• 한국통신학회논문지
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• 제34권10B호
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• pp.981-987
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• 2009

최근 유비쿼터스 헬스케어 서비스를 위한 무선 신체 망에 대한 연구가 IEEE 등을 중심으로 연구가 활발히 진행되고 있다. 무선 신체망은 전력제한 및 생체특성을 반영하여 멀티 홉 통신 기반의 부모노드 및 자식노드로 구성된 트리형태로 구성되는 경우가 많다. 이 경우 기존의 센서 네트워크와 달리 빈번한 신체의 움직임으로 망에 연결되어 있는 노드의 연결이 끊어질 가능성이 높으며 각 노드의 전력소모 제한으로 인해 각 노드에서 처리 가능한 노드 연결 수에 제한이 있다. 본 연구에서는 노드가 망과 연결이 끊어졌을 경우 노드가 전송할 패킷의 우선순위를 고려하여 QoS를 만족하면서 최적의 부모 노드를 선택하는 휴리스틱 알고리즘을 제안한다. 시뮬레이션을 통해 제안한 알고리즘의 성능분석을 하였으며 그 결과 본 연구에서 제안한 알고리즘이 망의 생존시간이 더 길다는 것을 확인하였다.

• 로봇학회논문지
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• 제3권3호
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• pp.186-193
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• 2008

We propose a novel real-time obstacle avoidance method for rescue robots. This method, named the ELA(Emergency Level Around), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward safe position. In the ELA, we consider two sensor modules, PSD(Position Sensitive Detector) infrared sensors taking charge of obstacle detection in short distance and LMS(Laser Measurement System) in long distance respectively. Hence if a robot recognizes an obstacle ahead by PSD infrared sensors first, and judges impossibility to overcome the obstacle based on driving mode decision process, the order of priority is transferred to LMS which collects data of radial distance centered on the robot to avoid the confronted obstacle. After gathering radial information, the ELA algorithm estimates emergency level around a robot and generates a polar histogram based on the emergency level to judge where the optimal free space is. Finally, steering angle is determined to guarantee rotation to randomly direction as well as robot width for safe avoidance. Simulation results from wandering in closed local area which includes various obstacles and different conditions demonstrate the power of the ELA.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2033-2038
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• 2003

This paper describes an integrated navigation strategy for the autonomous service robot PSR. The PSR is under development at the KIST for service tasks in indoor public environments. The PSR is a multi-functional mobile-manipulator typed agent, which works in daily life. Major advantages of proposed navigation are as follows: 1) Structured control architecture for a systematic integration of various software modules. A Petri net based configuration design enables stable control flow of a robot. 2) A range sensor based generalized scheme of navigation. Any range sensor can be selectively applied using the proposed navigation scheme. 3) No need for modification of environments. (No use of artificial landmarks.) 4) Hybrid approaches combining reactive behavior as well as deliberative planner, and local grid maps as well as global topological maps. A presented experimental result shows that the proposed navigation scheme is useful for mobile service robot in practical applications.

• Journal of Power Electronics
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• 제14권2호
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• pp.369-382
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• 2014

A growing dynamic electrical demand has created an increasing interest in utilizing nonconventional energy sources like Photovoltaic (PV), wind power, etc. In this context, this paper focuses on the design and development of a composite power controller (CPC) in the decoupled double synchronous reference frame (DDSRF) combining the advantages of direct power control (DPC) and voltage oriented control (VOC) for a PV sourced grid connected inverter. In addition, a controller with the inherent active filter configuration is tested with nonlinear and unbalanced loads at the point of common coupling in both grid connected and autonomous modes of operation. Furthermore, the loss and reactive power compensation due to a non-fundamental component is also incorporated in the design, and the developed DDSRF model subsequently allows independent active and reactive power control. The proposed developed model of the controller is also implemented using MATLAB-Simulink-ISE and a Xilinx system generator which evaluate both the simulated and experimental setups. The simulation and experimental results confirm the validity of the developed model. Further, simulation results for the DPC are also presented and compared with the proposed CPC to further bring out the salient features of the proposed work.

• 한국항공우주학회지
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• 제36권10호
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• pp.988-995
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• 2008

본 논문에서는 궤환선형화를 이용한 일치기법을 사용하여 다수 무인기의 편대비행 제어기를 설계하였다. 제안한 기법은 한 대의 리더기를 중심으로 하는 집중형 방식이 아닌 분산형 방식으로, 각 개체의 제어입력은 인접한 개체만의 정보만을 이용하여 설계된다. 라플라시안 행렬을 이용하여 개체 간의 정보 교류를 정의한 후, 궤환선형화 과정을 거친 비행체에 적용하였다. 또한, 본 논문에서 제안한 제어기의 안정성 해석을 수행하였다. 또한 제안한 제어기의 성능을 검증하기 위해서 회전익 무인기 비행체 모델에 대한 수치 시뮬레이션을 수행하였다.

