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무인로봇을 위한 3D 월드모델에 기초한 Binary 장애지형의 판정
진강규,이현식,이윤형,이영일,박용운,Jin, Gang-Gyoo,Lee, Hyun-Sik,Lee, Yun-Hyung,Lee, Young-Il,Park, Yong-Woon 한국군사과학기술학회 2009 한국군사과학기술학회지 Vol.12 No.4
Recently, the applications of unmanned robots are increasing in various fields including surveillance and reconnaissance, planet exploration and disaster relief. To perform their missions with success, the robots should be able to evaluate terrain's characteristics quantitatively and identify traversable regions to progress toward a goal using mounted sensors. Recently, the authors have proposed techniques that extract terrain information and analyze traversability for off-road navigation of an unmanned robot. In this paper, we examine the use of 3D world models(terrain maps) to classify obstacle and safe terrain for increasing the reliability of the proposed techniques. A world model is divided into several patches and each patch is classified as belonging either to an obstacle or a non-obstacle using three types of metrics. The effectiveness of the proposed method is verified on real terrain maps.
Fractal-Based Interpolation of TBD Cells
진강규(Gang-Gyoo Jin),하윤수(Yun-Su Ha),소명옥(Myung-Ok So),김현준(Hyun-Jun Kim) 한국마린엔지니어링학회 2010 한국마린엔지니어링학회 학술대회 논문집 Vol.2010 No.10
We presents an algorithm which interpolates lost data of a DTM(Digital terrain model) using fractal theory. Terrain information is extracted and then with this information and original data, the elevations of cells are interpolated using the random midpoint displacement method. The results of the proposed algorithm are compared with those of the bilinear and bicubic methods.
진강규(Gang-Gyoo Jin) 한국지능시스템학회 2013 한국지능시스템학회논문지 Vol.23 No.2
프랙탈 이론은 컴퓨터 과학, 공학, 의학, 기상학 등 여러 분야에서 직면하는 복잡하고 불규칙적인 자연현상을 모델링할 수 있는 효과적인 도구로서 인정받아 왔다. 본 연구에서는 지형 및 이미지의 프랙탈 정보 추출에 많이 이용되는 삼각프리즘법의 정밀도를 개선하는 문제를 다룬다. 이를 위해 기존의 샘플링 방법들을 분석하고 그들의 장점을 취하는 새로운 샘플링 방법을 제안한다. 가상의 프랙탈 맵에서 제안된 방법을 다른 방법과 비교하며 그 유효성을 검정한다. Fractal theory has been adopted as an effective tool for modelling complex and irregular natural phenomena facing in the fields of Computer Science, Engineering, Medical, Climatology and so on. In this paper, we presents an algorithm which enhances the performance of the triangular prism method(TPM) which has been widely used for fractal dimension extraction of natural terrains and images. For this, existing sampling methods are analyzed and a new sampling method which takes their merits is proposed. The effectiveness of the proposed algorithm is tested on fractal terrain maps and its performance is compared with that of other methods.
진강규(Gang-Gyoo Jin) 한국지능시스템학회 2014 한국지능시스템학회논문지 Vol.24 No.3
연속교반탱크반응기, 담수화 플랜트, 증류탑, pH 중화 프로세스 등을 포함한 많은 산업용 프로세스들은 높은 비선형성과 시변 특성으로 인해 제어가 까다로워 보다 정밀하고 안정된 성능을 가지는 제어기를 설계하려는 많은 노력들이 있어 왔다. 본 논문에서는 기존 연구의 단점을 개선한 CSTR 프로세스의 농도제어용 PID 제어기를 동조하는 문제를 다룬다. 액추에이터 포화 문제를 극복하기 위해 PID 제어기에는 적분기 안티와인드업 피드백 루프가 구성되며, PID 제어기의 파라미터는 전체 제어 프로세스가 만족스러운 설정치 추종 성능을 가지도록 진화연산(EA)에 의해 동조된다. 제안하는 방법은 시뮬레이션을 통해 설정치 추종 성능, 외란 억제 성능과 파라미터 변동에 대한 강인성을 확인한다. Many industrial processes such as continuous stirred tank reactors(CSTRs), desalination plant, distillation columns, pH neutralization processes and so on exhibit highly nonlinear characteristic and time-varying behavior during operation. The control of such processes has been challenging to control engineers. Hence, a variety of forms of PID controllers and their tuning rules for industrial processes have been developed to guarantee the best performance. In this paper, a scheme that designs the practical PID controller with an anti-windup strategy incorporating with an evolutionary algorithm(EA) is presented for the concentration control of a nonisothermal CSTR. EA is used to tune the parameters of the overall PID control process with anti-windup by minimizing the integral of absolute error(IAE). Simulation works for reference tracking and disturbance rejecting performances and robustness to parameter changes show the feasibility of using the proposed method.
