HBS-SWMC 환경에서의 전환장치 설계 및 검증에 관한 연구

김종섭(Chong-sup Kim),조인제(In-je Cho),안종민(Jong-min Ahn),이동규(Dong-kyu Lee),박상선(Sang-seon Park),박성한(Sung-han Park) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.7

Although non-real time simulation and pilot based evaluations are available for the development of flight control computer prior to real flight tests, there are still many risky factors. The control law designed for prototype aircraft often leads to degraded performance from the initial design objectives, therefore, the proper evaluation methods should be applied such that flight control law designed can be verified in real flight environment. The one proposed in this paper is IFS(In-Flight Simulator). Currently, this system has been implemented into the F-18 HARV(High Angle of Attack Research Vehicle), SU-27 and F-16 VISTA(Variable stability In flight Simulation Test Aircraft) programs. This paper addresses the concept of switching mechanism for FLCC(Flight Control Computer)-SWMC(Switching Mechanism Computer) using 1553B communication based on flight control law of advanced supersonic trainer. And, the fader logic of TFS(Transient Free Switch) and stand-by mode of reset ‘0’ type are designed to reduce abrupt transient and minimize the integrator effect in pitch axis control law. It hans been turned out from the pilot evaluation in real time that the aircraft is controllable during the inter-conversion process through the flight control computer, and level I handling qualities are guaranteed. In addition, flight safety is maintained with an acceptable transient response during aggressive maneuver performed in severe flight conditions.

항공기 자세회복을 위한 자동회복장치 설계 및 검증에 관한 연구

김종섭(Chong-sup Kim),조인제(In-je Cho),강임주(Im-ju Kang),허기봉(Gi-bong Hur),이은용(Eun-yong Lee) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.3

Relaxed static stability(RSS) concept has been applied to improve aerodynamic performance of modem version supersonic jet fighter aircraft. Therefore, flight control system are necessary to stabilize an unstable aircraft and provides adequate handling qualities. Also, flight control systems of modem version aircraft employ a safety system to support emergency situations such as a pilot unknown attitude flight conditions of an aircraft in night flight-testing. This situation is dangerous because the aircraft can lose if the pilot not take recognizance of situation. Therefore, automatic recovery system is necessary. The system called the "Pilot Activated Recovery System" or PARS, provided a pilot initiated automatic maneuver capable of an aircraft recoveries in situations of unusual attitudes. This paper addresses the concept of PARS and designed using nonlinear control law design process based on model of supersonic jet trainer. And, this control law is verified by nonlinear analysis and real-time pilot evaluation using in-house software. The result of evaluation reveals that the PARS support recovery of an aircraft unusual attitude and improve a safety of an aircraft.

FBW 헬리콥터 모델 역변환 비행제어법칙 설계 및 검증

김종섭(Chong-sup Kim),조인제(In-Je Cho),이승덕(Seung-Duck Lee),이한주(Han-Ju Lee) 한국항공우주학회 2012 韓國航空宇宙學會誌 Vol.40 No.8

우천, 안개 낀 날씨 및 먼지 등에 의해 시계가 확보되지 않는 비행 환경에서의 헬리콥터의 안정성(stability) 및 비행성(flying quality)을 향상시키기 위해 모델 역변환 제어(Model Inversion Control) 방식의 전자식 비행제어시스템(Fly-By-Wire Flight Control System)의 적용은 필수적이다. 선진 항공사인 미국의 Bell-Sikorsky사와 유럽 컴소시움인 NHI(NH Industries)사는 FBW 비행제어시스템을 V-22와 NH-90의 헬리콥터 양산에 적용한 바 있다. 본 논문에서는 BO-105 모델을 기반으로 CONDUIT(Control Designers Unified Interface)을 활용하여 제자리 비행영역에서 모델 역변환 비행제어법칙을 설계하였으며, 헬리콥터 비행 조종성 국제규격인 ADS-33E-PRF을 기준으로 평가하였다. 설계된 비행제어법칙을 CONDUIT과 HETLAS(HElicopter Trim Linearization And Simulation)를 기반으로 평가한 결과, ADS-33E-PRF에서 제시하고 있는 예측 조종성(predicted handling quality) 규격에 대해 비행조종성 Level 1을 만족시킬 수 있었다. The Fly-By-Wire(FBW) flight control system is essential to improve the stability and flying quality of the helicopter. Advanced aerospace companies, such as Bell-Sikorsky (USA) and NHI (European Consortium), have already applied the FBW flight control system to manufacture V-22 and NH-90 helicopters, respectively. This paper addresses the development of control law design using model inversion method improve the hover and low speed handling qualities of helicopter based on BO-105 model in ‘Day’ and ‘Degraded visual environments(DVEs)’ in accordance with ADS-33E-PRF. Design parameters are optimized to satisfy the handling qualities specification using Control Designer’s Unified Interface (CONDUIT) commercial control law software. The result of the analysis based on CONDUIT and non-real time simulation in-house software, HETLAS (HElicopter Trim Linearization And Simulation) reveals that the provides an efficient mean to achieve Level 1 handling qualities.

