세포성 면역 알고리즘을 이용한 AGV의 조향 제어기 설계에 관한 연구

이영진,이진우,이권순,Lee, Yeong-Jin,Lee, Jin-U,Lee, Gwon-Sun 제어로봇시스템학회 2001 제어·로봇·시스템학회 논문지 Vol.7 No.10

The PID controller has been widely applied to the most control systems because of its simple structure and east designing. One of the important points to design the PID control system is to tune the approximate control parameters for the given target system. To find the PID parameters using Ziegler Nichols(ZN) method needs a lot of experience and experiments to ensure the optimal performance. In this paper, CMIA(Cell Mediated Immune Algorithm) controller is proposed to drive the autonomous guided vehicle (AGV) more effectively. The proposed controller is based on specific immune responses of the biological immune system which is the cell mediated immunity. To verify the performance of the proposed CMIA controller, some experiments for the control of steering and speed of that AGV are performed. The tracking error of the AGV is mainly investigated for this purpose. As a result, the capability of realization and reliableness are proved by comparing the response characteristics of the proposed CMIA controllers with those of the conventional PID and NNPID(Neural Network PID) controller.

수치해석을 이용한 흙막이벽체의 사보강버팀보에 적용하는 축강성에 대한 현장 적용성 연구

이영진,이성규,이강일,Lee, Yeong-Jin,Lee, Soung-Kyu,Lee, Kang-Il 한국지반신소재학회 2022 한국지반신소재학회 논문집 Vol.21 No.2

Unlike the horizontal strut, the corner strut causes bending behavior by the installation angle when soil pressure occurs, so there is a limit to its application as a elasto plastic method that requires only the axial stiffness of struts. Therefore, this study attempted to approach a method of modifying axial stiffness data to present an analysis method for corner struts in elasto plastic method, and linear elasticity analysis was used for this. And, through Linear elasticity analysis, axial stiffness data for corner struts installed at the actual site were calculated. The behavior of the retainingwall was confirmed by applying the calculated axial stiffness data of corner struts to elasto plastic method, and its applicability was evaluated by comparing it with the measurement results and the finite element analysis results. As a result of the study, when the axial stiffness data of the corner struts was applied using Linear elasticity analysis(Case 1, Case 3), the axial stiffness data decreased to 9% to 17% compared to the general method of applying the axial stiffness of the struts(Case 2, Case 4), and the displacement of the retainingwall increased to 25.33% to 64.42%. Comparing this result with the measurement results, when Linear elasticity analysis was used(Case 1, Case 3), the behavior of the retainingwall during the elasto plastic method was better shown.

MRAC 기법을 이용한 무인 컨테이너 운송차량의 조향 제어

이영진,허남,최재영,이권순,이만형,Lee, Y.J.,Huh, N.,Choi, J.Y.,Lee, K.S.,Lee, M.H. 한국항해항만학회 2000 韓國港灣學會誌 Vol.14 No.3

T his paper presents the lateral and longitudinal control algorithm for the driving of a 4WS AGV(Automated Guided Vehicle). The control law to the lateral and longitudinal control of the AGV includes adaptive agin tuning ability, that is the controller gain of the gravity compensated PD controller can be changed on a real-time. The gain tuning law is derived from the Lyapunov direct method using the output error of the reference model and the actual model, And to show the performance of the presented lateral and longitudinal control algorithm, we simulate toe nonlinear AGV equations of the motion by deriving the Newton-Euler Method, The read path is from quay yard area to docking position in loading yard area. The quay yard area is where the quay crane loads the container to the AGV and the docking position is where the container is transferred to the gantry crane. The road types are constructed in a straight line and J-turn. When driving the straight line, the driving velocity is 6㎧ and the J-turn is 3㎧.

GPS 방식에 의한 정밀기준점 측량의 실용화에 대한 연구

이영진,Lee, Young Jin 대한토목학회 1993 대한토목학회논문집 Vol.13 No.5

지구측위사스템(GPS)의 등장은 새로운 기준점망의 구성과 기설망의 해석, 강화, 고밀도화의 작업에 신속성과 경제성을 부여할 수 있게 되었으며, 열악한 기상조건에서도 지도제작, 지적측량, 건설공사의 기준점 설정에서의 적용이 가능하기에 이르렀다. 이 논문에서는 GPS 측량기법의 실용화에 목적을 두고 있으며 기존의 EDM 방식에 의한 정밀기준점 측량을 대체할 수 있는 지를 검토하였다. 정밀 1차 기준점망인 평군변장 10 km의 시범망을 Wild GPS-System 200에 의해 관측하고 이 거리와 EDM 거리 및 실용성과와를 비교분석하였으며 상대고저차를 평균해면상의 값으로 변환코자 하였다. 연구결과를 종합해 보면, 국가기준점망의 구성에 있어 GPS를 하나의 새로운 관측장비로 취급하는 기법에 의하여 기존의 망구성과 계산체계를 유지할 수 있으므로 기존의 측량기법을 대체할 수 있음이 제시되어 있다. The emergence of the Global Positioning System(GPS) with its benefits of speed and economy now offers an opportunity to analyse, strengthen, densify and constitute the control network, in addition to providing mapping, cadastral and engineering control under the unfavorable conditions. This research aims at the using of GPS compared to conventional geodetic positioning techniques in Korean primary control networks. A GPS test network of 10km baselines, which is measured and analysed by Wild GPS-System 200, are compared to the distances from EDM and official coordinates, and relative GPS heights are transformed to the height differences on the mean sea level. The results of this study confirms that using GPS merely as a new type of instrument is the most powerful method for the densification of the control points retaining existing networks and existing computational procedures.

