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새 떼 비행 및 대형비행을 위한 다중에이전트 기반 자율 UAV 설계
하선호 ( Sun-ho Ha ),지승도 ( Sung-do Chi ) 한국항행학회 2017 韓國航行學會論文誌 Vol.21 No.6
다수의 UAV가 다양한 임무를 수행하면서도 편대를 유지할 수 있도록 하는 집단적 지능을 갖춘 시스템을 구축하기 위해서는 AI에 관한 연구가 필수적이다. AI의 전형적인 접근 방법에는 전문가시스템을 비롯한 규칙기반의 논리 추론방식인 ‘하향식’ 접근 방법과 인공신경회로망, Flocking Algorithm과 같이 단순 개체간의 부분적 상호작용을 통해 전체적인 행동이 결정되는 ‘상향식’ 접근 방법이 있다. 기존의 Flocking Algorithm과 같은 연구에서는 개개인은 개별적인 임무를 수행 할 수 없다. 또한 UAV의 편대비행과 같은 연구에서는 편대의 부분적인 결함으로 발생하는 문제에 대해 유연하게 대처 할 수 없다. 본 논문에서는 다중에이전트 시스템을 통해 하향식 접근 방법과 상향식 접근 방법 간의 유기적 통합을 제시하고, 이를 통해, 유연한 임무수행이 가능한 편대 비행 알고리즘을 제시하였으며, 시뮬레이션을 통해 대형형성 및 충돌회피 등 유효성을 확인하였다. Research on AI is essential to build a system with collective intelligence that allows a large number of UAVs to maintain their flight while carrying out various missions. A typical approach of AI includes 'top-down' approach, which is a rule-based logic reasoning method including expert system, and 'bottom-up approach' in which overall behavior is determined through partial interaction between simple objects such as artificial neural network and Flocking Algorithm. In the same study as the existing Flocking Algorithm, individuals can not perform individual tasks. In addition, studies such as UAV formation flight can not flexibly cope with problems caused by partial flight defects. In this paper, we propose organic integration between top - down approach and bottom - up approach through multi - agent system, and suggest a flight flight algorithm which can perform flexible mission through it.
하선호(Sung-Ho Ha),이동우(Dong-Woo Lee),압둘 와지 지아(Abdul Wasy Zia),송정일(Jung-Il Song) 대한기계학회 2013 대한기계학회 춘추학술대회 Vol.2013 No.5
Ball Valves are being used as a key element in the process industries. The industrial development of valves has increased steadily and it requires high design reliability with long service life. Currently, the development of a high performance valves is not easy because of the lack of technology in Korea. Valves are being imported up to 58 percent of domestic market having worth of almost 7 million US dollars. Therefore, in this work, improvement of the design and performance of industrial valves gad studied to achieve longer service life and best output during operation. The structural stability was evaluated using ANSYS FSI(Fluid-Structural Interaction) module. Moreover, torque analysis simulation was performed to compare software and experimental results to obtain maximum product reliability. This simulation results were used to predict the change in torque by change in shape, thereby, reducing the time and cost of manufacturing number of protypes for experimental validation.
하선호(Sun-Ho Ha),김상진(Sang-Jin Kim),송정일(Jung-Il Song) 한국기계가공학회 2014 한국기계가공학회지 Vol.13 No.6
Ball valves are used as a key element in the process industries . The industrial development of valves has increased steadily, but continued improvement requires high design reliability and long service life. Currently, the development of high performance valves is not easy because of the lack of relevant technology in Korea. Valves are being imported at a level of up to 58 percent of the domestic market, which represents a value of almost 7 million US dollars. Therefore, in this work, the improvement of the design and performance of industrial valves has been studied in an attempt to achieve valves that will have longer service life and better output during operation. The structural stability was evaluated using the ANSYS FSI (Fluid-Structural Interaction) module. Moreover, to obtain maximum product reliability, torque analysis simulation was performed to compare and experimental results. The simulation results were used to predict the change in torque by changes in shape, thereby reducing the time and cost of manufacturing a number of prototypes for experimental validation.
김진우(Jin-Woo Kim),하선호(Sun-Ho Ha),김상진(Sang-Jin Kim),김창욱(Chang-Uk Kim),송정일(Jung-Il Song) 한국기계가공학회 2013 한국기계가공학회지 Vol.12 No.5
In this study, a variable swash plate compressor has been used in a vehicle to improve its fuel efficiency. To manufacture the swash plate, either SCM 435 or UNS C67300 was used. The effects of using different materials for the structural reliability of compressor have been investigated. Static analysis was carried out on swash plate A/C compressor by using commercial software ANSYS 13.0v. The results showed that the Max. stress occurred on the swash plate made of UNS C67300 was lower than that made of SCM435, which indicated that UNS C67300 is more suitable for producing the safe swash plate.