전투기급 비행제어법칙 상사성 및 HILS 환경 신뢰성 검증

안성준(Seong-jun Ahn),김종섭(Chong-sup Kim),조인제(In-je Cho),이은용(Eun-yong Lee) 한국항공우주학회 2009 韓國航空宇宙學會誌 Vol.37 No.7

개발된 비행제어컴퓨터(DFLCC: Developed Flight Control Computer)의 비행제어법칙은 고등훈련기급 항공기의 시제 최종 형상의 비행제어소프트웨어(OFP: Operation Flight Program)를 기반으로 개발되었다. 비행제어법칙은 상용 개발 툴을 이용하여 GUI(Graphic User Interface) 환경에서 설계되며, C 코드로 변환되어 OFP 에 반영된다. 그리고 OFP는 정형화된 검증절차를 통하여 검증되는데, 검증과정을 거치기 전에 비실시간 환경에서 C코드로 변환된 비행제어법칙과 기반이 되는 비행제어법칙의 상사성(similarity)을 검증하고, 구성된 HILS(Hardware In-the-Loop Simulator) 환경의 신뢰성(reliability)을 사전에 검증하는 절차가 필요하다. 비행제어법칙의 상사성은 비실시간 환경에서 고등훈련기급 항공기의 시제 최종 버전의 비행제어법칙과 개발된 비행제어법칙의 응답특성을 상호 비교하여 검증된다. 또한, 구성된 HILS 환경의 신뢰성은 비실시간 시뮬레이션 툴을 기반으로 HILS 결과와 항공기 응답특성을 비교하여 검증된다. 본 논문에서는 항공기 응답을 직접 비교함으로써 개발된 비행제어법칙의 상사성과 HILS 환경의 신뢰성을 검증하였다. The flight control law of developed flight control computer(DFLCC) is developed based on operation flight program of advanced trainer aircraft full scale development final configuration. The flight control law design is used common use development tool in GUI(Graphic User Interface) environment. The flight control law transformed to C-Code is reflected in OFP. The OFP is verified by the standardized verification process. But, before standardized verification process, we need preliminary verification process such as similarity of flight control law and reliability of developed HILS. Similarity of flight control law is verified by comparing the aircraft response of advanced trainer aircraft and those of the developed control law. Also, reliability of developed HILS is verified by comparing the aircraft response of HILS and Non-real time simulation result. This paper verifies similarity of developed control law and reliability of HILS environment as comparing aircraft response.

실시간 시뮬레이터 환경에서 항공기 데이터베이스 적용을 위한 DIP 개발 및 검증에 관한 연구

강임주(Im-ju Kang),김종섭(Chong-sup Kim),이기범(Gi-beom Lee),안성준(Sung-jun Ahn),신선영(Sun-young Shin),조인제(In-je Cho),안종민(Jong-min Ahn) 한국항공우주학회 2008 韓國航空宇宙學會誌 Vol.36 No.8

본 논문에서는 항공기 데이터베이스를 효율적으로 사용하여 시뮬레이션 기능을 향상시키기 위한 DIP(Database Interface Program)의 설계, 개발 및 평가 결과를 제시한다. 주요 설계 관점은 계산 과정에서 시간 지연의 최소화, 메모리 적재 공간의 효율성, 데이터의 연속성 및 신뢰성을 고려하여 내삽 및 외삽과 같은 다양한 알고리즘을 적용하였다. 설계된 DIP를 비실시간 환경 및 Solaris 환경의 실시간 시뮬레이터에 적용하여 최종적으로 평가하였다. 비실시간 평가 환경에서 트림(trim) 시뮬레이션을 수행하여 수행속도와 데이터의 정확도를 평가하였으며, 실시간 환경에서는 대표적인 비행영역에서 여러 가지 기동 (maneuver)을 수행하여 데이터의 신뢰성 및 비행능력을 평가하였다. 평가결과, 계산 속도와 데이터 정확도는 개발요구도를 만족할 수 있었으며, 비행능력은 실시간 시뮬레이터 환경에서의 개발요구도를 만족할 수 있었다. In this paper, design, development and evaluation of DIP(Database Interface Program) are presented. The main purpose of this study is to improve the simulation quality to get more realistic response of target system. The designed and developed major function is composed of flexible memory structure, efficient arithmetic database language and high speed interpolation/extrapolation algorithm. To evaluate the operation speed and accuracy of returned data, trim simulation is performed based on in-house software and, Dll’ is applied to existing real-time simulator such as engineering HQS(Handling Quality Simulator) to evaluate reliability and performance. The result of evlaution reveals that calculation speed and data accuracy are satisfied, and flight performance is satisfied in the real-time simulator environments.

