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.

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㎧.

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.

직교분해법에 의한 측지망의 조정

이영진,이석찬,Lee, Young Jin,Lee, Suck Chan 대한토목학회 1990 대한토목학회논문집 Vol.10 No.4

이 논문은 정규방정식을 사용하지 않고서 관측방정식으로부터 직접 직교분해법을 이용하여 측지망을 조정하는 데 목적이 있다. 연구결과, 이 방법은 자유망이나 가중측점조건에 의한 망조정의 경우에 있어서도 효과적으로 안정된 해를 제공하고 정규방정식에서의 Cholesky factor를 활용할 수 있는 등 중규모의 망조정에 적합함을 보여주고 있다. Orthogonal decomposition technique, not using normal equation, but using observation equation directly, is accepted for adjusting the geodetic network in this paper. The results of study show that the technique is the numerically stable and powerful method in network adjustment by inner constraints or weighted position parameters. Also, it is suitable to middle sized-network and is applicable to Cholesky Factor in the normal equation system.

sEMG 분석을 이용한 높이 들어올리기 자세에서의 신체적 작업부하의 정량적 평가방법 개발

이영진,지영준,Lee, Young-Jin,Chee, Young-Joon 대한의용생체공학회 2011 의공학회지 Vol.32 No.4

For human factor engineering and wearable robot design, the quantitative assessment of physical workload is needed. Through measuring the surface EMG (sEMG) and analysis, the physical workload in overhead lifting posture is presented in quantitative manner. By normalizing sEMG activities with maximal voluntary contraction (MVC), the inter-subject variability is reduced. In all muscles, %MVC increased as the weight of lifting object increases. In anterior deltoid muscle, the %MVC was 3-4 times higher than the other muscles which imply that this muscle performs the major role in the overhead lifting posture. In fatigue analysis, %MVC and the mean frequency in muscle of anterior deltoid changed markedly when compared with other muscles. Through the suggested procedures and analysis, the physical workload for a specific posture can be represented in quantitative way but the clinical meaning for the value should be investigated further.

가축분뇨 Biochar의 물리·화학적 특성분석을 통한 흡착제 적용성 평가 연구

이영진,오민아,박경주,이재영,Lee, Youngjin,Oh, Minah,Park, Kyoungjoo,Lee, Jai-young 한국지하수토양환경학회 2017 지하수토양환경 Vol.22 No.2

As livestock husbandry has broadened from family-scale to enterprise-scale, the number of farming families has decreased in contrast to the increase of the number of livestock, and the amount of livestock manure discharged per household has increased. Livestock manure is difficult to handle and its disposal in the ocean is prohibited. Moreover, facilities that compost and liquefy manure are blamed as sources of soil, ground water, and surface water pollution because the amount of manure generated from husbandry farms causes eutrophication. In this study, livestock manure was utilized as a feedstock of hydrothermal carbonization (HTC) process to produce biochar for use as an environmental medium. The biochar was tested for iodine adsorption capability and its performance was compared with other adsorbent materials.

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.

정적 자기장이 무순(radish sprouts)의 초기 발아와 성장에 미치는 영향

이영진,임지훈,박동국,Lee, Young-Jin,Lim, Ji-Hun,Park, Dong-Kook 한국정보통신학회 2013 한국정보통신학회논문지 Vol.17 No.1

심각한 기후변화로 인한 농업의 생산성 약화에 대비하기 위해 식물 성장을 촉진할 수 있는 방안에 대한 연구가 요구되고 있다. 식물성장을 촉진하는 방법으로 자기장을 이용하는 방법이 소개되고 있지만, 식물에 자기장을 인가하는 효과적인 방법에 대해서는 아직까지 자세히 연구된 문헌이 없다. 본 논문에서는 인가하는 정적 자기장의 세기, 자기장의 인가 방향, 자기장 노출 시간 변화에 따른 무순(radish sprouts)의 성장과 초기발아 효과에 대해 실험을 하고. 효과적인 자기장 노출 방법에 대해 조사하였다. 실험의 결과를 종합하면 자기장에 노출되지 않은 무순 보다 자기장에 노출된 무순의 초기발아가 약 3~4일정도 빠른 것으로 나타났고, 효율적인 무순의 성장을 위해서는 자기장의 세기를 적절히 선택해야 함을 알 수 있었고, 자기장의 인가 방향에 따라서는 큰 영향을 받지 않는 것을 알 수 있었다. In order to prepare for weakening of the productivity of agriculture due to serious climate change, the researches on promoting the growth of plant are required. Although the method of using magnetic field for improving the growth of plant was introduced, the effective method of imposing the field on the plant have yet to be studied thoroughly in the literatures. In this paper, we investigated the effects of static magnetic field on the growth and the early seed germination of radish sprouts according to the strength, direction of excitation and the expose time of the magnetic field, and present the effective method of imposing magnetic fields. From the measurements, it was found that the radish sprouts exposed in the field shows a rapid germination of about 3~4 days than those which had no field, and in order to the effective growth, the strength of the magnetic field should be properly selected, and the excitation direction of magnetic field has little effect on the radish sprouts growth.

희박행렬의 기법을 이용한 대규모 측지망의 조정

이영진,Lee, Young Jin 대한토목학회 1991 대한토목학회논문집 Vol.11 No.4

이 논문은 대규모인 약 2,000점(미지수 약 4,000개)의 평면 측지망을 조정할 수 있는 프로그램을 개발하는데 목적이 있다. 데이터의 저장 및 관리에는 희박행렬(sparse matrix)의 기법이 사용되었으며, 관측방정식에는 RR(C)U (Row-Wise Representation Complete Unodered)방식, 정규방정식에는 RR(U)U(Row-Wise Representation Upper Unodered) 방식을 도입하고 해법에는 수정 Cholesky법을 적용하였다. PC 386에서 개발된 이 프로그램은 정밀 2차 기준점망인 테스트망에 적용되었으며, 2차원 배열을 사용한 Cholesky 분해법 및 직교분해법을 채용한 프로그램과의 상대적인 비교분석이 이루어졌다. 연구의 결과에서는 희박행렬의 기법이 기억용량의 면에서 뿐만 아니라 처리시간에 있어서도 극히 효과적인 기법임을 보여주고 있다. This paper presents an overview of a system of computer programs for the solution of a large geodetic network of about 2,000 stations. The system arranges the matrices in systematic sparse form which is applied to observation equations of RR(C)U (Row-wise Representation Complete Unordered) type and to normal equations of RR(U)U (Row-wise Representation Upper Unordered) type. The solution is done by a Modified Cholesky's algorithm in view of large networks. The implementation program are tested in PC-386 by korean new secondary networks, the results show that the sparse techniques are highly useful to geodetic networks in core-storage management and processing time.

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.