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이송,강동엽,이혜민,안수용,권우경,정윤수,Li, Song,Kang, Dongyeop,Lee, Hae-min,An, Su-yong,Kwon, Wookyong,Chung, Yunsu 대한임베디드공학회 2020 대한임베디드공학회논문지 Vol.15 No.6
This paper presents the design and implementation of embedded systems and autonomous path generation for autonomous speed sprayer. Autonomous Orchard Systems can be divided into embedded controller and path generation module. Embedded controller receives analog sensor data, on/off switch data and control linear actuator, break, clutch and steering module. In path generation part, we get 3D cloud point using Velodyne VLP16 LIDAR sensor and process the point cloud to generate maps, do localization, generate driving path. Then, it finally generates velocity and rotation angle in real time, and sends the data to embedded controller. Embedded controller controls steering wheel based on the received data. The developed autonomous speed sprayer is verified in test-bed with apple tree-shaped artworks.
이상재 ( Sang Jae Lee ),이송실 ( Song Shi Li ),김도훈 ( Do Hoon Kim ) 대한한의학원전학회(구 대한원전의사학회) 2010 대한한의학원전학회지 Vol.23 No.5
Contemporary topic of the culture is turning to the Nature. In this situation, The Paradigms of realization about Human body and medical science are changing. The new interpretation of the value of Health is another method of recovering the Nature. Oriental medicine has mainly dealt with health preserving idealogy in origin, and pursued it. Get out of the curing medicine, the health preserving idealogy which aims to live up to one`s lifespan has been becoming the main idea of Oriental medicine. In this respect, we can extract insperation from the concept of Meebyung and preventive treatments which came from the ideas of preventive medicine in Oriental medicine. Among the researches of Meebyung in Oriental medical classics and in Oriental tri-countries, we grasped and analyzed the trends of them. In connection with the most fundamental project in Meebyung study which is to set up the concept of Meebyung, we inspected the standards which can categorize and diagnose Meebyung. In contrast with ``Ibyeong``, Meebyung in Oriental medical classics can be attained from living in harmony with the Nature, four seasons, Eum-and-Yang and the Five Phases. However the classification of Meebyung, Yogbyeong, Ibyeong in medical classics made foundation of post preventive medicine. From the various studies we can find as follws. Promting national project in Meebyung, China is trying to reestablish classifications of Meebyung, as Japanese Meebyung scholars are focusing on quantitative methods. Although there are not enough research products, Korea must absorb the products of such other countries, as to categorize Meebyung through the pattern identification system of Oriental medicine, and achieve our goal of promotion of health.
제곱합 접근 방법에 의한 불확실한 쌍선형 시스템의 강인한 관측기 설계
이송(Song Li),강동엽(Dongyeop Kang) 한국지능시스템학회 2018 한국지능시스템학회논문지 Vol.28 No.3
본 논문은 파라미터의 불확실성이 있는 쌍선형 시스템에 대한 강인한 관측기 설계 방법을 제안한다. 에러 방정식에서 설계되는 관측기 이득은 시스템의 입력과 출력에 대한 다항 함수로 표현된다. 관측기 에러 시스템이 안정하고 H∞ 성능조건을 만족하기 위한 필요충분조건은 행렬 부등식으로 유도되며, 제곱합 기법을 이용하여 해를 구할 수 있다. 유도전동기의 수치 예제를 통해 제안하는 설계 방법의 효용성을 설명한다. This paper presents a robust observer design method for bilinear systems with parameter uncertainty. The designed observer gain matrix of the error dynamic equation is expressed in the form of the polynomial function of inputs and outputs. A necessary and sufficient condition to ensure that the observation error system is asymptotically stable and satisfies H∞ performance is derived in terms of matrix inequality, which can be solved using the sum-of-squares technique. A numerical example of the induction motor is given to illustrate the effectiveness of the proposed method.