• Journal of Biosystems Engineering
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• v.23 no.3
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• pp.291-304
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• 1998

A control algorithm fir the unmanned vehicles was developed using image information received through a CCD camera that acquires more powerful information over the wide range of wave-length comparing with other sensors and was applied to a speed-sprayer. The algorithm consisted of straight mode for passing along with middle of two tree-rows and turning mode for changing from a row to another row. In case of turning mode, two marks of colored papers were employed to indicate turning point and to decide turning direction for various orchard situations. The method of analysis and image would be differed according to camera's tilt-angle and position that is set on the speed-sprayer. Hence, it analyzed the point of difference by making camera's up and downward tilt-angle.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1521-1523
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• 2005

PID controller is applied mostly to two-order system. In third-order or higher- system, it's impossible to get high response quality because of having more zero point than the number of zero point being in the PID controller. To solve those, Jung & Dorf suggested a new type of PIDA controller and solved problen of a third-order system.. But, as the result of getting step response using PIDA controller, rising time is very quickly but wide overshoot is happened. Beside designing PIDA controller with using CDM(Coefficient Diagram Method) of Shunji Manabe decreases overshoot to desired but rising time is very slow. Therefore this paper suggest a I-PDA controller for low overshoot and fast responsibility. This paper applied designed PD-PIDA controller to position control of 3-Phase induction motor.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.4
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• pp.322-329
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• 2005

This paper considers the application of mobile robot to the herding problem. The herding problem involves a ‘pursuer’ trying to herd a moving ‘evader’ to a predefined location. In this paper, two mobile robots act as pursuer and evader in the fenced area, where the pursuer robot uses a fuzzy cooperative decision strategy (FCDS) in the herding algorithm. To herd evader robot to a predefined position, the pursuer robot calculates strategic herding point and then navigates to that point using FCDS. FCDS consists of a two-level hierarchy: low level motion descriptors and a high level coordinator. In order to optimize the FCDS, we use the multi­thread evolutionary programming algorithm. The proposed algorithm is implemented in the real mobile robot system and its performance is demonstrated using experimental results.

• Journal of the Society of Naval Architects of Korea
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• v.35 no.4
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• pp.118-125
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• 1998

This paper presents the hybrid curve approximation with geometric boundary conditions as position vector and tangent vector of start and end point using a B-spline approximation and a genetic algorithm First, H-spline approximation generates control points to fit B-spline curries through specified data points. Second, these control points are modified by genetic algorithm(with floating point representation) under geometric boundary conditions. This method would be able to execute the efficient design work without fairing.

• Journal of Korean Physical Therapy Science
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• v.19 no.3
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• pp.31-38
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• 2012

Background : The purpose of this study was to evaluate the effect of the kinesio taping on the forward head posture and to reduce secondary pain and attitude transformation by applying kinesio taping. Methods : The subjects were the C university students(n = 30) in Chung-buk district without medical history. They were divided into two groups:experimental group(N = 15) and control group(N = 15). Control group was heard verbal instructions to keep right attitude and Experimental group was applied to kinesio taping. Change of an attitude, such as an angle, distance, CROM, CVA, CRA prices, before and after experiment was measured respectively. Result : The results of this study showed that in comparison of pre and post changes, experimental group noticeable changes in angle, CROMSI and CVA(p<.05). Angle, CROMSI and CVA were significant differed between groups(p<.05). Conclusion : Kinesio taping application was seemed to be effective on the improvement of forward head position. Therefore, it is suggested that Kinesio taping application should be one the potential methods to facillitate the forward head position. Comprehensive research is required about a point of time and duration for intervention in clinical approach for subjects.

• Journal of the Institute of Electronics and Information Engineers
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• v.51 no.9
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• pp.238-247
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• 2014

The milking robot system is very important to detect correctly the teats position in the moving condition of cow. Also, the robot manipulator must control tracking the teat cup to the detected teat position. The presented milking robot is designed using the one point laser sensor for teat position detection. The teats of cow are detected by the laser scanning unit and the manipulator has the function of 3 axes moving control unit. The presented teat detection method and the electrical driving manipulator have the advantages of a simple, low cost and very quiet. The designed manipulator is realized by the totally electrical motor and servo poison control algorithm with velocity PID compensation. The presented robot is realized using the teat detection unit, 4 teat cups, 3 axes robot arm, 6 servo motors and automatic milking control line. The designed robot is experimented in the cow farm and is satisfied with the designed performance specification for milking robot manipulator.

