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디지털 위성 방송을 위한 이동체의 위성 지향 알고리즘에 관한 연구
김기열,김성회,박종국 慶熙大學校 材料科學技術硏究所 1999 材料科學技術硏究論集 Vol.12 No.-
To receive satellite broadcasting data in vehicle, it is inevitable to have active antenna control system, which traces the satellite in real time. In this paper, it is proposed the real time algorithm for pointing satellite. Earth geostationary satellite is stationary in the sky. However, looking relative view in space, geostationary satellite seemed to move around earth with speed. Therefore, it is needed the fast and accurate satellite pointing algorithm. Applying the Newton's law of motion and Kepler's the second law, the proposed algorithm derives the angle of azimuth and elevation for vehicle. And it is preferred the Euler's roll, pitch and yaw system Ⅲ to represent vehicle's motion. The effectiveness of proposed algorithm was proved by the simulation.
4-구륜 2-자유도 이동 로보트를 위한 스트랩다운 관성항법시스템에 관한 연구
김기열,임호,박종국 慶熙大學校 1996 論文集 Vol.25 No.-
This paper proposes a kinematic modeling and position control algorithm using Strapdown Inertial Navigation System(SDINS) for 4-wheeled 2-degrees of freedom mobile robot(WMR). The kinematic model represents wheel motion equation, actuated inverse and sensed forward solution for the calculation of actuator and robot velocity. We derive the error model of Inertial Navigation System(INS). This error model and discrete linear kalman filter are applied to position control algorithm for WMR. Inertial Navigation System has initial error because of the rotation rate of earth and gravity acceleration. So, the error model of INS is derived by Gauss-Newton method. Then, we pursue fitness diagnosis of probability characteristics for real data and estimated data to test availability of error model. The performance of inertial sensor with error model and kalman filter is compared to performance when kalman filter and error model are excluded. The result demonstrate that the position error is increase without initial error compensation. The simulation results show that the kinematic modeling and position control algorithm for WMR are useful.
골프 스윙시 어드레스부터 백스윙탑까지의 소요시간에 대한 역학적 분석
백병주,이기천,이요열 연세대학교 체육연구소 2002 체육연구논문집 Vol.9 No.1
본 연구의 목적은 골프스윙시 어드레스부터 백스윙 탑까지의 운동학적 분석을 하는데 있다. 피험자로는 7년의 경력과 핸티캡 3의 대학 골퍼 5명으로 하였다. 실험은 2대의 16mm 고속카메라(photosonic co.)를 사용하였으며, 이때 촬영속도는 300frame/sec로 하였다. 자료분석은 3차원 영상분석하였으며, 프로그램은 KWON3D를 사용하였으며, 다음과 같은 결론을 얻었다. 어드레스에서 백스윙 탑까지의 소요시간은 1.12초, 임팩트까지는 1.38초, 그리고 백스윙 탑에서 임팩트까지의 소요시간은 0.26초로 나타났다. 국면별 누적시간은 제 1국면이 0.47초(31.77%), 2국면이 1.12초(77.08%), 3국면이 1.38초(96.03%) 그리고 4국면이 1.44초(100%)로 나타났다. The purpose of this study was to analyze kinematic to top of back swing from address in golf swing. The samples of this study were five university golfers who had 7 years career, 3 handicap. The experiment of this study was used two 16mm high speed cameras (Photosonic co.) its speed was 300frame/sec. Data analysis of this study was three-dimentional cinematography using KWON3D program package. As a conclusions the time elapsed (TE) from address to back swing top was 1.12 sec. and TE to impact was 1.38sec., TE from back swing top to impact was 0.26sec. TE during 1st phase was 0.47sec. (31.77%), TE during 2nd phase was 1.12sec.(77.08%), TE during 3rd phase was 1.38sec. (96.03%) , and TE during 4th phase was 1.44sec.(100%).
정용욱,김기열,박종국 慶熙大學校 大學院 院友會 1996 高凰論集 Vol.19 No.-
We presents a systematic method for the dynamic modeling of Wheeled Mobile Robot. We treats the dynamic modeling for describes relationship between the wheel actuator force/torque and WMR motion through the use of Newton's equilibrium laws. To calculate the WMR position in real time, we introduced the Dead-Reckoning algorithms and the simulation results show that the proposed dynamic modeling is useful. We can easily extend the proposed WMR modeling to mobile robot of similar type and this type of methodology is useful to analyze, design and control any kinds of rolling robots.
An AE System Using Fuzzy PI Control for Mobile Digital Camera
Ki-Yeoul Kim,Sun-Ho Cho 한국정보기술학회 2017 한국정보기술학회논문지 Vol.15 No.7
An AE (Auto Exposure) system for a digital camera controls the exposure automatically to optimize the brightness of the output image. Look-up tables and PI control methods are used for conventional AE algorithms. But a mobile digital camera cant control the exposure effectively with a conventional AE algorithm because of the many limitations of a miniaturized module. In this paper, we propose a new AE system that applies fuzzy PI to improve the AE of a mobile digital camera. In the proposed AE system, we compensate for target setting, frame delay, and Gamma Correction to accomplish more effective AE. The proposed AE system was compared with a conventional system and showed improved AE control speed, control stability, and luminance expression.
가변환경하의 불안정 시스템에 대한 자율적응 제어기 설계
김기열,이종성 부천대학 2003 論文集 Vol.24 No.-
부품들에 대한 열반응 검증 시스템은 모델링이 없으므로 일반적으로 PID 알고리즘에 의해 제어된다 그러나 이 알고리즘에 의한 제어는 적절한 제어에 있어서 많은 한계성을 지닌다. 이러한 문제를 해결하기 위해 시스템에 대한 자율 탐색기능을 갖는 퍼지 알고리즘에 기반 된 제어기를 설계한다. 퍼지 입력소속함수가 설정된 안정영역에 기반 되어 적응되고, 규칙기반이 시스템 반응에 기초되어 변환된다. 추론과 비퍼지화를 통해 계산된 출력값이 시스템 동작에 알맞은 값으로 변환된다. 이러한 조절을 통해 시스템이 불안정 영역으로 이동하는 것을 최소화시킨다. The system that is thermal test system for elements has been controlled generally by PID algorithm because of its characteristic. There is not a mathematical model for the system. So the system that is use the PID controller is not properly operated. To solve this problem, we propose a fuzzy algorithm that parameters and rule base is selected by self-searched algorithm for each system. The input fuzzy membership function is adapted based on the set stable range. Output membership function is nearly fixed but some parameter is adjustable. The rule base is changed under basis on the system response. The output value computed through inference and defuzzification is mapped into a value that is proper for the system operation. Through this regulation, it will be possible to prevent the temperature of system to go into the unstable temperature.