진강규(Gang-Gyoo Jin),이현식(Hyun-Sik Lee),이윤형(Yun-Hyung Lee),소명옥(Myung-Ok So),채정숙(Jeong Sook Chae),이영일(Young-Il Lee) 한국지능시스템학회 2008 한국지능시스템학회 학술발표 논문집 Vol.18 No.1
Recently, the development and application of unmaned robots are increasing in various fields including surveillance and reconnaissance, planet exploration and disaster relief. Unmaned robots are usually controlled from distance using radio communications but they should be equipped with autonomous travelling function to cope with unexpected terrains and obstacles. This means that unmanned robots should be able to evaluate terrain's characteristics quantitatively using mounted sensors so as to traverse harsh natural terrains autonomously. For this purpose, this paper presents an algorithm for extracting terrain information from elevation maps as an early step of traversability analysis. Slope and roughness information are extracted from a world terrain map based on least squares method and fractal theory, respectively. The effectiveness of the proposed algorithm is verified on both fractal and real terrain maps.
진강규(Gang-Gyoo Jin),이현식(Hyun-Sik Lee),이윤형(Yun-Hyung Lee),소명옥(Myung-Ok So),신옥근(OK-Keun Shin),채정숙(Jeong Sook Chae),이영일(Young-Il Lee) 제어로봇시스템학회 2008 제어·로봇·시스템학회 논문지 Vol.14 No.9
Recently, the interests in the development and application of unmaned robots are increasing in various fields including surveillance and reconnaissance, planet exploration, and disaster relief Unmaned robots are usually controlled from distance using radio communications but they should be equipped with an autonomous travelling function to cope with unexpected terrains and obstacles. This means that they should be able to evaluate terrain’s characteristics quantitatively using mounted sensors so as to traverse harsh natural terrains autonomously. For this purpose, this paper presents a method for extracting terrain information, that is, slope and roughness from elevation maps as a prior step of traversability analysis. Slope is extracted using the curve fitting based on the least squares method and roughness using three metrics and their weighted average. The effectiveness of the proposed method is verified on both a fractal map and the world model map of a real terrain.
진강규(Gang-Gyoo Jin) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.4
This paper presents a method for developing a TM (Traversability Map) from a DTM (Digital Terrain Model) collected by remote sensors of autonomous mobile robots. Such a map can be used to plan traversable paths and estimate navigation speed quantitatively in real time for robots capable of performing autonomous tasks over rough terrain environments. The proposed method consists of three parts: a DTM partition module which divides the DTM into equally spaced patches, a terrain information module which extracts the slope and roughness of the partitioned patches using the curve filing and the fractal-based triangular prism method, and a traversability analysis module which assesses traversability incorporating with extracted terrain information and fuzzy inference to construct a TM. The potential of the proposed method is validated via simulation works over a set of fractal DTMs.
안티와인드업 기법을 가지는 PID 제어기의 EA 기반 동조
진강규(Gang-Gyoo Jin),박동진(Dong-Jin Park) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.10
Many practical processes in industry have nonlinearities of some forms. One commonly encountered form is actuator saturation which can cause a detrimental effect known as integrator windup. Therefore, a strategy of attenuating the effects of integrator windup is required to guarantee the stability and performance of the overall control system. In this paper, optimal tuning of a PID (Proportional-Integral-Derivative) controller with an anti-windup scheme is presented to enhance the tracking performance of the PID control system in the presence of the actuator saturation. First, we investigate effective anti-windup schemes. Then, the parameters of both the PID controller and the anti-windup scheme are optimally tuned by an EA (Evolutionary Algorithm) such as the IAE (Integral of Absolute Error) is minimized. A set of simulation works on two high-order processes demonstrates the benefit of the proposed method.