• 전자공학회논문지S
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• 제34S권2호
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• pp.21-32
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• 1997

This paper proposes an elliptical world-modeling mehtrod in order to secure the safety of the mobile robot from the unreliability of ultrasonic sensors and to estimate the lateral orientation of the detected objects. This method is advnatageous because the total amount of data that the robot utilizes is reduced when historical and new data are clusterd during each sensing period and also because the objects in the environment can be almost exactly recognized. This paper also proposes a new local path planning algorithm which is divided into four different situations and gudies the robot through the safe local path using dat acollected in elliptical form. This algorithm can help the AMR navigate by allowing it to sum up the virtual vector forces made form the ellipses in order to select a safe subgoal. This local path plannin gmehtod using the elliptical world model has been proved by several navigation experiments.

• 대한전기학회논문지:시스템및제어부문D
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• 제52권8호
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• pp.482-491
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• 2003

In this paper are presented kinematic and dynamic modeling and path-tracking of four-wheeled mobile robots with 2 d.o.f haying the limited drive-torques. Controllability of wheeled-mobile robots is revealed by the kinematic model. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to drive the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.

• 한국전산유체공학회지
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• 제20권1호
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• pp.77-83
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• 2015

Flow characteristics of synthetic jet based flow supplying devices have been computationally investigated for different device shapes. Jet momentum was produced by the volume change of a cavity by two piezoelectric-driven diaphragms. The devices have additional flow path compared with the original synthetic jet actuator, and these flow path changes the flow characteristics of synthetic jet actuator. Four non-dimensional parameters, which were functions of the shapes of the additional flow path, were considered as the most critical parameters in jet performance. Comparative studies were conducted to compare volume flow rate and jet velocity. Computed results were solved by 2-D incompressible Navier-Stokes solver with k-w SST turbulence model. Detailed computations revealed that the additional flow path diminishes suction strength of the synthetic jet actuator. In addition, the cross section area of the flow path has more influence over the jet performances than the length of the flow path. Based on the computational results, the synthetic jet based flow supplying devices could be improved by applying suitable shape of the flow path.

• Journal of Positioning, Navigation, and Timing
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• 제10권4호
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• pp.371-377
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• 2021

This research proposes the best combination of tropospheric delay models for Korean Positioning System (KPS). The overall results are based on real observation data of Japanese Quasi-Zenith satellite system (QZSS), whose constellation is similar to the proposed constellation of KPS. The tropospheric delay models are constructed as the combinations of three types of zenith path delay (ZPD) models and four types of mapping functions (MFs). Two sets of International GNSS Service (IGS) stations with the same receiver are considered. Comparison of observation residuals reveals that the ZPD models are more influential to the measurement model rather than MFs, and that the best tropospheric delay model is the combination of GPT3 with 5 degrees grid and Vienna Mapping Function 1 (VMF1). While the bias of observation residual depends on the receivers, it still remains to be further analyzed.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2013년도 추계학술대회 논문집
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• pp.271-272
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• 2013

• 한국과학교육학회지
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• 제33권5호
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• pp.981-994
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• 2013

이 연구는 학생들의 생태 태도에 관한 두 가지 가설적 모델을 통계적으로 검증하였다. 첫 번째 연구 모델은 생물의 심미적인 관점이 부정적 관점으로 이어지는 경로에서 인식과 친숙함의 매개 효과이다. 두 번째 연구 모델은 인간적 관점에서 지배적 관점으로 이어지는 두 가지 차별적인 경로이다. 이 연구를 위하여 고등학교 1학년 학생 104명이 참여하였다. 상관관계, 편상관관계, 경로분석을 활용하여 모델의 적합도를 확인하였다. 연구 결과는 생물에 대한 인지와 친숙함이 심미적인 관점과 부정적 관점을 조절하고 있음을 보여주고 있다. 심미적인 관점에서 발생하는 학생들의 선입견이 학습으로 조절될 수 있음을 보여주고 있다. 두 번째, 인간적 관점과 지배적 관점 경로에서 생태-자연적 관점 경로와 과학-이용적 관점 경로는 독립적이다. 과학-이용적 관점은 지배적 관점에 정적인 영향력이 있다. 학생들의 자연에 대한 지배적 관점을 줄이기 위해서는 생태-자연적 관점을 이해할 필요가 있을 것이다.

