센서 데이터 및 시간 정보를 융합한 횡단보도 내 보행자 안전 보행 보조 시스템 연구

임신택(Lim, Shin-Teak),박종호(Park, Jong-Ho),정길도(Chong, Kil-To) 한국산학기술학회 2012 한국산학기술학회논문지 Vol.13 No.12

본 연구에서는 다종의 센서 데이터 및 시간 정보를 융합 활용하여 횡단보도 내에서 보행자의 안전 보행을 보조하는 시스템에 대한 설계와 시스템 성능 검증을 통한 안전 보행 보조를 지원하고자 한다. 따라서 설계한 보행자 안전 보조 시스템의 기본 동작 시나리오에 대한 연구 수행 및 시스템 동작을 위한 퍼지 제어를 수행하였고 더불어 환경 인식 및 시간 정보를 적극 활용하기 위하여 각 센서 데이터 처리를 위하여 미디언 필터링을 포함한 필터 처리 를 적극 활용하였고, 이를 바탕으로 시간 정보를 첨부하여 최종적인 시스템 동작 알고리즘을 완성하였다. 추가적으로 활용하고 있는 센서들의 측정값은 기본적으로 불확실성을 내포하고 있기에 센서 결과 데이터를 융합하여 최소한의 신뢰성을 부여하고자 하였으며, 이를 간단한 실험 장비를 이용하여 검증하였다. In this study, by utilizing the information fusion of multi sensor data and time within the crosswalk safety Assistive gait secondary to the safety of pedestrians on the system design and system performance verification through support to. Environmental awareness, and time information in addition to leveraging the default behavior for pedestrian safety design of the secondary system performed a study on the scenario and the behavior of a system for fuzzy control was performed for each sensor data processing, median filtering, including filters processing leveraging, and was attached by the time we complete the final algorithm, the system behavior. In addition, taking advantage of the sensor measurements, so basically uncertainties and sensor results, and you want to give at least the reliability of the data fusion experiment equipment using this simple verification.

신경회로망과 PI제어기를 이용한 중수로 핵연료 교체 로봇의 구동압력 제어

임대영(Lim, Dae-Yeong),이창구(Lee, Chang-Goo),김영백(Kim, Young-Baik),김영철(Kim, Young-Chul),정길도(Chong, Kil-To) 한국산학기술학회 2012 한국산학기술학회논문지 Vol.13 No.3

현재 가동 중인 월성 원자력 발전의 핵연료 교체로봇 시스템을 살펴보면 핵연료 교환에 필요한 구동압력 제 어를 위해 PI제어기를 사용한다. PI제어는 구조가 간단하고 이득 설정을 통해 시스템 요구조건에 만족하는 제어 성능 을 낼 수 있지만 밸브와 관로 등의 파라미터 변화로부터 적절한 이득 변경 없이 안정한 제어가 힘들다. 이러한 문제 를 해결하기 위해 PI제어기 이득을 동적으로 변경 하거나 PI제어기 출력을 보상하도록 제어기를 구성하는 것이 바람 직하다. 본 연구개발의 목적은 파라미터 변화에도 안정한 제어가 가능하도록 제어기를 설계하여 오차와 진동현상을 줄이는데 있다. 제안한 PI/NN제어 기법은 PI제어기와 신경회로망 제어기를 병렬 결합한 구조로 신경회로망 제어기가 PI제어기 출력을 보상하여 파라미터 변화에 강인하도록 설계 하였다. 제어기의 성능평가를 위해 직접 실 공정에 테스 트하기가 힘들기 때문에 공정의 특성을 반영하여 모델링한 시뮬레이터를 개발하였고, 시뮬레이션 결과를 실 공정데이 터와 비교하여 공정 특성을 모사함을 보였으며, 파라미터 변화에 PI/NN제어기가 오차 및 진동현상을 줄이는 것을 확 인 하였다. 또한, 실 공정에서 사용 중인 PI제어기를 주 제어기로 사용하면서 파라미터 변화에 대한 비선형성을 보상 하는 제어기 역할을 하기 때문에 신경회로망을 단독으로 사용하였을 때 보다 더 신뢰성 있고 안정적인 제어가 가능 하다. Look into the nuclear power plant of Wolsong currently, it is controlled in order to required operating pressure with PI controller. PI controller has a simple structure and satisfy design requirements to gain setting. However, It is difficult to control without changing the gain from produce changes in parameters such as loss of the valves and the pipes. To solve these problems, the dynamic change of the PI controller gain, or to compensate for the PI controller output is desirable to configure the controller. The aim of this research and development in the parameter variations can be controlled to a stable controller design which is reduced an error and a vibration. Proposed PI/NN control techniques is the PI controller and the neural network controller that combines a parallel and the neural network controller part is compensated output of the controller for changes in the parameters were designed to be robust. To directly evaluate the controller performance can be difficult to test in real processes to reflect the characteristics of the process. Therefore, we develope the simulator model using the real process data and simulation results when compared with the simulated process characteristics that showed changes in the parameters. As a result the PI/NN controller error and was confirmed to reduce vibrations.