• 한국추진공학회:학술대회논문집
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• 한국추진공학회 2002년도 제19회 학술발표대회 논문초록집
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• pp.18-18
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• 2002

A project where the TPUs(Turbo Pump Units) for 10tf-thrust oxygen/methane LRE (Liquid Rocket Engine) are under development is being implemented to include an experimental combustion chamber developed. In the process of it, we introduced the power-balanced engine cycles in order to substantiate concepts of the engine using the combinations of the propellants. Accordingly, the main engine parameters of nominal operating mode are resulted from the 1-Dcalculations and it is found that the regulators are needed for controlling the expected pressure levels in the characteristics of propellant mixture ratio and thrust supposing the regulator is set to analogue-typed one which is easy to develop.The technical requirements like the nominal flow rate, its deviations expected and the pressure difference In need helped the several main characteristics of regulators to be determine in this stage. Here, a dozen of deviation values in the main parameters related to engineoperation are taken into independent consideration and accepted to the results for additional regimes of the regulators.Finally, we can determine the scheme and the primary dimensions along with the calculation design of the spring acceptable for general configuration which can definitely forwarded to the autonomous tests of the aggregates, The obtained data in further will be used for successive refinement of operating mode of the engine.

• 한국경영과학회:학술대회논문집
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• 대한산업공학회/한국경영과학회 1995년도 춘계공동학술대회논문집; 전남대학교; 28-29 Apr. 1995
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• pp.208-215
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• 1995

Numerous solution methods for scheduling problems such as part dispatching problem, operation sequence problem have been suggested as a means to be embedded in hierarchical or centralized shop floor control. Under the preceding control philosophies, however, response to changes in the shop floor status is quite slow and timely decision is sometimes impossible. Moreover, the control software becomes too large and it is almost impossible to modify the control software when the configuration of the shop floor changes. In agile manufacturing which emerged recently to cope with quick response and easy modifiability when unexpected changes occur, a new control policy is needed. CSCW[Computer Supported Cooperative Work] based shop floor control casts a different view on scheduling problems. Decisions are made locally when requested and useful information is scattered among agents for its efficient use. Adaptation is easy because agents are -'plug compatible or portable. In this paper, scheduling problems occurring under CSCW based shop floor control are identified and characterized. Traditional scheduling problems are reviewed from the CSCW viewpoint. All the control entities involved in the shop floor can be found and used to defined agents. With these entities and CSCW concept, possible scheduling problems are identified.

• Journal of Communications and Networks
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• 제10권2호
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• pp.213-220
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• 2008

This paper analyzes a broadcasting technique for wireless multi-hop sensor networks that uses a form of cooperative diversity called opportunistic large arrays (OLAs). We propose a method for autonomous scheduling of the nodes, which limits the nodes that relay and saves as much as 32% of the transmit energy compared to other broadcast approaches, without requiring global positioning system (GPS), individual node addressing, or inter-node interaction. This energy-saving is a result of cross-layer interaction, in the sense that the medium access control (MAC) and routing functions are partially executed in the physical (PHY) layer. Our proposed method is called OLA with a transmission threshold (OLA-T), where a node compares its received power to a threshold to decide if it should forward. We also investigate OLA with variable threshold (OLA-VT), which optimizes the thresholds as a function of level. OLA-T and OLA-VT are compared with OLA broadcasting without a transmission threshold, each in their minimum energy configuration, using an analytical method under the orthogonal and continuum assumptions. The trade-off between the number of OLA levels (or hops) required to achieve successful network broadcast and transmission energy saved is investigated. The results based on the analytical assumptions are confirmed with Monte Carlo simulations.

• Journal of Positioning, Navigation, and Timing
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• 제7권1호
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• pp.43-52
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• 2018

In recent years, the need of high accuracy navigation for vehicles has increased due to the development of autonomous driving vehicles and increase in land transportation convenience. This study is performed for vehicle users to achieve a performance of centimeter-level positioning accuracy by utilizing Compact Network Real-time Kinematic (RTK) that is applicable as a national-level infrastructure. To this end, medium-baseline RTK was implemented in real time to estimate accurate integer ambiguities between reference stations for reliable generation of Network RTK correction using the linear combination of carrier-phase observations and L1/L2 pseudo-range measurements. The residual tropospheric error was estimated in real time to improve the accuracy of double-differenced integer ambiguity resolution between network configuration reference stations that have at least 30 km or longer baseline distance. In addition, C++ based software was developed to enable real-time generation and broadcasting of Compact Network RTK correction information by utilizing an accurately estimated double-differenced integer ambiguity values. As a result, the horizontal and vertical 95% accuracy was 2.5cm and 5.2cm, respectively, without performance degradation due to user's position change within the network.

• 제어로봇시스템학회논문지
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• 제13권9호
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• pp.903-909
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• 2007

Mobile Robots are increasingly being used to perform tasks in unknown environment. The potential of robots to undertake such tasks lies in their ability to intelligently and efficiently search in an environment. To achieve autonomous mobile robot navigation, efficient path planner and accurate localization technique are the fundamental issues that should be addressed. This paper presents mobile robot localization using IRID(InfraRed IDentification) as artificial landmarks. IRID has highly deterministic characteristics, different from RFID. By putting several IRID emitters on the ceiling, the floor is divided into many different sectors and each sector is set to have a unique identification. Dead-reckoning provides the estimated robot configuration but the error becomes accumulated as the robot travels. IRID information tells the sector the robot is in, but the size of the uncertainty is too large if only the IRID information is used. This paper presents an algorithm which combines both the encoder and the IRID information so that the size of the uncertainty becomes smaller. It also introduces a framework which can be used with other types of the artificial landmarks. The characteristics of the developed IRID and the proposed algorithm are verified from the simulation results and experiments.