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선박 자동접안을 위한 위치계측 시스템 구축에 관한 연구
김영복(Y. B. Kim),최용운(Y. W. Choi),서진호(J. H. Suh),이권순(K. S. Kwon) 한국동력기계공학회 2006 한국동력기계공학회 학술대회 논문집 Vol.- No.-
In this paper vector code correlation(VCC) method and an algorithm to promote the image-processing performance in building an effective measurement system using cameras are described for automatically berthing and controlling the ship equipped with side-thrusters. In order to realize automatic ship berthing, it is indispensable that the berthing assistant system on the ship should continuously trace a target in the berth to measure the distance to the target and the ship attitude, such that we can make the ship move to the specified location. The considered system is made up of 4 apparatuses compounded from a CCD camera, a camera direction controller, a popular PC with a built-in image processing board and a signal conversion unit connected to parallel port of the Pc. The object of this paper is to reduce the image-processing time so that the berthing system is able to ensure the safety schedule against risks during approaching to the berth. It could be achieved by composing the vector code image to utilize the gradient of an approximated plane found with the brightness of pixels forming a certain region in an image and verifying the effectiveness on a commonly used PC. From experimental results, it is clear that the proposed method can be applied t o the measurement system for automatic ship berthing and has the image-processing time of fourfold as compared with the typical template matching method.
김영복(Y. B. Kim),최용운(Y. W. Choi),채규훈(G. H. Chae) 한국동력기계공학회 2006 한국동력기계공학회 학술대회 논문집 Vol.- No.-
In this paper vector code correlation(VCC) method and an algorithm to promote the image-processing performance in building an effective measurement system using cameras are described for automatically berthing and controlling the ship equipped with side-thrusters. In order to realize automatic ship berthing, it is indispensable that the berthing assistant system on the ship should continuously trace a target in the berth to measure the distance to the target and the ship attitude, such that we can make the ship move to the specified location. The considered system is made up of 4 apparatuses compounded from a CCD camera, a camera direction controller, a popular PC with a built-in image processing board and a signal conversion unit connected to parallel port of the PC. The object of this paper is to reduce the image-processing time so that the berthing system is able to ensure the safety schedule against risks during approaching to the berth. It could be. achieved by composing the vector code image to utilize the gradient of an approximated plane found with the brightness of pixels forming a certain region in an image and verifying the effectiveness on a commonly used pc. From experimental results, it is clear that the proposed method can be applied to the measurement system for automatic ship berthing and has the image-processing time of fourfold as compared with the typical template matching method.
김영복(Y. B. Kim),서진호(J. H. Suh),이권순(K. S. Lee),최용운(Y. W. Choi) 한국동력기계공학회 2006 한국동력기계공학회 학술대회 논문집 Vol.- No.-
In ship operation the consequency of roll motions can seriously degrade the performance of mechanical and personnel effectiveness. So many studies for the roll stabilization system design have been performed and good results have been achieved. In many studies, the stabilizing fins are used. Recently rudders, which have been extensively modified, have been used to exclusively to stabilize the roll. But, in the roll stabilization control system, the control performance is very sensitive to the ship speed. So, we can see that it is important to consider the ship speed in the rudder roll control system design. The gain-scheduling control technique is very useful in the control problem incorporating time varying parameters which can be measured in real time. Based on this fact, in this paper we examine the H∞-Gain Scheduling control design technique. Therefore, we assume that a parameter, the ship speed which can be estimated in real time, is varying and apply the gain-scheduling control technique to design the course keeping and anti-rolling control system for a ship. In this control system, the controller dynamics are adjusted in real-time according to time-varying plant parameters. The simulation result shows that the proposed control strategy is shown to be useful to the case when the ship speed is varying and robust to disturbances like wind and wave.
김영복(Y. B. Kim),H. Kawai,최용운(Y. W. Choi),이권순(K. S. Lee),채규훈(G. H. Chae) 한국동력기계공학회 2007 한국동력기계공학회 학술대회 논문집 Vol.- No.-
In general, the swing motion of the crane is controlled and suppressed by activating the trolley motion. In many papers reported by us, we suggested a new type of anti-sway control system of the crane. In the proposed control system, a small auxiliary mass(moving-mass) is installed on the spreader and the swing motion is controlled by moving the auxiliary mass. The actuator reaction against the auxiliary mass applies inertial control forces to the container in order to reduce the swing motion in the desired manner. The measuring system is based on laser sensor or others. However it is not so useful in real world. In this paper, we use the camera based measurement system to measure sway motion of the crane. And the H∞ based control technique is applied to suppress swing motion of the crane. And the experimental result shows that the proposed control system is useful and robust to disturbances.