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Sampled-Data MPC for Leader-Following of Multi-Mobile Robot System
Seungyong Han(한승용),Sangmoon Lee(이상문) 대한전기학회 2018 전기학회논문지 Vol.67 No.2
In this paper, we propose a sampled-data model predictive tracking control deign for leader-following control of multi-mobile robot system. The error dynamics of leader-following robots is modeled as a Linear Parameter Varying (LPV) model. Also, the Lyapunov function is presented to guarantee stability of the networked control system. Based on the stabilization condition using a quadratic Lyapunov function approach, model predictive sampled-data controller is designed. Finally, the leader-following control of multi mobile robots is simulated to show effectiveness of the proposed method.
자율 주행 자동차를 대상으로 한 위험 분석 및 Risk 평가 방안에 관한 연구
한승용(Seungyong Han),정신훈(Shinhun Jeong),고희양(Heeyang Go) 한국자동차공학회 2017 한국자동차공학회 학술대회 및 전시회 Vol.2017 No.11
The “hazard analysis and risk assessment (abb.: HARA)“ is one of the most important activity according to international standard for functional safety of the road vehicle ISO 26262:2011. Through the HARA according to ISO 26262 Part 3: Concept phase have been ensured for ASIL (Automotive Safety Integrity Level) of new developing items include the items that should be applied reuse concept for road vehicles. These requirements for HARA are mandatory activities to respond ISO 26262:2011 whether so called “the autonomous driving“ based on ADAS (Advanced Driver Assit System) or conventional vehicles such as Limousine and SUV etc.. In this phase there are few challenges to perform HARA that was attributed to the difference between autonomous driving and conventional vehicle. The HARA-process should be analyzed based on basically “malfunctioning behaviour of items“ not for malfunctioning behaviour from control failure of vehicle itself. Therefore it will be needed to a new approach to perform HARA to ensure ASIL for autonomous driving.
사회적 통합과 자살: 연휴가 자살자수 감소에 미치는 영향
한승용(Seungyong Han) 한국인구학회 2008 한국인구학 Vol.31 No.1
이 연구의 주된 목적은 사회적 통합이 평소에 비해 강해질 것으로 생각되는 특정 연휴기간에 자살자수의 양상이 어떻게 변화하는가를 파악하는 것이다. 이 연구는 2000-2005년 사망원인 통계 자료를 활용하여 한국의 대표적인 연휴인 신정, 구정, 추석, 성탄절 등을 연구의 대상이 되는 연휴로 설정하고 일별 자살자수의 변화를 분석하였다. 이론적 배경과 기존 연구결과를 토대로 연휴 이전 3일과 연휴 당일에는 자살자수의 감소가, 연휴 이후 3일에는 자살자수의 증가가 나타날 것이라는 기본가설을 설정하였다. 세부적으로는 혼인상태별, 연령별 자살양상의 차이를 가정하였다. 분석결과 첫째, 연휴기간의 자살자수 감소는 유의미한 것으로 확인되었다. 둘째, 혼인상태에 따른 자살양상의 차이는 발견되지 않는다. 셋째, 고령자 집단에서 연휴기간 자살자수 감소양상이 명확히 나타난다. 단, 성탄절에는 젊은 연령대의 자살자수 감소가, 높은 연령대의 자살자수 증가가 나타난다. 넷째, 성탄절 이후의 자살자수 감소는 혼인상태 및 연령과 관계없이 나타난다. 이러한 결과는 증대된 사회적 통합이 자살을 방지하지만, 사회적 통합을 증대시키는 요인이 세대에 따라 확연히 다르다는 것을 보여준다. The main purpose of this study is to examine the suicide pattern during major holidays which are considered to be in high social integration - New Year’s Day, Lunar New Year’s Day, Harvest Festival (Chuseok) and Christmas. To confirm suicide patterns, this study hypothesized firstly, the number of suicides would decrease before and on each holiday, and secondly, the number of suicides would increase after each holiday. In detail, this study postulated different patterns by marital status and age groups. Utilizing “Causes of Death Statistics” from 2000 to 2005, the number of suicides by marital status and age group on each day is calculated and categorized by holiday. There are four major findings. First, the decrease in the number of suicides during holiday periods is significant. Second, different suicide patterns by marital status are not found. Third, the difference in suicide patterns by age groups is significant. Specifically, there is a decrease in the number of suicides of the old during Lunar New Year’s Day and Harvest Festival (Chuseok). On the other hand, there is no changes in the number of suicides of the young during the same periods. Fourth, a decrease in the number of suicides regardless of marital status and age is found at the end of a year. These results mean that increased social integration is functioned as a “suicide immune system.” However, each generation has its own main factor that increases social integration.