• ETRI Journal
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• 제42권1호
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• pp.7-16
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• 2020

Assuming omnidirectional antenna reception, the ITU-R recently developed a new propagation model on building entry loss (BEL) for 5G millimeter-wave frequency sharing and compatibility studies, which is a simplified outdoor-to-indoor path loss model. Considering the utilization of high-gain narrow-beamwidth beamforming, the omnidirectional-based ITU-R BEL model may not be appropriate to predict propagation characteristics for directional beamforming scenarios. This paper studies the effects of beamwidth on the ITU-R BEL model. This study is based on field measurements collected with four different beamwidth antennas: omnidirectional, 10° horn, 30° horn, and 60° horn. The measurement campaigns were conducted at two types of building sites: traditional and thermally efficient buildings. These sites, as well as the measurement scenarios, were carefully chosen to comply with the ITU-R BEL measurement guidelines and the ITU-R building types. We observed the importance of accurate beam alignment from the BEL variation range. We were able to quantify the beamwidth dependency by fitting to a model that is inversely proportional to the beamwidth.

• 전자공학회논문지B
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• 제33B권4호
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• pp.1-10
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• 1996

In this paper are presented kinematic and dynamic modeling and path-tracking of fourwhelled mobile robot with 2 d.o.f. having the limited drivetorques. Controllability of wheeled-mobile robot is revealed by using the kinematic model. Instantaneously coincident coordinate cystem, force/torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robot follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.

• 대한교통학회지
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• 제14권3호
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• pp.45-59
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• 1996

The shortest path algorithm for route guidance is implicitly required not only to support geometrical variations of transportation network such as U-TURN or P-TURN but to efficiency search reasonable routes in searching mechanism. The purpose of this paper is to integrate such two requirements ; that is, to allow U-TURN and P-TURN possibilities and to cut down searching time in locating routes between two points (origin and destination) in networks. We also propose a new type of link searching algorithm which can solve the limitation of vine building algorithm at consecutively left-turn prohibited intersections. The test site is a block of Gangnam road network that has some left-turn prohibited and allowed U-TURN intersections. Four models have been identified to be comparatively analyzed in terms of searching efficiency. The Models are as follows : (i) Model 1 - Link Searching Dijkstra Algorithm without Searching Area Extraction (SAE) ; (ii) Model 2 - Link Searching Dijkstra Algorithm with SAE ; (iii) Model 3 - Link Searching Bidirectional Dijkstra Algorithm without SAE ; and (iv) Model 4 - Link Searching Bidirectional Dijkstra Algorithm with SAE. The results of comparative evaluation show that Model 4 can effectively find optimum path faster than any other models as expected. Some discussions and future research agenda have been presented in the light of dynamic route guidance application of the urban ATIS.

• 한국컴퓨터산업학회논문지
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• 제5권9호
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• pp.993-1004
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• 2004

본 논문에서는 구동토크의 제약을 갖는 4륜 2자유도 구륜이동로봇의 기구학 및 동력학 모델링과 경로추적을 다룬다. 유도된 기구학 모델을 이용하여 구륜이퐁로봇의 가제어성을 조사한다. 순간일치좌표계와 힘/토크의 전파, 뉴튼의 평형법칙을 이용하여 동려학 모델을 유도한다. 역동력학에 의해 산출된 구동토크가 한계 구동토크를 초과할 경우, time-scaling 기법을 이용하여 기준제적을 수정함으로써 구륜이동로봇이 기준경로를 추적하도록 한다. 제어기는 모델링 불확실성과 측정 잡음 등으로 인하여 발생하는 오차를 보상하도록 설계한다. 또한 본 논문에서 제시된 기법의 유효성을 입증하기 위해 모의실험을 수행하고 그 결과를 제시한다.