TERPROM 기반의 저고도 지형추적시스템 개발

김종섭,조인제,이동규,강임주,Kim, Chong-sup,Cho, In-je,Lee, Dong-Kyu,Kang, Im-Ju 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.9

A flight capability to take a terrain following flight near the ground is required to reduce the probability that a fighter aircraft can be detected by foe's radar fence in the battlefield. The success rate for mission flight has increased by adopting TFS (Terrain Following System) to enable the modern advanced fighter to fly safely near the ground at the low altitude. This system has applied to the state-of-the-art fighter and bomber, such as B-1, F-111, F-16 E/F and F-15, since the research begins from 1960's. In this paper, the terrain following system and GCAS (Ground Collision Avoidance System) was developed, based on a digital database with UTAS's TERPRROM (TERrain PROfile Matching) equipment. This system calculates the relative location of the aircraft in the terrain database by using the aircraft status information provided by the radar altimeter and the INS (Inertial Navigation System), based on the digital terrain database loaded previously in the DTC (Data Transfer Cartridge), and figures out terrain features around. And, the system is a manual terrain following system which makes a steering command cue refer to flight path marker, on the HUD (Head Up Display), for vertical acceleration essential for terrain following flight and enables a pilot to follow it. The cue is based on the recognized terrain features and TCH (Target Clearance Height) set by a pilot in advance. The developed terrain following system was verified in the real-time pilot evaluation in FA-50 HQS (Handling Quality Simulator) environment.

TERPROM 기반의 저고도 지형추적시스템 개발

김종섭(Chong-sup Kim),조인제(In-je Cho),이동규(Dong-Kyu Lee),강임주(Im-Ju Kang) 제어로봇시스템학회 2015 제어·로봇·시스템학회 논문지 Vol.21 No.4

A flight capability to take a terrain following flight near the ground is required to reduce the probability that a fighter aircraft can be detected by foe’s radar fence in the battlefield. The success rate for mission flight has increased by adopting TFS (Terrain Following System) to enable the modern advanced fighter to fly safely near the ground at the low altitude. This system has applied to the state-of-the-art fighter and bomber, such as B-1, F-111, F-16 E/F and F-15, since the research begins from 1960’s. In this paper, the terrain following system and GCAS (Ground Collision Avoidance System) was developed, based on a digital database with UTAS’s TERPRROM (TERrain PROfile Matching) equipment. This system calculates the relative location of the aircraft in the terrain database by using the aircraft status information provided by the radar altimeter and the INS (Inertial Navigation System), based on the digital terrain database loaded previously in the DTC (Data Transfer Cartridge), and figures out terrain features around. And, the system is a manual terrain following system which makes a steering command cue refer to flight path marker, on the HUD (Head Up Display), for vertical acceleration essential for terrain following flight and enables a pilot to follow it. The cue is based on the recognized terrain features and TCH (Target Clearance Height) set by a pilot in advance. The developed terrain following system was verified in the real-time pilot evaluation in FA-50 HQS (Handling Quality Simulator) environment.

스테레오 정합과 중간 등위면 마칭큐브를 이용한 3차원 재구성

조인제(In Je Cho),채영호(Young Ho Chai) 한국정보과학회 2005 정보과학회논문지 : 소프트웨어 및 응용 Vol.32 No.3

본 논문은 스테레오 정합(stereo matching)과 마칭큐브(marching cube)알고리즘을 통합하는 효과적인 알고리즘을 제안한다. 여러 각도에서 획득한 영상에 대해 스테레오 정합 기술을 적용하여 3차원형상 데이타를 획득하고 카메라 외부 파라미터를 이용하여 결합하였다. 결합된 데이타를 영상 색인을 이용하여 메쉬로 재구성한 다음 각 점에 해당하는 법선벡터를 획득하고 메쉬 평탄화(mesh smooth)의 과정을 거쳐서 데이타를 부드럽게 처리하였다. 본 논문은 3차원 메쉬 재구성에 대한 일련의 과정 및 기술을 서술하였으며, 기존의 마칭큐브 알고리즘에서 생기는 3차원 데이타의 불안정에 대한 문제를 중간 등위면 (iso-surface) 알고리즘을 제안하여 개선하였다. This paper proposes an effective algorithm that combines both the stereo matching and the marching cube algorithm. By applying the stereo matching technique to an image obtained from various angles, 3D geometry data are acquired, and using the camera extrinsic parameter, the images are combined. After reconstructing the combined data into mesh using the image index, the normal vector equivalent to each point is obtained and the mesh smoothing is processed. This paper describes the successive processes and techniques on the 3D mesh reconstruction, and by proposing the intermediate iso-surface algorithm. Therefore it improves the 3D data instability problem caused when using the conventional marching cube algorithm.