3 자유도 비행체 시스템의 이벤트 트리거 기반의 H<sub>2</sub> 자세 제어기 설계
정혜인,한승용,이상문,Jung, Hyein,Han, Seungyong,Lee, Sangmoon 대한임베디드공학회 2020 대한임베디드공학회논문지 Vol.15 No.3
This paper is concerned with the H<sub>2</sub> attitude controller design for 3 degree of freedom (DOF) Hover systems with an event-triggered mechanism. The 3 DOF Hover system is an embedded platform for unmanned aerial vehicle (UAV) provided by Quanser. The mathematical model of this system is obtained by a linearization around operating points and it is represented as a linear parameter-varying (LPV) model. To save communication network resources, the event-triggered mechanism (ETM) is considered and the performance of the system is guaranteed by the H<sub>2</sub> controller. The stabilization condition is obtained by using Lyapunov-Krasovskii functionals (LKFs) and some useful lemmas. The effectiveness of the proposed method is shown by simulation and experimental results.
시간 종속적인 리아프노프 함수를 이용한 모바일 로봇의 선도-추종 샘플 데이터 제어
예동희,한승용,이상문,Ye, Donghee,Han, Seungyong,Lee, Sangmoon 대한임베디드공학회 2021 대한임베디드공학회논문지 Vol.16 No.4
The aim of this paper is to propose a less conservative stabilization condition for leader-following sampled-data control of wheeled mobile robot (WMR) systems by using a clock-dependent Lyapunov function (CDLF) with looped functionals. In the leader-following WMR system, the state and input of the leader robot are measured by digital devices mounted on the following robot, and they are utilized to construct the sampled-data controller of the following robot. To design the sampled-data controller, a stabilization condition is derived by using the CDLF with looped functionals, and formulated in terms of sum of squares (SOS). The considered Lyapunov function is a polynomial form with respect to the clock related to the transmitted sampling instants. As the degree of the Lyapunov function increases, the stabilization condition becomes less conservative. This ensures that the designed controller is able to stabilize the system with a larger maximum sampling interval. The simulation results are provided to demonstrate the effectiveness of the proposed method.
[자율이동체 정보처리] 다중 센서를 가지는 상태추정기 기반의 자율 이동로봇 추적제어 시스템 구현
진용식(Yongsik Jin),한승용(Seungyong Han),이상문(Sangmoon Lee) 대한전기학회 2019 전기학회논문지 Vol.68 No.5
In this paper, we propose a tracking control method for autonomous mobile robot based on state estimation with multi-sensor. The proposed system consists of a camera and encoder to measure the accurate position and orientation of a robot. In order to fuse data obtained from different sensors, we designed a state estimator with multi-rate sampled-data. The performance of the tracking control is guaranteed by the explicit model predictive control method which is employed for real-time implementation. For autonomous navigation, we implemented camera based sign recognition, obstacle location determination, and path generation algorithm using rider data. The proposed autonomous tracking control system for mobile robot is developed in the embedded environment based on the robot operating system (ROS). Virtual simulations and real experiments are performed to show the effectiveness and validity of the proposed method.