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최현의(Hyun-Eui Choi),김태규(Tae-Kue Kim),박승규(Seung-Kyu Park),윤태성(Tae-Sung Yoon) 대한전기학회 2009 대한전기학회 학술대회 논문집 Vol.2009 No.7
Wheeled mobile robot has different mobility and steerability which determined by type of wheel and it's arrangement. Generally wheeled mobile robot's dynamics are nonlinear and various control methods have studied to control the mobile robot efficiently. In this paper, a T-S fuzzy modeling of a 2-wheeled mobile robot is made and a stable LMI-based state feedback fuzzy controller is designed and applied to the position control of the mobile robot for the reference trajectory following. Also, the verification of the designed controller is done by computer simulation.
김응석,최현일,이동의,강동진,Kim,Eung-Seok,Choi,Hyun-Il,Lee,Dong-Eui,Kang,Dong-Jin 한국방재학회 2009 한국방재학회논문집 Vol.9 No.6
본 연구의 목적은 Bhaskar 등(2000)의 연구를 우리나라 유역에 적용하여, 홍수사상에 따른 유출수문곡선의 특성을 이용한 돌발홍수지수를 산정함으로써 돌발홍수의 심각성 정도를 정량화하고자 하였다. 또한, Bhaskar 등(2000)의 연구내용을 보다 확장하여 돌발홍수지수와 강우강도, 강우지속시간 및 총유출량과의 상관관계를 정량적으로 분석하였다. 본 연구에서는 미계측유역인 매곡천 유역의 과거 31개의 호우사상에 대한 돌발홍수의 상대심도를 파악하기 위해, 강우-유출모의를 통한 홍수수문곡선을 모의하고 이에 따른 돌발홍수지수를 산정하여 돌발홍수심도를 정량화하였다. The aim of this study is to quantify the severity of flash food for a study watershed in Korea by estimation of flash food index using flood runoff hydrograph following Bhaskar et. al (2000). As an extension of the previous research, we examine the relation between flash food index and rainfall intensity, rainfall duration, and total runoff, respectively. This study has estimated the flash food index through simulated flood hydrographs to investigate the relative severity of flash flood in an ungauged basin, Megok river basin for 31 flood events.
Cell 방식 포장공정에서의 Missing Item 검사 및 관리 시스템
김현우(Hyeon-Woo Kim),최현의(Hyun-Eui Choi),안호균(Ho-Gyun An),윤태성(Tae-Sung Yoon) 대한전기학회 2009 정보 및 제어 심포지엄 논문집 Vol.2009 No.5
Cell type packaging line is more suitable for the products with various models and small quantities like mobile phone or mp3 player than conveyor type packaging line. Cell type packaging line is applicable to package various product models, but it can cause wrong product compositions and missing of items. So, automatic missing item detection system is needed. We designed an missing item detection system with a bar code reader, infrared sensors, and a digital camera. and also developed the programs for sensor data acquisition, image data processing. Gill, and data management.
천효석(Hyo Seok Cheon),최현의(Hyun Eui Choi),윤태성(Tae Sung Yoon),박승규(Seung Kyu Park) 대한전기학회 2010 대한전기학회 학술대회 논문집 Vol.2010 No.7
In this paper, a trajectory tracking control system for mobile robot is proposed using LMI based fuzzy control method. For this, firstly, mobile robot is designed as a combined form of linear sub systems by using T-S fuzzy method. Secondly, the control gains of state feedback controller for each linear sub system which stabilize the overall trajectory tracking control system are obtained by applying Lyapunov stability condition and solving the resultant LMI's. Also, some computer simulations using Simulink and experimentations using P3DX mobile robot are executed for the verification of the performance of the proposed trajectory tracking control system. The results show that T-S fuzzy control method is an efficient means for controlling a nonlinear system and the proposed trajectory tracking control system can be used usefully for the autonomous navigation of wheeled mobile robot.