비선형 시스템규명

정길도(Kil-To Chong) Korean Society for Precision Engineering 1995 한국정밀공학회지 Vol.12 No.5

비선형 시스템의 신경회로망을 이용한 모델링 기법

정길도(Kil To Chong),노태수(Tae-Soo No),홍동표(Dong-Pyo Hong) Korean Society for Precision Engineering 1996 한국정밀공학회지 Vol.13 No.12

폐루프 광섬유자이로스코프의 전기적 교차결합에 의한 불감응 영역 오차 분석

정경호(Kyoung Ho Chong),정길도(Kil To Chong) 제어로봇시스템학회 2014 제어·로봇·시스템학회 논문지 Vol.20 No.4

Due to electrical cross-coupling between modulation voltage and photodetector output in a closed-loop fiber optic gyro, deadzone inevitably occurs. In this paper, deadzone error by cross-coupling effect was analyzed and the overcoming method was suggested. Simulation and measurement results show the main reason for deadzone is mainly related to electrical cross-coupling, and it can be effectively reduced by square-wave dithering method.

Impact of Kalman Filtering in Battery Management Systems

Nashatar Singha,Kil To Chong(정길도) 제어로봇시스템학회 2014 제어로봇시스템학회 각 지부별 자료집 Vol.2014 No.12

This paper analyzes the stability of a battery management system (BMS) in hybrid electrical vehicles. The purpose of the BMS is to guarantee safe and reliable battery operation. It is shown that the internal resistance and internal voltage of the battery affect system stability. Variations in these parameters may occur due to aging. Using average-value modeling, this problem is framed into a nonlinear system formulation and the region of stability as a function of the internal resistance and the internal voltage of the battery is determined. This paper also extends its results in determining the configuration of a battery pack in terms of the number of battery cells in series and parallel to prevent instability while meeting demand power requirements. The findings are useful both in the design and operation stages of large-scale battery storage systems in the grid. To maintain this purpose, state monitoring and evaluation, state of charge (SoC), state of health (SoH), remaining useful life (RUL) and cell balancing are functionalities that have been implemented in BMS. The uncertainty of a battery’s performance poses a challenge to the implementation of these functions. Through reviewing the latest methodologies for the state evaluation of batteries, the future challenges for BMSs are presented and possible solutions are proposed as well.

PD Control For Quadrotor Hovering

Ang Zhang,Kil To Chong(정길도) 제어로봇시스템학회 2014 제어로봇시스템학회 각 지부별 자료집 Vol.2014 No.12

In this paper, a Proportional-Derivative (PO) control method is investigated for a quadrotor to solve attitude control problems. The main target is to design controllers that provide required performances during the quadrotor hovering. A complete simulation model of the angel system dynamic was developed and used to tune controllers in Matlab and Simulink. Simulations results are carried out to prove the effectiveness of the proposed strategy.

선박전자장치 데이터통신을 위한 통합 프로토콜 시스템 개발

김학태(Hagtae Kim),김영철(Youngchul Kim),정길도(Kil To Chong) 대한전기학회 2010 정보 및 제어 심포지엄 논문집 Vol.2010 No.10

In order to safely and accurately make a voyage, the ship uses various ship equipments such as gyro compass, magnetic compass, and CPS. However, because these are using the different signal format, the efficiency and maintenance of the whole ship system are markedly decreased. Actually, so as to deal with various signal format from many ship equipments, Auto pilot system should include the special application program inside and need many communication ports. In order to solve these problems, this paper proposes a integration protocol system. The integration protocol system efficiently separates various signals and extracts the valid information. Thereafter, this system assembles the valid information into the Integration protocol format and transmit it to auto pilot system through a single port. If the proposed integration protocol system applies to ship system, we can expect the increase in the data processing load and the prevention of the waste of the communication port in the auto pilot system.