연안사고 예방순찰을 위한 복수 드론 지상통제시스템 개발

조인제 ( In-je Cho ),박범순 ( Beom-sun Park ),김규범 ( Gyou-beom Kim ) 조선대학교 공학기술연구원 2021 공학기술논문지 Vol.14 No.4

For coastal accidents that occur mainly at beaches, the Coast Guard, the military, and civilian ships and personnel are mobilized to carry out the search task. The coastline of the east coast is wide because of its coastal characteristics, and it is difficult to search for drowned people owing to the influence of swell waves and rip currents. For a more effective search method, a ground control system capable of operating multiple drones was developed, and functions required by consumers such as coastal accident prevention patrol functions were tested and verified. In addition, the necessary functions of the ground control system were identified through a task analysis of a search for a drowning person.

사지에 발생한 지방육종

이수현,조인제,양우익,서진석,신규호,Lee, Soo-Hyun,Cho, In-Je,Yang, Woo-Ick,Suh, Jin-Suck,Shin, Kyoo-Ho 대한근골격종양학회 2010 대한골관절종양학회지 Vol.16 No.2

목적: 사지에 발생한 지방육종의 치료 결과와 임상적 예후 인자에 대해 알아보고자 하였다. 대상 및 방법: 1994년 4월부터 2005년 12월까지 본원에서 사지에서 발생한 원발성 지방육종으로 진단받고 치료받은 44명 중 5년 이상 추시 관찰이 가능하였던 40명을 대상으로 후향적 분석을 시행하였다. 이 중 13명은 수술 후 방사선 치료를 함께 시행 받았다. 국소 재발과 원격 전이 및 5년 무병생존율을 조사하였고, 나이, 성별, 종양의 크기, 비계획적 절제술 여부, 조직학적 유형, 수술적 절제연, 방사선 치료 병행 유무 등이 5년 무병생존율에 미치는 영향을 분석하였다. 결과: 국소 재발 3예, 원격 전이는 4예가 있었고, 5년 무병생존율은 85.0%였다. 조직학적 유형은 점액성 지방육종이 26예, 고분화 지방육종이 8예, 원형 세포형 지방육종이 4예였으며, 비분화 지방육종, 다형성 지방육종이 각각 한 예였다. 고분화 지방육종, 점액성 지방육종, 원형 세포형 지방육종 세 군의 5년 무병 생존율은 각각 100.0%, 84.6%, 75.0%였다(p=0.419). 수술 절제연에서 종양 세포가 관찰되지 않았던 환자(n=32)에서는 5년 무병 생존율이 90.6%였고, 절제연에서 종양 세포가 관찰된 환자(n=8)에서는 62.5%였다(p=0.003). 결론: 수술적 절제연에서 종양 세포의 관찰 여부가 5년 무병생존율에 유의한 인자였다. Purpose: We analyzed disease free survival and the prognostic factors of liposarcoma in the extremity. Materials and Methods: Between 1994 and 2005, of 44 patients who were diagnosed and treated for liposarcoma of the extremity, 40 patients were restrospectively analysed. 13 out of 40 patients got postoperative radiotherapy. We examined local recurrence, distant metastasis and disease free 5-year survival rate. We also analyzed clinical prognostic factors, such as age, gender, size of tumor, prior unplanned excision, histologic type, surgical excision margin and postoperative radiotherapy respectively. Results: There were 3 cases of local recurrence and 4 cases of distant metastasis. The disease free 5-year survival rate was 85.0%. 26 patients presented with myxoid, 8 well differentiated, 4 round cell, 1 pleomorphic and 1 dedifferentiated histology. The disease free 5-year survival rate of mixoid, well differentiated and round cell liposarcoma were 100.0%, 84.6% and 75.0% (p=0.419). The 5-year disease free survival rate was 90.6% in negative surgical margin (n=25) and 62.5% in positive surgical margin (n=15) (p=0.003). Conclusion: Our study suggests that surgical excision margin is significant prognostic factor for 5-year disease free survival rate.