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허화라 호서대학교 반도체제조장비국산화연구센터 2001 반도체장비학술심포지움 Vol.2001 No.-
본 논문에서는 자동화 사격장 Pop-Up시스템의 안정성 및 성능 향상을 위해 예측제어기를 설계하여 시간지연에 따른 문제를 보상하였다.확률 모델에 기반한 예측제어기는 지연된 이전의 값들로부터 선형예측 기법과 확률함수를 이용하여 실제의 값을 추정하며, 이를 제어기에 적용하여 시간지연에 따른 문제점을 최소화하였다.제안된 알고리즘의 타당성을 검정하기 위해 사격용 Pop-Up시스템에 본 알고리즘을 실현하였으며, 상이한 시간지연과 이득 변화에 따른 제어기의 성능을 관측하였다.실험결과 제안된 예측제어기는 시간지연에 대해 PID 제어기보다 빠른 수렴 특성을 보이며, 제어기의 안정범위 내에서 허용할 수 있는 최대 시간지연 값도 증가시킬 수 있었다 따라서 사격용 타겟의 Pop & Up 동작이 제어시간 이내에 원활하게 작동되어 연속 사격의 실시간 제어를 효율적으로 수행하였다.
Design of Smart Farm with Automatic Transportation Function
Hwa-ra Hur(허화라),Seok-Gyu Park(박석규),Myeong-Chul Park(박명철) 한국컴퓨터정보학회 2019 韓國컴퓨터情報學會論文誌 Vol.24 No.8
The existing smart farm technology has been systematized for the mass production rather than the consumer. There are many problems such as economical aspect to apply to actual rural environment due to aging. The purpose of this study is to apply smart farm technology based on the applicability of population aged in rural areas. Due to the heat wave, the crops in general greenhouse cultivation facilities suffered from damage such as sunlight damage. To minimize such damage, adjust the temperature and humidity environment or install a light-shielding film. However, the workers in the rural areas are aging and the elderly who are farming alone have a lot of difficulties in doing so. In the case of people with weak physical strength, there is a danger that they may lead to safety accidents when carrying heavy loads. In this paper, we propose "Smart Palm capable of automatic transportation function’, applying small smart vehicles that follow workers to existing smart farms to improve and prevent these problems. It is a smart farm that performs the control functions of the existing smart greenhouse environment, installs the rail for each trough, and has a vehicle that follows the worker. The smart app can directly control the greenhouse and the vehicle remotely manually.
허화라,Hur Hwa-Ra 대한경영정보학회 1998 경영과 정보연구 Vol.2 No.-
In this study I construct CAN(Controller Area Network) for automobiles similar to LAN(Local Area Network) and build communication modules in the major part of an automobile to link several sub-systems. Since each station replaces the communication function of sub-systems and has various types of sensor, actuator, controller, and switch, every information about automobile's status is obtained from the network. The manufactured system showed a superior capability. The following is the contents of study. 1. The definition of communication packet through the analysis of CAN protocol. 2. The Design of modules using micro-controller 80C196CA. 3. The Network configuration.
Implementation of Educational UAV with Automatic Navigation Flight
Myeong-Chul Park(박명철),Hwa-ra Hur(허화라) 한국컴퓨터정보학회 2019 韓國컴퓨터情報學會論文誌 Vol.24 No.8
This paper proposes a UAV equipped with an automatic control system for educational purposes such as navigation flight or autonomous flight. The proposed UAV is capable of automatic navigation flight and it is possible to control more precisely and delicately than existing UAV which is directly controlled. And it has the advantage that it is possible to fly in a place out of sight. In addition, the user may arbitrarily change the route or route information to use it as an educational purpose for achieving the special purpose. It also allows you to check flight status by shooting a video during flight. For this purpose, it is designed to check the image in real time using 5.8GHz video transmitter and receiver. The flight information is recorded separately and used as data to judge the normal flight after the flight. The result of the paper can be flighted along the coordinates specified using GPS information. Since it can receive real-time video, it is expected to be used for various education purposes such as reconnaissance of polluted area, achievement of special purpose, and so on.
Camera Calibration of 5 D.O.F Robot Arm
최승욱(Sung-Yug Choi),허화라(Hwa-Ra Hur) 한국멀티미디어학회 2006 한국멀티미디어학회 학술발표논문집 Vol.2006 No.1
In this paper, to improve the accuracy in estimating the position/orientation of a camera, the position and shape information of an object, which is obtained precisely by a pattern recognition procedure, is integrated into the calibration process based upon a point-correspondence scheme. Experiments are performed to show the improvement of accuracy. In most of camera calibration processes either based upon a line-correspondence scheme or based upon a point-correspondence scheme, clear images of the object are required. Even with the uncontaminated images, there exist errors in estimating position and orientation of a camera due to lens distortion and limit number of pixels, as well as inherent errors due to the perspective model of a camera. These problems are being tackled in various ways since there is no simple and solid approach.
Google Earth를 이용한 비행정보 시각화 시스템의 구현
박명철(Myeong-Chul Park),허화라(Hwa-Ra Hur) 한국컴퓨터정보학회 2010 韓國컴퓨터情報學會論文誌 Vol.15 No.10
본 논문은 항공기의 비행정보를 효과적으로 시각화하기 위하여 Google Earth를 이용한 시스템 구현에 대해 기술한다. 이 시스템은 Google Earth 에서 제공하는 상세한 위성 영상 정보를 이용하기 위하여 COM API 를 이용하였다. 제안하는 시스템은 항공기의 다양한 장치에서 얻어진 비행정보를 OpenGL을 이용하여 각종 계기판에 표시하고 실제 비행모습을 가시화하기 위하여 Google Earth Map에 연동하여 표시하였다. 본 연구결과는 비행평가 및 개선에 이용될 수 있고 향후, 비행소프트웨어 개발에 적용될 수 있다. This paper presents implementation of a system for effective visualizing flight information of aircraft using Google Earth. This system in order to use a detailed satellite image which provide from Google Earth used COM API. This system appeared the various flight information of the aircraft in the instrument panel using OpenGL and the aircraft flight condition is visible in the Google Earth Map. This research result used to flight evaluation and improvement. In future will be able to apply to flight software development.