• Journal of Electrical Engineering and Technology
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• v.11 no.3
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• pp.751-758
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• 2016

The modifiable walking pattern generation (MWPG) algorithm can handle dynamic walking commands by changing the walking period, step length, and direction independently. When an infeasible command is given, the algorithm changes the command to a feasible one. After the feasibility of the navigational command is checked, it is translated into the desired center of mass (CM) state. To achieve the desired CM state, a reference CM trajectory is generated using predefined zero moment point (ZMP) functions. Based on the proposed algorithm, various complex walking patterns were generated, including backward and sideways walking. The effectiveness of the patterns was verified in dynamic simulations using the Webots simulator.

• Proceedings of the KIEE Conference
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• 2008.10c
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• pp.188-190
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• 2008

In this paper, it proposes a the high efficiency tracking system regarding power loss when operating a tracking system for environment variable such as a rapidly changing insolation to improve the power of PV tracking system. In case of tracking an azimuth and altitude of the sun in realtime, therefore, the actual PV power is less increasing than the power of tracking system fixed a specific position. To reduce the power loss, this paper proposes a nonel control algorithm of the tracking system. The paper is analyzed efficiency about conventional PV tracking method, comparing proposed algorithm with high performance method. We show propriety of proposed algorithm by means of the demonstrable study.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.01a
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• pp.99-102
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• 2009

In this paper a hierarchical stereo matching algorithm based on feature extraction is proposed. The boundary (edge) as feature point in an image is first obtained by segmenting an image into red, green, blue and white regions. With the obtained boundary information, disparities are extracted by matching window on the image boundary, and the initial disparity map is generated when assigned the same disparity to neighbor pixels. The final disparity map is created with the initial disparity. The regions with the same initial disparity are classified into the regions with the same color and we search the disparity again in each region with the same color by changing block size and search range. The experiment results are evaluated on the Middlebury data set and it show that the proposed algorithm performed better than a phase based algorithm in the sense that only about 14% of the disparities for the entire image are inaccurate in the final disparity map. Furthermore, it was verified that the boundary of each region with the same disparity was clearly distinguished.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.117-117
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• 2000

This paper presents experimental results for peformance management of a Profibus-FMS network. The performance management alms to maintain a uniform level of network performance at all stations under changing network traffic. The performance management algorithm monitors the performance of individual network stations and commands the stations to change their timer values in order to have comparable performance at all stations. In order to determine the amount of timer change, the algorithm employs a set of fuzzy rules. This algorithm has been evaluated on a Profibus network

• Proceedings of the KIEE Conference
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• 2001.11b
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• pp.330-332
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• 2001

Distribution systems is consist of network in physical and radial in electrical aspect. Therefore radial operation is realized by changing the status of sectionalizing switches, and is usually done for loss reduction in the system. In this paper, we propose a optimal method for distribution systems reconfiguration. Specifically we use genetic algorithm method to solve distribution systems reconfiguration for loss minimization problem. A genetic algorithm(GA) is set up, in which some improvements are made on string coding, fitness function and mutation pattern. As a result, premature convergence is avoided.

• Journal of the Korea Institute of Military Science and Technology
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• v.7 no.2 s.17
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• pp.13-21
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• 2004

GPS is widely used in various applications since GPS receivers are capable of measuring precise position and velocity in any weather condition for a relatively low cost. However, GPS requires more than four simultaneously visible GPS satellites for optimal performance. In high-motion, high-attitude-changing applications, there exist some situations where less than four satellites are visible or where the dilution of precision (DOP) is high. In this paper, we propose a simulation algorithm that predicts the performance of GPS navigation according to changes in vehicle attitude. We have compared simulation results with experimental results, where simulation results of the proposed algorithm are shown to closely match actual experimental data. This algorithm could be used to predict GPS navigational performance and to determine optimal GPS antenna position.

• Journal of the Korea Institute of Military Science and Technology
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• v.3 no.2
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• pp.61-70
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• 2000

An Adaptive Positive Position Feedback method is presented for controlling the roll of the supersonic smart projectile. The proposed strategy combines the attractive attributes of Positive Position Feedback(PPF) of Goh and Caughey, and Lyapunov stability theorem. The parameters of Adaptive-PFF controller are adjusted in an adaptive mauler in order to follow the performance of an optimal reference model. In this way, optimal damping and zero steady-state errors can be achieved even in the presence of uncertain or changing plant parameters. The performance obtained with the Adaptive-PPF algorithm is compared with conventional PPF control algorithm. The results obtained emphasize the potential of Adaptive-PPF algorithm as an efficient means for controlling plants such as supersonic flight systems with uncertainties in real time.

• Transactions of the Korean Society of Automotive Engineers
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• v.11 no.5
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• pp.176-182
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• 2003

The researches for autonomous vehicle have been implemented in many studies, but most studies were confined to the lane fol1owing and changing. This paper addresses a problem of autonomous lane following parking a nonholonomic vehicle. The algorithm for image processing by the hough transform and controlling a steering angle and speed to park a nonholonomic vehicle is developed. The developed system which integrated the control algorithm for parking and vision algorithm for line traction tested with RC car and verified by the performance of the detection of parking area and the reactive parking without collisions.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.50 no.5
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• pp.241-247
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• 2001

Network reconfiguration in distribution systems is realized by changing the status of sectionalizing switches, and is usually done for loss reduction of load balancing in the system. This paper presents an effective heuristic based switching scheme to solve the distribution feeder loss reduction problem. The proposed algorithm consists of two parts. One is to set up a decision tree to represent the various switching operations available. Another is to apply a proposed technique called cyclic best first search. the proposed algorithm identify the most effective the set of switch status configuration of distribution system for loss reduction. To demonstrate the validity of the proposed algorithm, numerical calculations are carried out the 32, 69 bus system models.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.8
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• pp.471-481
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• 2003

The acts of biological immune system are similar to the navigation for autonomous mobile robots under dynamically changing environments. In recent years, many researchers have studied navigation algorithms using artificial immune networks. Conventional artificial immune algorithms consist of an obstacle-avoidance behavior and a goal-reaching behavior. To select a proper action, the navigation algorithm should combine the obstacle-avoidance behavior with the goal-reaching behavior. In this paper, the neural network is employed to combine the behaviors. The neural network is trained with the surrounding information. the outputs of the neural network are proper combinational weights of the behaviors in real-time. Also, a velocity control algorithm is constructed with the artificial immune network. Through a simulation study and experimental results for a autonomous mobile robot, we have shown the validity of the proposed navigation algorithm.