• Journal of Institute of Control, Robotics and Systems
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• 제19권2호
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• pp.158-163
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• 2013

The fusion of the GPS (Global Positioning System) and DR (Dead Reckoning) is widely used for position and latitude estimation of vehicles such as a mobile robot, aerial vehicle and marine vehicle. Among the many types of aerial vehicles, grater focus is given on the quad-rotor and accuracy of the position information is becoming more important. In order to exactly estimate the position information, we propose the fusion method of GPS and Gyroscope sensor using the DEKF (Dual Extended Kalman Filter). The DEKF has an advantage of simultaneously estimating state value and a parameter of dynamical system. It can also be used even if state value is not available. In order to analyze the performance of DEKF, the computer simulation for estimating the position, the velocity and the angle in a circle trajectory of quad-rotor was done. As it can be seen from the simulation results using own proposed DEKF instead of EKF on own fusion method in the navigation of a quad-rotor gave better performance values.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• 제23권10호
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• pp.909-919
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• 2013

Pneumatic exciters can be good replacements of electrodynamic, piezoelectric and hydraulic exciters owing to simple structure and large exciting force. One problem to be solved is a slow response caused by compressibility of air. Desirable frequency response characteristics of exciter are constant magnitude and zero degree phase, because users want no time delay between input signal and output force. For this reason, frequency range of pneumatic exciters is limited about 0~1 Hz. Therefore, expansion of frequency range is an important issue when designing the pneumatic exciter. In this paper, the pneumatic exciter which has same structure with active pneumatic isolator is dealt with. The dynamic characteristics are presented, and its limitation of expanding frequency range is shown based on analytical studies. Then the pneumatic exciter with dual-chamber is suggested to overcome this problem. Based on simulation study, a design method is presented.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제11권10호
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• pp.5116-5131
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• 2017

This paper studies the radio frequency to direct current (RF-DC) conversion efficiency of rectennas applicable to wireless power transfer systems, where multiple receive antennas are arranged in serial, parallel or cascaded form. To begin with, a 2.45 GHz dual-diode rectifier is designed and its equivalent linear model is applied to analyze its output voltage and current. Then, using Advanced Design System (ADS), it is shown that the rectifying efficiency is as large as 66.2% in case the input power is 15.4 dBm. On the other hand, to boost the DC output, three composite rectennas are designed by inter-connecting two dual-diode rectifiers in serial, parallel and cascade forms; and their output voltage and current are investigated using their respective equivalent linear models. Simulation and experimental results demonstrate that all composite rectennas have almost the same RF-DC conversion efficiency as the dual-diode rectifier, yet the output of voltage or current can be significantly increased; in particular, the cascade rectenna obtains the highest rectifying efficiency.

• Journal of ILASS-Korea
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• 제13권3호
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• pp.126-133
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• 2008

The atomization characteristics of the dual air supplying two-fluid nozzle were investigated experimentally using PIV and PDA systems. The twin-fluid nozzle is composed of three main parts: the feeding injector to supply fluid that is controlled by a PWM (pulse-width modulation) mode, the adaptor as a device with the ports for supplying the carrier and assist air, and the main nozzle to produce sprays. The main nozzle has the swirler with four equally spaced tangential slots, which gives the injecting fluid an angular momentum. The swirl angle in the swirler varied with $0^{\circ}$, $30^{\circ}$, $60^{\circ}$ and $90^{\circ}$. The ratios of carrier air to assist air and ALR (total air to liquid) were 0.55 and 1.23, respectively. The macroscopic behavior of the spray was investigated using PIV system, and the AMD and SMD distributions of the sprays were measured using PDA system. As a result, the SMD distribution increases along the radial distance, and it decreases with the increase of swirl angle in swirler.

• Fisheries and Aquatic Sciences
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• 제14권2호
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• pp.73-78
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• 2011

Vibrio parahaemolyticus possesses two flagella systems: polar and lateral flagella for swimming in liquid and swarming on solid surfaces or in viscous environments. To elucidate the pathogenic role of these dual flagella systems, we constructed single- and double-deletion mutants of the lafA and flhAB flagellum genes and investigated their biofilm formation, cell adhesion, and colonization of the small intestine of suckling mice. The double-mutant strain was more impaired in biofilm formation than either of the single-mutant strains. In addition, the lafA, flhAB, and double-mutant strains showed 40%, 45%, and 60%, respectively, lower adherence to HeLa cells than the wild-type strain. Moreover, the lafA, flhAB, and double-mutant strains exhibited 49%, 5.6 and 6.7 times, respectively, lower colonization in a competition assay than the wild-type strain. These findings indicated that polar flagella were more important than lateral flagella for the pathogenesis of V. parahaemolyticus.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.743-746
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• 1996

