• Journal of the Korean Institute of Intelligent Systems
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• v.20 no.4
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• pp.463-468
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• 2010

The mobile robot which accomplishes a work in explored region does not know location information of surroundings. Traditionally, simultaneous localization and mapping(SLAM) algorithms solve the localization and mapping problem in explored regions. Among the several SLAM algorithms, the EKF (Extended Kalman Filter) based SLAM is the scheme most widely used. The EKF is the optimal sensor fusion method which has been used for a long time. The odometeric error caused by an encoder can be compensated by an EKF, which fuses different types of sensor data with weights proportional to the uncertainty of each sensor. In many cases the EKF based SLAM requires artificially installed features, which causes difficulty in actual implementation. Moreover, the computational complexity involved in an EKF increases as the number of features increases. And SLAM is a weak point of long operation time. Therefore, this paper presents a symmetrical model based SLAM algorithm(called M-SLAM).

• Journal of Biosystems Engineering
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• v.14 no.2
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• pp.94-103
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• 1989

This study was intended to develop the automatic feeding depth control system of the head-feed combine which could feed the rice head into threshing unit at the optimal depth regardless of plant height and uneven ground surface. In the control system, one-board microcomputer was used for the controller instead of conventional electric circuits. Field test of the combine equipped with the control system was conducted to evaluate its overall performance. It was also investigated how the location and time delay of rice head sensor affect the system performance.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2000.06a
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• pp.1204-1209
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• 2000

Many analytical and experimental studies on the active suppression of nonlinear panel flutter by using piezoceramic patch have been carried out. However, these active control methods have a few important problems; a large amount of power is required to operate actuators, and additional apparatuses such as sensor systems and controller are needed. In this study passive suppression schemes for nonlinear flutter of composite panel, which is believed to be more robust suppression system than active control in practical operation, are proposed by using piezoelectric inductor-resistor series shunt circuit. Toward the end, a finite element equation of motion for an electromechanically coupled system is proposed using the Hamilton's principle. To achieve the best damping effect, optimal shape and location of the piezoceramic(PZT) patches are determined by using genetic algorithms. The results clearly demonstrate that the passive damping scheme by using piezoelectric shunt circuit can effectively attenuate the flutter.

• Structural Engineering and Mechanics
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• v.38 no.3
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• pp.315-332
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• 2011

The Combined Deterministic Stochastic Subspace based System Identification Technique (CDSSSIT) is a powerful input-output system identification technique which is known to be always convergent and numerically stable. The technique determines a Kalman state sequence from the projection of the output-input data. The state space matrices are determied subsequently from this Kalman state sequence using least squares. The objective of this paper is to examine the efficiency of the CDSSSIT in identifying the modal parameters (frequencies and mode shapes) of a stiff structure. The results show that the CDSSSIT predicts the modal parameters of stiff buildings quite accurately but is very sensitive to the location of sensors.

• Journal of Information Technology Services
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• v.18 no.1
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• pp.141-151
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• 2019

To protect workers from industrial accidents, IoT hazard detection system using LoRa network was designed and fabricated. LoRa networks can operate with low power consumption, wide coverage, and low usage fees. The hazard detection system consists of a sensor unit, a transceiver module, a LoRa base station, ThingPlug, and a monitoring device. We have designed an optimal risk-determining algorithm that can send information quickly in a working environment. As measured by TTA, the implemented system has been found to be able to deliver the worker's location, ambient temperature, and carbon monoxide density to the administrator through the user interface. The implemented system showed a bit rate of 290bps and a maximum application range of 6 km.

• Journal of KIISE:Computing Practices and Letters
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• v.15 no.3
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• pp.201-205
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• 2009

This paper addresses issues to efficiently collect and aggregate data of sources within a local and adjacent region in geographic routing for wireless sensor networks. We first introduce the concept of a local sink which collects and aggregates data form source nodes in the region and delivers the aggregated data to a global sink. We also design a model to determine an optimal location of the local sink and propose a mechanism to collect data through the local sink. Simulation results show that the proposed mechanism with the local sink is more efficient in terms of the energy and the data delivery ratio than the existing mechanism without the local sink in a geographic routing.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.2
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• pp.828-834
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• 2013

