• International Journal of Internet, Broadcasting and Communication
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• 제10권4호
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• pp.70-74
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• 2018

In order to ensure the flow of goods available and more flexible, reduce labor costs, many factories and industrial zones around the world are gradually moving to use automated solutions. One of them is to use Automated guided vehicles (AGV). Currently, there are a line tracing method as an AGV operating method, and a method of estimating the current position of the AGV and matching with a factory map and knowing the moving direction of the AGV. In this paper, we propose ceiling Light and guided line based moving direction estimation algorithm using multi-camera on the AGV in smart factory that can operate stable AGV by compensating the disadvantages of existing AGV operation method. The proposed algorithm is able to estimate its position and direction using a general - purpose camera instead of a sensor. Based on this, it can correct its movement error and estimate its own movement path.

• 한국정보처리학회논문지
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• 제3권1호
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• pp.43-54
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• 1996

이 논문은 새로운 휴리스틱 탐색(heuristic search)방법을 이용하여, 수평 및 수 직선으로 이루어진 방해 물들이 놓인 가운데 수평 및 수직선으로 구성된 최단 거리 (rectilinear shortestpath)와 꺾이는회수가 가장 적은최소 꺾임경로(link metric shortest path) 및 이 둘을 혼합시킨 혼합형 최단 경로를 구하는 알고리즘을 서술 하고 있다. 최단 경로를 구하는 방법으로 미로 찾기형 알고리즘(maze-running algorithms)과 선형 탐색 알고리즘(line-search algorithms)의 장점만을 이용한 GMD 알고리즘(Guided Minimum Detour algorithm)을 제안하고 있으며 이를 더욱 효율 적으 로 개선한 LGMD 알고리즘 (Line-by-Line Guided Minimum Detour algorithmm)을 개발 하였다. 이들 GMD와 LGMD 알고리즘은 기존의 최단 경로를 내포하고 있는 conection group를 이용하지 않고서도 휴리스틱을 사용한 guided A 탐색(guided A* search)을 이용하여 최적의 최단 경로를 구할 수 있는 장점이 있으며 시간과 메모리 면에서 효 율을 극대화하였다. 이들 GMD와 LGMD 알고리즘은 각각 O(m＋eloge＋NlogN)와 O(eloge＋ NlogN)의 시간과 O(e＋N)의 메모리를 사용한다. 여기서 m은 탐색에 사용된 지선 (line segment)들의 수이다. 또한 LGMD는 최소 꺾임 경로(link metric shortest path)와 최단 경로와 최소의 꺾임을 조합한 혼합형 최단 경로를 구하는 데에도 적용될 수 있는 확장성을 가지고 있다.

• 비파괴검사학회지
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• 제24권4호
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• pp.331-340
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• 2004

기기 건전성의 온라인 검사 및 감시 기술은 기존의 원전의 가동 중 검사의 효율적 수행에 필요한 정보를 제공한다. 유도 초음파는 온라인 검사와 감시에 활용 가능성이 있는 기술 중의 하나로 알려져 있다. 본 연구에서는 온라인 검사 겐 감시 기술 개발의 일환으로 유도초음파를 이용하여 파이프의 건전성을 검사/감시하는 기술을 개발하고자 한다. 이를 위해 증기 발생기 세관을 실험 대상으로 하여 분산 선도 덴 특정 모드에 대응하는 초음파 입사각을 계산하였다. Short time Fourier transform을 이용한 시긴-주파수 분석을 통하여 유도초음파 모드를 확인하였으며, 유도 초음파가 증기발생기 세관의 곡관 부분을 통과할 때 모드 변환이 발생하지 않는 것을 실험적으로 확인하였다. 유도 초음파를 이용한 증기발생기 세관의 최적 검사 모드를 제안하고 실험에 의하여 이를 확인하였다.

• 비파괴검사학회지
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• 제29권6호
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• pp.525-533
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• 2009

Emphasis in the paper is placed on describing guided wave successes and challenges for applications in aircraft and composite materials inspection. Guided wave imaging methods discussed includes line of sight, tomography, guided wave C-scan, phased array, and ultrasonic vibration methods. Applications outlined encircles lap splice, bonded repair patch, fuselage corrosion, water loaded structures, delamination, and ice detection and de-icing of various structures.

• 대한전기학회논문지:시스템및제어부문D
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• 제50권7호
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• pp.313-317
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• 2001

This paper proposed a fuzzy logic cross coupled controller which can enhance the path tracking performance of optically guided AGV(Automated Guided Vehicle). The AGV follows the guide path, it cannot be avoid the deviation from the path due to the inevitable error and the deviation must be corrected. Optically guided AGV used in industrial area is controlled by On-Off controller generally, the experimental AGV has three optical sensors in front body. In this structure, we could not know the leaving distance accurately and steering angle from the guided line, so AGV could not be controlled properly with conventional controller in the case of increasing or decreasing velocity. If we mount additional sensors the AGV, we could know the leaving distance and steering angle from the guided line and proper error compensating methode can be applied. But because cost of sensors are high, the cost of total system is increasing. So, in this paper, to improve the tracking performance of AGV which has the minimum number of sensors and fuzzy logic cross coupled controller is proposed. Some simulations and experimental results are presented to illustrate the performance of the proposed controller.

