• Journal of Institute of Control, Robotics and Systems
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• v.7 no.5
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• pp.420-426
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• 2001

In this paper, we introduce a case study of developing a miniature humanoid robot that has 16 degrees of freedom and is able to perform statically stable walking. The developed humanoid robot is 37cm tall and weighs 1,200g. RC servo motors are used as actuators. The robot can walk forward and turn to any direction on an even surface. It equipped with a small digital camera, so it can transmit vision data to a remote host computer via wireless modem. The robot can be operated in two modes: One is a remote-controlled mode, in which the robot behaves according to the command given by a human operator through the user-interface program running on a remote host computer, the other is a stand-alone mode, in which the robot behaves autonomously according the pre-programmed strategy. The user-interface program also contains a robot graphic simulator that is used to produce and verify the robot\`s gait motion. In our walking algorithm, the ankle joint is mainly used for balancing the robot. The experimental results shows that the developed robot can perform statically stable walking on an even surface.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.59 no.12
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• pp.2165-2172
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• 2010

This paper presents the operation algorithm of microgrid on the Real Time Pricing(RTP) for building the smart grid. RTP is higher power price variability than flat rate and time of use. However it has an effect on peak clipping and peak load shifting due to the increased price on peak time power demand. When the RTP are applied to the microgrid system, the proposed algorithm is able to be effective and economic operation. The implemented system is operated for the economic operation in microgrid connected with the power system. On the other hand, when the microgrid is operated on isolation mode, it focus on the improvement of stability and the power supply reliability of the sensitive loads. The test system are implemented and calculated on various operation modes based on non-dispachable generator output and RTP data for validating the proposed operation algorithm. The calculated results are compared to the implemented results using real-time simulator. It can be confirmed that the proposed operation system are identical results to the calculated one. When the proposed operation algorithm is applied to the system, it can be show the effectiveness of the peak clipping and peak load shifting and the improvement of economic feasibility.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.60 no.6
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• pp.1255-1260
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• 2011

In this paper, we study on the reliability of Very High-rate Power Line Communication (VH-PLC) for Smart Grid, so that the resultant data rate is over 400Mbps at a physical layer. Firstly, reviewing the research trend of the PLC, we discuss the required techniques for supporting the Smart Grid. Considering a pre-specification with the value of several parameters, we investigate a multi-carrier modulation technique to overcome limitations of higher rate transmission under power line channel environments. Then, we propose a system specification of the VH-PLC in the sense of enhancing two features. One is resolving the problem of the co-existence of the deployed high-speed PLC according to the published standardization of KS X 4600-1 in Korea. The other is getting better performance on the grid adopting the diverse element techniques, such as multi-carrier modulation, a subcarrier utilization mode, a variable rate LDPC (Low Density Parity Check) code, and a time and frequency diversity technique. Further, a simulation tool, composed of an Event-Driven simulator and a Time-Driven simulator, is developed for the purpose of verifying the system performance and continuously cross-checking the test bench signal of the proposed VH-PLC system.

• Journal of the Korea Computer Industry Society
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• v.2 no.12
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• pp.1505-1516
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• 2001

The goal of Medical multimedia server is to develop computer hardware and software which would enable electronic access, storage, transmission, and display of patient data and images. Since the current network only provides so called "best-effort" services, it is impossible to satisfy QoS guarantee that is required for real time application services for emergency room, operating room etc. Accordingly, world-wide research is being made for a variety of services to provide QoS. he goal of DiffServ is to offer scalable differentiated service in Internet which are made possible by traffic classification and conditioning only performed at an edge(or a boundary) node. In case DiffServ was deployed in the Medical multimedia network, it is difficult to estimate how the QoS mechanism would affect totally the network performance. Therefore, we need to verify by simulation the design of algorithm which provide a variety of differentiated services. In QoS for Medical multimedia network, a simulator is designed and implemented using OPNET to investigate the performance of DiffServ QoS support mechanism. The developed DiffServ simulator may generate packets according to random, and bursty traffic models in order to incorporate diverse traffic conditions in the Medical multimedia network environment. Based on our simulation results, we confirmed that service differentiation is possible by using the EF(Expedited Forwarding) class in DiffServ networks.

• Journal of Internet Computing and Services
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• v.6 no.5
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• pp.133-141
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• 2005

In this paper, we designed about OFDM/QPSK image transmission system simulator embedded watermark in wireless channel environment. Channel environment used OFDM/QPSK still image transmission system considering AWGN, Multi-path fading. And, we analyzed effect of still image and watermark information in considered channel environment. Watermark information is coded by DM-SS (Direct Matric/Spread Spectrum) image watermarking scheme, Also, we used interleaving scheme for mitigating the degradation in watermarking data under wireless channel. As a results, we could know that PSNR of watermark image improved of about 1dB by 54.2371dB then apply interleaving in same multi-path fading environment.