Multi-Robots and Robot Sensor Network Applications

Bayanjargal Baasandorj,Kil To Chong(정길도) 제어로봇시스템학회 2014 제어로봇시스템학회 각 지부별 자료집 Vol.2014 No.12

The interaction of distributed robotics and wireless sensor networks has led to the creation of mobile sensor networks. Mobile sensor networks are a class of networks where small sensing devices move in a space over time to collaboratively monitor physical and environmental condition. They are the growing popular class of WSN in which mobility plays a key role in the execution of the application. By introducing mobility to nodes in WSN, we can enhance its capability and flexibility to support multiple mansions and to handle the aforementioned problems. The decreasing costs and the increasing capabilities make mobile sensor networks possible and practical. More and more researches focus on the development of mobile wireless sensor networks (MWSNs) due to its favorable advantages and applications. The research on mobile sensor networks has been plenty worldwide. Robotics can be used in wireless sensor networks to solve many problems such as node repositioning, node localization, acting as data mules, detecting and reacting to sensor failure, aggregate sensor data and even provide mobile battery chargers for the nodes. And also wireless sensor networks can help solve many problems in robotics, such as path planning, robot localization sensing, mapping. Most of the problems in traditional sensor networks may be addressed by incorporating intelligent, mobile robots directly into it. Mobile robots provide the means to explore and interact with the environment in a dynamic and decentralized way. In addition to enabling mission capabilities well beyond those provided by sensor networks, these new systems of networked sensors and robots allow for the development of new solutions to classical problems such as localization and navigation. In this paper we present a overview of multi-robots systems its uses and in the second part reviewed Robotic Sensor network applications.

Development of Cyber Security Assessment Methodology for the Instrumentation & Control Systems in Nuclear Power Plants

강영두(Kang, Young-Doo),정길도(Chong, Kil-To) 한국산학기술학회 2010 한국산학기술학회논문지 Vol.11 No.9

사이버보안성 평가는 대상이 되는 시스템이 사이버보안의 목적에 효과적으로 부합하는지 여부를 판단하는 방법이다. 사이버보안성 평가는 시스템의 사이버보안에 대한 신뢰 수준을 측정하고, 관리적·기술적·운영 측면에서의 사이버보안 척도가 요구된 바와 같이 이행되는지를 확인하는 데 필요하다. 최근 원전 계측제어시스템은 디지털 기술 의 적용으로 인해 사이버보안에 관한 기술적 및 관리적 대책이 수립되도록 요구되고 있으나, 동 시스템의 사이버보안 성 평가 방법론을 포함한 전반적인 사이버보안 프로그램이 마련되어 있지 않은 실정이다. 본 논문은 원전 계측제어 시스템에 적합한 정성적 사이버보안성 평가 방법론을 제시한다. 제안되는 방법론은 원전 계 측제어 시스템의 사이버보안에 대한 강점과 취약점을 평가함으로써 원전 계측제어 시스템의 사용자에게 도움이 될 수 있다. 또한, 이 방법론은 원전 계측제어 시스템의 개발자, 감사자 및 규제자가 사이버보안의 관리적, 운영적 및 기 술적 통제 항목을 검토하는 지표로 활용될 수 있을 것으로 판단된다. Cyber security assessment is the process of determining how effectively an entity being assessed meets specific cyber security objectives. Cyber security assessment helps to measure the degree of confidence one has and to identify that the managerial, technical and operational measures work as intended to protect the I&C systems and the information it processes. Recently, needs for cyber security on digitalized nuclear I&C systems are increased. However the overall cyber security program, including cyber security assessment, is not established on those systems. This paper presents the methodology of cyber security assessment which is appropriate for nuclear I&C systems. This methodology provides the qualitative assessments that may formulate recommendations to bridge the security risk gap through the incorporated criteria. This methodology may be useful to the nuclear organizations for assessing the weakness and strength of cyber security on nuclear I&C systems. It may be useful as an index to the developers, auditors, and regulators for reviewing the managerial, operational and technical cyber security controls, also.