A hybrid control scheme to regulate the force and position by dual arms is proposed, where two arms are treated as one arm in a kinematic viewpoint. Our approach is different from other hybrid control approaches which consider robot dynamics, in the sense that we employ a purely kinematic based approach for hybrid control, with regard to the nature of position-controlled industrial robots. The proposed scheme is applied to sawing task. In the sawing task, the trajectory of the saw grasped by dual arms is planned in an offline fashion. When the trajectory of the saw is planned to follow a line in a horizontal plane, 3 position parameters are to be controlled(i.e, two translational positions and one rotational position). And a certain level of contact force has to be controlled along the vertical direction(i.e., minus z-direction) not to loose the contact with the object to be sawn. Typical feature of sawing task is that the contact position where the force control is to be performed is continuously changing. Therefore, the kinematic mapping between the force controlled position and the joint actuators has to be updated continuously. The effectiveness of the proposed control scheme is experimentally demonstrated. The proposed hybrid control scheme can be applied to arbitrary dual arm systems, regardless of their kinematic structure and the number of actuated joints.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.610-615
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• 2005

Visual servoing is the fusion of results from many elemental areas including high-speed image processing, kinematics, dynamics, control theory, and real-time computing. It has much in common with research into active vision and structure from motion, but is quite different from the often described use of vision in hierarchical task-level robot control systems. We present a new approach to visual feedback control using image-based visual servoing with the stereo vision in this paper. In order to control the position and orientation of a robot with respect to an object, a new technique is proposed using a binocular stereo vision. The stereo vision enables us to calculate an exact image Jacobian not only at around a desired location but also at the other locations. The suggested technique can guide a robot manipulator to the desired location without giving such priori knowledge as the relative distance to the desired location or the model of an object even if the initial positioning error is large. This paper describes a model of stereo vision and how to generate feedback commands. The performance of the proposed visual servoing system is illustrated by the simulation and experimental results and compared with the case of conventional method for dual-arm robot made in Samsung Electronics Co., Ltd.

• Journal of Institute of Control, Robotics and Systems
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• 제16권12호
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• pp.1182-1188
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• 2010

This paper proposes a precise localization algorithm for a quickly moving mobile robot. In order to localize a mobile robot with active beacon sensors, a relatively long time is needed, since the distance to the beacon is measured using the flight time of the ultrasonic signal. The measurement time does not cause a high error rate when the mobile robot moves slowly. However, with an increase of the mobile robot's speed, the localization error becomes too high to use for accurate mobile robot navigation. Therefore, in this research into high speed mobile robot operations, instead of using two active beacons for localization an active beacon and dual compass are utilized to localize the mobile robot. This new approach resolves the high localization error caused by the speed of the mobile robot. The performance of the precise localization algorithm was verified by comparing it to the conventional method through real-world experiments.

• Journal of Institute of Control, Robotics and Systems
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• 제16권6호
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• pp.566-571
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• 2010

EPS (Electric Power Steering) is important device for improving vehicle's dynamics and static performances. This paper deals with simulator design for C-EPS (Colum type-EPS), development assist and returnability control algorithm. First, C-EPS system model was simply designed because EPS system is complex control system that has many unknown variables. These parameters were simplified through assumptions. Second, C-EPS simulator was designed for development of control algorithm. This simulator has SAS (Steering Angle Sensor), dual torque sensor, dual load cell for measuring rack force, dual linear actuator for generating tire force and Data Acquisition System. Using this simulator, control methods ware tested. Third, control algorithm was designed for torque assist and returnability. Assist torque map and returnability torque map were found by lots of simulation test. These torque maps were tuned for EPS actuator control. The simulation result was compared with non-EPS system result. In this research, the C-EPS simulator was designed for development of control algorithm about torque assistant and returnability. Using this simulator, control algorithm was improved.

• Journal of Institute of Control, Robotics and Systems
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• 제14권7호
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• pp.647-655
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• 2008

This paper presents real-time algorithm for an ultrasonic Local Positioning System(LPS). An ultrasonic LPS consists of 4 transmitters and n receivers. Each transmitter transmits an sequential ultrasonic signal to avoid interference of ultrasonic signal. This method is a noneffective application for a fast object. Because receiver detects four sequential transmissive ultrasonic signal and calculates a position. This paper proposes the method which 4 transmitters transmit simultaneous ultrasonic signal and each transmitter distinguished by frequencies and codes. And Auto-Correlation Function(ACF) method separates codes from an ultrasonic echo signal which is interference of each transmitter's code. If the receiver uses only ACF method, it is difficult to implement real time application for increased computation. This paper implements LPS using dual frequencies and ACF method. Using dual frequencies reduces codes length. The reduced codes length save computation in ACF. To prove this algorithm by experiment, high performance DSP(digital signal processor) used. The result shows the performance of the designed system is good enough positioning.