In this paper, TMC (Tracker Motion Controller) as one of the many research methods for condensing efficiency improvements can be condensed into efficient solar system configuration to improve the power generation efficiency of the castle with Concentrated solar silicon and photovoltaic systems (CPV)experiments using PV systems. Microprocessor used on the solar system, tracing the development of solar altitude and latitude of each is calculated in real time. Also accept the value from the sensor, motor control and communication with the central control system by calculating the value of the current position of the sun, there is a growing burden on the applicability. Through the way the program is appropriate for solar power systems and sensors hybrid-type algorithm was implemented in the ARM core with built-in TMC, Concentrated CPV system compared to the existing PV systems, through the implementation of the TMC in the country's power generation efficiency compared and analyzed. Sensor method using existing experimental results Concentrated solar power systems to communicate the value of GPS location tracking method hybrid solar horizons in the coordinate system of the sun's azimuth and elevation angles calculated by the program in the calculations of astronomy through experimental resultslook clear day at high solar irradiation were shown to have a large difference. Stopped after a certain period of time, the sun appears in the blind spot of the sensor, the sensor error that can occur from climate change, however, do not have a cloudy and clear day solar radiation sensor does not keep track of the position of the sun, rather than the sensor of excellence could be found. It is expected that research is constantly needed for the system with ongoing research for development of solar cell efficiency increases to reduce the production cost of power generation, high efficiency condensing type according to the change of climate with the optimal development of the ability TMC.

• The Transactions of the Korean Institute of Electrical Engineers C
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• v.55 no.11
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• pp.532-537
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• 2006

Lightning induced faults accounts for more than 66% at the transmission lines of KEPCO. The lightning causes damages to power system equipments including transmission line, the blackout of electricity and the electro-magnetic interference. Because of this reason, we need the real time lightning information for the optimal operation of power system. And, it is required to obtain and accumulate the lightning current parameters for the insulation design. In 2005, KEPRI constructed a lightning detection network, the KLDNet (i.e. Kepco Lightning Detection & Information System) and launched a lightning information service for KEPCO customers. It is intended to provide data service on the operation of transmission lines and collect lightning-related data, which is the most important factor regulating power system design and operation. The new system will replace LPATS, the old detection system, which has been operating since 1995 and is rapidly failing in terms of both detection performance and location accuracy. The purpose of this paper is to explain the work performed and the results of that work in performing a site survey of several locations. The purpose of the site survey is to find locations acceptable for the installation of a lightning location receiver in support of a Lightning detection system(LDS). A restriction was placed on the surveyed locations, as they must belong to the Korea Electric Power Company. This requirement was made to facilitate the communication needs of the LDS network. Total of 15 sites were evaluated as possible LDS sensor sites. Some of the sites were rejected for physical reasons and therefore no electrical testing was performed. Of the 15 sites, total of 10 sites were considered acceptable and 5 sites were rejected for various reason. In this paper, we would like to explain the site survey and detection efficiency for LDS.

• Journal of Sensor Science and Technology
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• v.26 no.4
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• pp.266-273
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• 2017

In this research a medical palpation guidance system for minimally invasive surgery (MIS) is proposed. Palpation is a useful tool for identifying a size and location of a lump during a surgery. However, conventional manual palpation is only available in open surgery, so there has been several researches about palpation assistant or guidance system for MIS. The previously developed systems are based on a pressure based or stiffness based approach. These previous approaches have some limitations in increasing complexity of the systems and lack of geometric information about the lump which is more important information for the lump removal than the stiffness information. We propose a palpation guidance system using a novel approach using contact pressure distribution. Since our approach gives the geometry information of the lump as well as the existence information, the operator can easily notice the currently identified lump region and the optimal position for the next palpation. The experiment results show that our approach can offer the geometry information of the lump correctly.

• Geomechanics and Engineering
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• v.29 no.3
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• pp.301-310
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• 2022

Accurate prediction of mixed ground conditions ahead of a tunnel face is of vital importance for safe excavation using tunnel boring machines (TBMs). Previous studies have primarily focused on electrical resistivity surveys from the ground surface for geotechnical investigation. In this study, an FE (finite element) numerical model was developed to simulate electrical resistivity surveys for the prediction of risky mixed ground conditions in front of a tunnel face. The proposed FE model is validated by comparing with the apparent electrical resistivity values obtained from the analytical solution corresponding to a vertical fault on the ground surface (i.e., a simplified model). A series of parametric studies was performed with the FE model to analyze the effect of geological and sensor geometric conditions on the electrical resistivity survey. The parametric study revealed that the interface slope between two different ground formations affects the electrical resistivity measurements during TBM excavation. In addition, a large difference in electrical resistivity between two different ground formations represented the dramatic effect of the mixed ground conditions on the electrical resistivity values. The parametric studies of the electrode array showed that the proper selection of the electrode spacing and the location of the electrode array on the tunnel face of TBM is very important. Thus, it is concluded that the developed FE numerical model can successfully predict the presence of a mixed ground zone, which enables optimal management of potential risks.