• Journal of the Korean Society of Marine Environment & Safety
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• v.2 no.S1
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• pp.63-73
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• 1996

The assesment of the safety of ship's transit in a curved narrow channl consists of the maneuvering safety determined by the chance of running aground, the maneuvering difficulty determined by shop's workload, and shiphandler's subjective evaluation. In this study to examine the correlation between shiphandler's subjectice evaluation and the maneuvering risk, the real-time and full-mission shiphandling simulator in the Korean Marine Training & Research Institutes(KMTRI) was utilized. In the conning bridge of the shiphandling simulator, 50 experienced masters conducted masters conducted the modeled vessel of 60,000 deadweight tonnage along the designed channel under 3 different envrinmental conditions. The findings were as follows: (1) The frequencies of stress levels, work difficulties, vessel controllability and overall workload of shiphandlers are similar irrespective of environmental conditions and they are able to be represented as shiphandler's subjective evaluation. (2) It is possible to assess and analyze theoretically the correlation between the shiphandler's subjective ecaluation and maneuvering risk each environmental cindition by quantifying the data obtioned from the tests. The results are as follows: ① As the degree of maneuvering risk increases, the shiphandler's subjective evaluation increases sharply near the curvature area of the desgined channel. ② In the area of the curvature of the designed channel, maneuvering risk increases sharply with the danger of running aground under the environmental condition of current and wind comung from the stem.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.35 no.1
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• pp.101-106
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• 2012

Ship handling simulator is a virtual ship navigating system with three dimensional screen system and simulation programs. FTS simulation can produce theoretically infinite experiment tests without time constraint, but which results in collecting determinstic observations. RTS simulation can collect statistical observations but has disadvantage of spending at least 30 minutes for a single experiment. The previous studies suggested that the number of experiment conditions to be tested could be reduced to obtain random data with RTS simulation by focusing on highly difficult experiment condition for ship handling. It has the limitation of not estimating the distribution of ship handling difficulty for the route. In this paper, similarity and clustering analysis are suggested for reduction methodology of experiment conditions. Similarity of experiment conditions are measured as follows: euclidean distance of ship handling difficulty index and correlation matrix of distance differences from the designed route. Clustering analysis and multi-dimensional scaling are applied to classify experiment conditions with measured similarity into reducing the number of RTS simulation conditions. An empirical result on Dangin harbor is shown and discussed.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.57-61
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• 2005

This paper presents a new colonoscopy training simulator that includes a specialized haptic device and graphics algorithms to transfer haptic sensation through a long and flexible tube, and manage large number of polygons. The developed haptic device makes the colonoscope tube move along the two guiding rods in the translational direction. The torque of the roll motion is transferred by a timing belt and pulleys. A special guide is developed, which allows the force and torque from the motors to be transmitted to the user without loss. The haptic device is evaluated by physicians. One of the important skills of the colonoscopy, jiggling is incorporated for the first time by the developed sensor mechanism using photo-sensors. A colonoscope handle that shares the look, feel, and functions with the actual colonoscope, is developed with the necessary electronics inside. The number of polygons is reduced by an edge-collapse algorithm for real-time simulation. The algorithms to import CT data, to segment the colon image, to extract centerline of the colon, and to construct the colon surface, are integrated into a Colon Modeling Kit system that performs all these processes in real-time.

• International journal of advanced smart convergence
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• v.5 no.1
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• pp.34-46
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• 2016

Networked Control System (NCS) has evolved in the past decade through the advances in communication technology. The problems involved in NCS are broadly classified into two categories namely network issues due to network and control performance due to system network. The network problems are related to bandwidth allocation, scheduling and network security, and the control problems deal with stability analysis and delay compensation. Various delays with variable length occur due to sharing a common network medium. Though most delays are very less and mostly neglected, the network induced delay is significant. It occurs when sensors, actuators, and controllers exchange data packet across the communication network. Networked induced delay arises from sensor to controller and controller to actuator. This paper presents an adaptive delay compensation process for efficient control. Though Smith predictor has been commonly used as dead time compensators, it is not adaptive to match with the stochastic behavior of network characteristics. Time delay adaptive compensation gives an effective control to solve dead time, and creates a virtual environment using the plant model and computed delay which is used to compensate the effect of delay. This approach is simulated using TrueTime simulator that is a Matlab Simulink based simulator facilitates co-simulation of controller task execution in real-time kernels, network transmissions and continuous plant dynamics for NCS. The simulation result is analyzed, and it is confirmed that this control provides good performance.

• Journal of Drive and Control
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• v.16 no.4
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• pp.48-55
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• 2019

The Electronic Stability Program (ESP), a system that improves vehicle safety, also known as YMC (Yaw Motion Controller) or VDC (Vehicle Dynamics Control), is a system that operates in unstable or sudden driving and braking situations. Developing conditions such as unstable or sudden driving and braking situations in a vehicle are very dangerous unless you are an experienced professional driver. Additionally, many repetitive tests are required to collect reliable data, and there are many variables to consider such as changes in the weather, road surface, and tire condition. To overcome this problem, in this paper, hardware and control software such as the ESP controller, vehicle engine, ABS, and TCS module, composed of three control zones, are modeled using MATLAB/SIMULINK, and the vehicle, climate, and road surface. Various environmental variables such as the driving course were modeled and studied for the real-time ESP real-time simulator that can be repeatedly tested under the same conditions.