• 동력기계공학회지
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• 제14권5호
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• pp.36-40
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• 2010

The ultrasonic guided wave propagates along with the given structure's wall direction. Because of this specific character, the ultrasonic guided waves arc used in many other fields. Especially, it can be readily utilized for nondestructive inspection of various structures that are made up of gas pipes, heat exchanger tubes, and thin plates. Further, the guided wave technology can be readily utilized when inspecting pipes or thin plates which pose high risk of the accident but for which the nondestructive inspection itself is impossible because it is difficult to get to them since they are coated or buried underground. In the other hand, conventional ultrasonic testing such as thickness gauging uses bulk waves and only tests the region of structure immediately below the transducer. As a result of the application about inlet and outlet cooling water line using guided wave test, we conformed that the overall corrosions were in the lower side of the 304.8 mm inlet valve and these corrosions were engaged in not locally but through the lower side of the valve line. In the near future, we can expect that the detectable defect size is smaller than before along with the development of the sensing technology.

• 한국해양공학회:학술대회논문집
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• 한국해양공학회 2006년 창립20주년기념 정기학술대회 및 국제워크샵
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• pp.41-45
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• 2006

The fabrication process of fiber placement system of carbon fiber reinforced plastic (CFRP) requires real time process control and reliable inspection to ensure quality by preventing defects such as delamination and void. Therefore, novel non-contact inspection technique is required during the non-destructive evaluation in a fiber placement system. For the inspection of delamination in CFRP, various methods to receive laser-generated ultrasound were applied by using piezoelectric transducer, air-coupled transducer, wavelet transform and scanning laser ultrasonic technique. Laser-generated ultrasound was received with a conventional piezoelectric sensor in contacting manner. Then signal characteristics due to defects were analyzed to find a factor for detecting defects. Air-coupled transducer was used for reception of laser-generated guided wave using linear slit array in order to generate high frequency guided wave. And line scan technique was used to confirm the capability of on-line application. The high frequency component of laser-generated guided wave received with piezoelectric sensor disappeared after propagating through delamination region. Nevertheless, it was failed to receive high frequency guided wave in using air-coupled transducer. The first peak of the frequency spectrum under 100kHz in the delamination region is higher than in the sound region. By using this feature, the line scanned frequency data were acquired in fully non-contact generation and reception of ultrasound. This method was proved as useful technique for detecting delamination in CFRP.

• 한국정밀공학회지
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• 제21권10호
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• pp.65-77
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• 2004

In this paper, we propose an adaptive mechanism based on immune algorithm and neural network identifier technique. It is also applied fur an autonomous guided vehicle (AGV) system. When the immune algorithm is applied to the PID controller, there exists the case that the plant is damaged due to the abrupt change of PID parameters since the parameters are almost adjusted randomly. To solve this problem, we use the neural network identifier (NNI) technique fur modeling the plant and humoral immune algorithm (HIA) which performs the parameter tuning of the considered model, respectively. After the PID parameters are determined in this off-line manner, these gains are then applied to the plant for the on-line control using an immune adaptive algorithm. Moreover, even though the neural network model may not be accurate enough initially, the weighting parameters are adjusted to be accurate through the on-line fine tuning. Finally, the simulation and experimental result fur the control of steering and speed of AGV system illustrate the validity of the proposed control scheme. These results for the proposed method also show that it has better performance than other conventional controller design methods.

• 한국전자파학회:학술대회논문집
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• 한국전자파학회 2003년도 종합학술발표회 논문집 Vol.13 No.1
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• pp.59-63
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• 2003

Modal properties of guided waves along circular dispersive double negative (DNG) index metamaterial rod waveguides are numerically investigated. Identical forms of dispersive dielectric and magnetic material constants are used for simplicity. For degenerated azimuthally symmetric mode, a multimode region, a single mode region, a band gap region and a forbidden region are found which cannot be observed in the case of the conventional dielectric rod waveguide. As the normalized frequency goes down, discrete guided modes are continuously generated, which is a reverse property of conventional dielectric rod waveguide. Also, there are high-frequency cutoffs, which have been generally examined in dispersive circular geometries such as a plasma column or a plasma Goubau line. In the single mode region, both the low- and high-frequency cutoffs are existed where the propagation constants are continued between the guided oscillating and surface modes.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2003년도 추계학술대회 논문집 전기물성,응용부문
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• pp.270-272
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• 2003

We have investigated the coupling characteristics of localized modes of line defect i.e., guided modes, in photonic crystals. The parity of the coupled guided modes is not conserved when the distance between the line defects changes. By comparing the coupling characteristics of localized modes without the oscillatory nature such as cavity modes of metallic Fabry-Parot cavities with those of localized modes in photonic crystals, we confirmed that this parity nonconservation is attributed to the oscillatory nature of the evanescent waves of localized modes in photonic crystals.