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Design, Control and Localization of Underwater Mine Disposal Robots
문용선,고낙용,서주노,Moon, Yong Seon,Ko, Nak Yong,Sur, Joono Institute of Control 2013 제어·로봇·시스템학회 논문지 Vol.19 No.9
This paper describes the design, control, and localization which comprise major aspects of the development of underwater robots for the mine disposal. The developed robots are called the Mine Killer (MK-1) and MK-2. MK-1 had been developed from September 2009 and was presented at the 9-th International Symposium at NPS Monterey CA, on May 17-21, 2010[1]. The paper presents design of MK-1 and MK-2 in detail with comparison of these two versions of MKs. Then it derives hydrodynamic coefficients of MK-1. Based on the coefficients, the motion of MK-1 is simulated for straight line motion and circular motion. Also simulation results for PD control, LQ control and sliding mode control are presented. Finally, it shows a particle filter method for localization of MK-1 and MK-2 using simple range data from acoustic beacons.
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정성훈(Jeong Seonghoon ),서주노(Sur joono),심준환(Shim Joonhwan),양규식(Yang Gyusik) 한국정보기술학회 2018 Proceedings of KIIT Conference Vol.2018 No.6
최근, 홈 IoT(Internet of Things) 기술이 스마트 홈에 적용되고 있다. 본 논문에서 제안한 기술은 자동문과 스마트 디바이스를 연결하여 언제 어디서나 자동문을 제어 가능하게 만드는 것이다. 또한, 인터넷을 통해서도 자동문 센서를 제어할 수 있다. 기존의 자동문은 적외선 열화 센서로 문 근처의 사람을 인식하여 자동으로 열리는 방식으로 설계되었다. 또한, 도어록은 패스워드나 카드 인식, 얼굴, 홍채, 허가 받은 지문 인식과 같은 다양한 인증 방식으로 열 수 있다. 만약, 등록한 카드를 분실하거나 타인에게 노출될 경우에 보안은 취약해진다. 그리고 얼굴, 홍채, 지문, 정맥 인식의 경우에는 이 시스템에 등록된 사람이 멀리 있을 때, 문을 열 수 없다는 한계가 존재한다. 본 논문에서는 이러한 문제들을 극복하기 위해 홈 IoT기술을 적용한 단열 자동문을 개발하는 자동문 설계 방법을 제안하고자 한다. Recently, Home IoT(Internet of Things) technology has been applied to smart home. It is able to control the automatic door by smart device whenever and wherever it needs by connecting smart device. Also, automatic door sensor can be controled with internet. Conventional automatic doors are automatically opened and designed to recognize persons near the door by Infrared deterioration sensors. Also, the door lock is verified by a variety of certifications such as a password, a recognized card, a face, an iris, a fingerprint that only authorized persons have. Security is fatal when a recognized card is lost or exposed. In the case of face, iris, fingerprint, vein recognition, if the authorized person is far away, There are hard limits to do. In this paper, we propose a design method of automatic door by applying the home IoT technology to develop an insulating automatic door that overcomes these problems.
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수중비행체의 자율제어를 위한 지능형 3-D 장애물회피 알고리즘
김현식(Hyun-Sik Kim),진태석(TaeSeok Jin),서주노(Joono Sur) 한국지능시스템학회 2011 한국지능시스템학회논문지 Vol.21 No.3
실제 시스템 적용에 있어서, 수중비행체(Underwater Flight Vehicle : UFV)의 자율제어(autonomous control)를 위한 3-D 장애물회피(obstacle avoidance) 시스템은 다음과 같은 문제점들을 가지고 있다. 즉, 소나(sonar)는 지역적 탐색영역 내에서 장애물의 거리(range)/방위(bearing) 정보를 제공하며, 자율수중운동체(Autonomous Underwater Vehicle : AUV) 관점에서 에너지 소비 및 음향학적 소음이 적은 시스템을 필요로 하며, 최대 피치 및 심도와 같은 UFV 운용 제약조건을 가진다. 나아가, 구조와 파라메터의 관점에 있어서 용이한 설계 절차를 요구한다. 이 문제를 해결하기 위해서 진화 전략(Evolution Strategy : ES) 및 퍼지논리 제어기(Fuzzy Logic Controller : FLC)를 이용하는 지능형 3-D 장애물회피 알고리즘이 제안되었다. 제안된 알고리즘의 성능을 검증하기 위해 UFV의 3-D 장애물회피가 수행되었다. 시뮬레이션 결과는 제안된 알고리즘이 실제 시스템에 존재하는 문제점들을 효과적으로 해결하고 있음을 보여준다. In real system application, the 3-D obstacle avoidance system for the autonomous control of the underwater flight vehicle (UFV) operates with the following problems: the sonar offers the range/bearing information of obstacles in a local detection area, it requires the system that has reduced acoustic noise and power consumption in terms of the autonomous underwater vehicle (AUV), it has the UFV operation constraints such as maximum pitch and depth, and it requires an easy design procedure in terms of its structures and parameters. To solve these problems, an intelligent 3-D obstacle avoidance algorithm using the evolution strategy (ES) and the fuzzy logic controller (FLC), is proposed. To verify the performance of the proposed algorithm, the 3-D obstacle avoidance of UFV is performed. Simulation results show that the proposed algorithm effectively solves the problems in the real system application.
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김도완(Do wan Kim),이호재(Ho Jae Lee),서주노(Joono Sur) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.6
This paper presents a new fuzzy model-based design approach for waypoints-tracking control of nonlinear underwater vehicles (UUVs) on a horizontal plane. The waypoints-tracking control problem is converted into the stabilization one for the error model between the given nonlinear UUV and the waypoints. By using the sector nonlinearity, the error model is modeled in Takagi-Sugeno"s form. We then derive stabilization conditions for the error model in the format of linear matrix inequality. A numerical simulation is provided to illustrate the effectiveness of the proposed methodology.
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Design, Control and Localization of Underwater Mine Disposal Robots
Yong Seon Moon(문용선),Nak Yong Ko(고낙용),Joono Sur(서주노) 제어로봇시스템학회 2013 제어·로봇·시스템학회 논문지 Vol.19 No.9
This paper describes the design, control, and localization which comprise major aspects of the development of underwater robots for the mine disposal. The developed robots are called the Mine Killer (MK-1) and MK-2. MK-1 had been developed from September 2009 and was presented at the 9-th International Symposium at NPS Monterey CA, on May 17-21, 2010[1]. The paper presents design of MK-1 and MK-2 in detail with comparison of these two versions of MKs. Then it derives hydrodynamic coefficients of MK-1. Based on the coefficients, the motion of MK-1 is simulated for straight line motion and circular motion. Also simulation results for PD control, LQ control and sliding mode control are presented. Finally, it shows a particle filter method for localization of MK-1 and MK-2 using simple range data from acoustic beacons.
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Tracking Control of Autonomous Underwater Vehicles : Fuzzy-Model-Based Design Approach
Do Wan Kim(김도완),Ho Jae Lee(이호재),Joono Sur(서주노) 대한기계학회 2010 대한기계학회 춘추학술대회 Vol.2010 No.11
This paper presents a new fuzzy-model-based design approach for tracking control of nonlinear autonomous underwater vehicles (AUVs). By using a partial linearization and a sector nonlinearity, the error model between the given nonlinear AUV and way points is modeled in Takagi-Sugeno's form. We then derive stabilization conditions for the error model in the format of linear matrix inequality (LMI). An example is provided to illustrate the effectiveness of the proposed methodology.
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