con troller which is feasible for implementation with microprocessor by reducing calculation time.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2007년도 정기 학술대회 논문집
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• pp.607-612
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• 2007

A conventional passive TMD is only effective when it is tuned properly. In many practical applications, inevitable off-tuning of a TMD occurs because the mass in a building floor could change by moving furnishings, people gathering, etc. When TMDs are off tuned, TMDs their effectiveness is sharply reduced. This paper discusses the application of MR-TMD, semi-active damper, for the reduction of floor vibrations due to machine and human movements. Here, the groundhook and skyhook algorithm are applied to a single degree of freedom system representative of building floors. And displacement and velocity base control method are applied to reduce t100r vibration. The performance of the STMD is compared to that of the equivalent passive TMD. Comparison of the results demonstrates the efficiency and robustness of STMD with respect to equivalent TMD.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2013년도 추계학술대회
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• pp.510-512
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• 2013

본 논문에서는 이동 에드 혹 네트워크(Mobile Ad-hoc network: MANET)에서의 상황인식 기반의 에너지 스케쥴링 기법인 ESWC(Energy Scheduling Weighted-value Control) 알고리즘을 제안한다. 기존 MANET에서 노드의 에너지를 관리하기 위한 여러 가지의 방법들이 제안 되고 있다. 특히 이동노드들의 경우 이동성에 따라 에너지 소모율이 다르며, 이때 상호 노드간 전송하는 데이터와 상호 위치에 따라 에너지 소모율은 다르게 된다. 본 논문에서는 계층적 클러스터 단위의 동적인 토폴로지에서 전송 거리와 전송 데이터의 패킷량이 어떠한 상호관계에 따라 노드의 소모 에너지에 미치는 영향이 있는지를 분석한다. ESWC에서 도출된 에너지의 가중치 결과는 최종적으로 전송 경로에 있어 에너지 소모율을 분석하여 네트워크상에서 전체적인 노드의 라이프타임을 향상 시킬 수 있다. 본 연구의 주어진 모의실험환경에서 노드의 방향성 및 시간에 따른 이동성을 반영함으로써 에너지 효율적인 클러스터링 및 라우팅 경로 알고리즘이 제공되어 네트워크의 최적화된 에너지 소모 결과를 보여주었다.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2003년도 가을 학술발표회 논문집
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• pp.153-160
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• 2003

The objective of optimal placement of dampers for a structure is to maximize the effective-ness of the vibration control with the same number of dampers. While many optimal placement methods of linear viscous dampers have been proposed and used, there are only a few methods for MR dampers. Here some optimal location indices for M dampers are proposed, which are similar to those for linear viscous dampers and show how large the structural responses on each floor are. Every time an additional MR damper is implemented, the optimal location index on each floor is measured, and then the next damper is installed on the floor with the maximum location index. In these sequential procedures, the peak interstory drift, the peak interstory velocity and the absolute acceleration of each floor are selected as the optimal location indeices. Four different earthquakes with various scales are loaded to the 20-story nonlinear benchmark building model (Otori et al. 2000, 2002). Passive On/on algorithms are used in order to represent the control algorithm of M dampers.

• 한국공작기계학회논문집
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• 제11권6호
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• pp.31-37
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• 2002

This paper presents a new motion control strategy for singularity avoidance in 6 DOF articulated robot manipulators, based on a speed limiting algorithm for joint positions and velocities. For a given task, the robot is controlled so that the joints move with acceptable velocities and positions within the reachable range of each joint by considering the velocity limit. This paper aims at the development of a new efficient method to control robot motion near and at singularities. The proposed method has focused on generating the optimal joint trajectory for a Cartesian end-effector path within the speed limit of each joint by using the speed limit avoidance as well as the acceleration/deceleration scheme. The proposed method was verified using MATLAB-based simulations.

• 제어로봇시스템학회논문지
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• 제12권6호
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• pp.554-560
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• 2006

In this paper, we propose the topological map building method about unknown environment using the ultrasonic sensors. An ultrasonic sensor inherently has the range error due to the specular reflection. To decrease this error, we estimate the obstacle states(position and velocity) using the local minimum sensor values and Jacobian. Estimated states are used to avoid the obstacles and build the topological map similar to the type that human being memorizes an environment. When a mobile robot is faced with three problems(comer way, cross way and dead end), it senses the movable directions using FIS(Fuzzy Inference System). Among these directions, it can select the target direction using binary decision tree(Turn Side Selector). Proposed algorithm has been verified with three simulations and three implementations.