GPS위성의 P코드/위상측정용 2주파수 수신기에 의한 정밀측위

이영진,Lee, Young Jin 대한토목학회 1993 대한토목학회논문집 Vol.13 No.2

지구측위시스템(GPS)은 1980년대 측량분야에서 가장 중요한 기술발전이며 최근에는 수신기의 개선과 데이터 처리기법의 발전에 따라 높은 정확도로서 효율적인 GPS측량이 가능하게 되었다. 이 논문에서는 데이터 선형조합의 방법에 대해 고찰하고 P코드/위상측정용 수신기인 Wild GPS System-200의 테스트 결과를 제시하고 있다. 연구결과는 7km/37km의 기선에서 1ppm 이내의 높은 정확도의 측정이 가능하며 P-코드 수신에 의한 1점측위에서는 10m의 위치정확도가 쉽게 얻어질 수 있으므로 초기좌표 결정에 효과적임을 보여주고 있다. The development of the Global Positioning System was one of the most significant technical advancements in the surveying fields during the 1980's. In recent years, the use of GPS techniques are increased because of the improvements of receiver design and the data analysis, and the greater accuracy. In this paper, the static positioning with special linear combinations of data is reviewed and some experiences of dual-frequency P-code/phase receivers are discussed. The test results of Wild GPS System-200 show that the highest accuracies of 1ppm are obtainable on baselines of 7km/37km and the positional accuracies of 10m, which is applicable to determination of initial coordinates, are also possible on point-positioning of P-code measurements.

한국 식육가공산업의 발전방향

이영진,Lee, Yeong-Jin 한국육가공협회 2008 肉加工 Vol.35 No.-

의료과오소송의 법리와 최근 판례의 동향2

이영진,김진,Lee Yeong-Jin,Kim Jin 대한치과의사협회 2001 대한치과의사협회지 Vol.39 No.4

전주시관내 국도대체우회도로(용정$\sim$용진) 대안설계 교량의 계획 및 설계

이영진,김성재,김만철,Lee Y.J.,Kim S.J.,Kim M.C. 한국전산구조공학회 2006 전산구조공학 Vol.19 No.2

원통 봉을 적용한 압전 캔틸레버의 성능 향상

이영진,김세기,김영득,Lee, Youngjin,Kim, Seiki,Kim, Young-Deuk 한국세라믹학회 2014 한국세라믹학회지 Vol.51 No.5

This paper describes the development of a new piezoelectric unimorph cantilever structure intended to improve electrical output power, compared to a conventional cantilever. The proposed structure employs a cylindrical bar attached to one side of a steel plate, which is a significant factor in forced vibration mode. The feasibility of the proposed methodology was assessed experimentally and theoretically. The influence of three different types of bar material (i.e., stainless steel, silicon rubber, and urethane), and bar position, on the output voltage were examined and compared with those without the bar. The optimal position and material for the bar were identified through experimental and theoretical analyses. It appears that the electrical output power of the proposed cantilever is about 40% higher than that of a conventional unimorph cantilever.

부분 ID를 이용한 읽기전용 RFID태그 인증프로토콜

이영진,정윤수,서동일,이상호,Li, Yong-Zhen,Jeong, Yonn-Su,Seo, Dong-Il,Lee, Sang-Ho 한국정보처리학회 2006 정보처리학회논문지 C : 정보통신,정보보안 Vol.13 No.5

오늘날 저가의 RFID 기술은 리더와 태그사이에 물리적인 접촉 없이 인식 가능한 기술로서 기업과 학술적 분야에서 많은 각광을 받고 있다. 그러나 태그의 정보가 전송과정에 무선특성에 따른 과도한 정보 노출과 사용자의 위치정보 추적과 같은 심각한 프라이버시 침해를 유발시킨다. 특히 읽기전용 태그에서의 보안문제는 단지 물리적 방법으로만 해결하고 있다. 이 논문에서는 간단한 XOR연산과 부분 ID를 이용하여 다양한 공격에 안전하며 읽기전용 태그에 적합한 저비용 인증 프로토콜을 제안한다. 제안 프로토콜은 재전송, 도청, 위장 공격에 안전하며 또한 위치 프라이버시가 보장된다. Nowadays, low-cost radio frequency identification (RFID) technique, is recognizable without the physical contact between the reader and the tag, has been attracting more and more interests from both industry and academic institutes. however, it causes the serious privacy infringement such as excessive information exposure and user's location information tracking due to the wireless characteristics. The security problem of read only tag can be only solved by physical method. In this paper, we propose a low-cost authentication protocol which can be adopted for read-only RFID tag using XOR and Partial ID. The proposed protocol is secure against reply attacking, eavesdropping and spoofing attacking so that avoiding the location privacy exposure