• Journal of Electrical Engineering and Technology
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• v.10 no.4
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• pp.1540-1551
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• 2015

The detection of position and speed in BLDC motors without using position sensors has meant many efforts for the last decades. The aim of this paper is to develop a sensorless technique for detecting the position and speed of BLDC motors, and to overcome the drawbacks of position sensor-based methods by improving the performance of traditional approaches oriented to motor phase voltage sensing. The position and speed information is obtained by computing the derivative of the terminal phase voltages regarding to a virtual neutral point. For starting-up the motor and implementing the algorithms of the detection technique, a FPGA board with a real-time processor is used. Also, a versatile hardware has been developed for driving BLDC motors through pulse width modulation (PWM) signals. Delta and wye winding motors have been considered for evaluating the performance of the designed hardware and software, and tests with and without load are performed. Experimental results for validating the detection technique were attained in the range 5-1500 rpm and 5-150 rpm under no-load and full-load conditions, respectively. Specifically, speed and position square errors lower than 3 rpm and between 10º-30º were obtained without load. In addition, the speed and position errors after full-load tests were around 1 rpm and between 10º-15º, respectively. These results provide the evidence that the developed technique allows to detect the position and speed of BLDC motors with low accuracy errors at starting-up and over a wide speed range, and reduce the influence of noise in position sensing, which suggest that it can be satisfactorily used as a reliable alternative to position sensors in precision applications.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2430-2434
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• 2005

Automatic FPC punching instrument for the improvement of working condition and cost saving is introduced in this paper. FPC(flexible printed circuit) is used to detect the contact position of K/B and button like a cellular phone. Depending on the quality of the printed ink and position of reference punching point to the FPC, the resistance and current are varied to the malfunctioning values. The size of reference punching point is 2mm and the above. Because the punching operation is done manually, the accuracy of the punching degree is varied with operator's condition. Recently, The punching accuracy has deteriorated severely to the 2mm punching reference hall so that assembly of the K/B has hardly done. To improve this manual punching operation to the FPC, automatic FPC punching system is introduced. Precise mechanical parts like a 5-step stepping motor and ball screw mechanism are designed and tested and low cost PC camera is used for the sake of cost down instead of using high quality vision systems for the FA. 3D Mechanical design tool(Pro/E) is used to manage the exact tolerance circumstances and avoid design failures. Simulation is performed to make the complete vision based punching machine before assembly, and this procedure led to the manufacturing cost saving. As the image processing algorithms, dilation, erosion, and threshold calculation is applied to obtain an exact center position from the FPC print marks. These image processing algorithms made the original images having various noises have clean binary pixels which is easy to calculate the center position of print marks. Moment and Least square method are used to calculate the center position of objects. In this development circumstance, Moment method was superior to the Least square one at the calculation of speed and against noise. Main control panel is programmed by Visual C++ and graphical Active X for the whole management of vision based automatic punching machine. Operating modes like manual, calibration, and automatic mode are added to the main control panel for the compensation of bad FPC print conditions and mechanical tolerance occurring in the case of punch and die reassembly. Test algorithms and programs showed good results to the designed automatic punching system and led to the increase of productivity and huge cost down to law material like FPC by avoiding bad quality.

• Journal of Environmental Impact Assessment
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• v.22 no.4
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• pp.381-387
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• 2013

In order to improve the environmental vibration, it is necessary to method for not only reduce the vibration source, but also control the vibration path. In this study, we used borebole for estimate the vibration reduction. And also, we analyzed displacement and vibration velocity caused by the position of borehole as well as the condition of borehole in ground structure. Visual FEA(Finite Element Analysis) program was used in this numerical analysis. The results are as follows : The displacement magnitude and X, Y direction displacement were represented to different results due to the condition and position of borehole, and were represented to the lowest values when the position of borehole is the most close condition from the vibration source. And also, the vibration velocity was decreased as using borebole in ground structure. The isolation efficiency of the vibration was calculated to maximum 18.40% when borehole was established to the most close position from the vibration source and the receive point.

• Journal of Power System Engineering
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• v.17 no.5
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• pp.121-127
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• 2013

In this paper, we propose a distance measurement system for automatic berthing control using a stereo camera mounted on a rotation control device, and a radial pattern target. Automatically controlling the position and attitude of a ship aims to prevent maritime accidents due to human error. Our goal is to measure the relative distance between a ship and an onshore or offshore target for berthing. Therefore, the distance should be continuously measured while tracking a fixed point on a target. To this end, we developed a stereo camerabased distance measurement system that satisfied these requirements. This paper describes the structure and principle of the measurement system. We validate the distance error for target incline due to the relative position and attitude between a camera and a target in miniature scale. In addition, the findings of an experiment in an outdoor environment demonstrate that the proposed measurement system has accuracy within 1 m at a range of 20-100 m which is the acceptable accuracy for automatic berthing.