• The Journal of Korea Robotics Society
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• v.12 no.3
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• pp.350-355
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• 2017

UWB (Ultra Wide Band) refers to a system with a bandwidth of over 500 MHz or a bandwidth of 20% of the center frequency. It is robust against channel fading and has a wide signal bandwidth. Using the IR-UWB based ranging system, it is possible to obtain decimeter-level ranging accuracy. Furthermore, IR-UWB system enables acquisition over glass or cement with high resolution. In recent years, IR-UWB-based ranging chipsets have become cheap and popular, and it has become possible to implement positioning systems of several tens of centimeters. The system can be configured as one-way ranging (OWR) positioning system for fast ranging and TWR (two-way ranging) positioning system for cheap and robust ranging. On the other hand, the ranging based positioning system has a limitation on the number of terminals for localization because it takes time to perform a communication procedure to perform ranging. To overcome this problem, code multiplexing and channel multiplexing are performed. However, errors occur in measurement due to interference between channels and code, multipath, and so on. The measurement filtering is used to reduce the measurement error, but more fundamentally, techniques for removing these measurements should be studied. First, the TWR based positioning was analyzed from a stochastic point of view and the effects of outlier measurements were summarized. The positioning algorithm for analytically identifying and removing single outlier is summarized and extended to three dimensions. Through the simulation, we have verified the algorithm to detect and remove single outliers.

• Journal of the Korean Institute of Intelligent Systems
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• v.25 no.1
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• pp.29-34
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• 2015

Brain-computer interface (BCI) is being studied for convenient life in various application fields. The purpose of this study is to investigate a changing electroencephalography (EEG) for precise motion of a robot or an artificial arm. Three subjects who participated in this experiment performed three-task: Grip, Move, Relax. Acquired EEG data was extracted feature data using two feature extraction algorithm (power spectrum analysis and multi-common spatial pattern). Support vector machine (SVM) were applied the extracted feature data for classification. The classification accuracy was the highest at Grip class of two subjects. The results of this research are expected to be useful for patients required prosthetic limb using EEG.

• Journal of Advanced Navigation Technology
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• v.18 no.2
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• pp.134-141
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• 2014

Mobile robots use various sensors for navigation such as wheel encoder, vision sensor, sonar, and laser sensors. Dead reckoning is used with wheel encoder, resulting in the accumulation of positioning errors. For that reason wheel encoder can not be used alone. Too much information of vision sensors leads to an increase in the number of features and complexity of perception scheme. Also Sonar sensor is not suitable for positioning because of its poor accuracy. On the other hand, laser sensor provides accurate distance information relatively. In this paper we propose to extract the angular information from the distance information of laser range finder and use the Kalman filter that match the heading and distance of the laser range finder and those of wheel encoder. For laser scanner with one feature point error may increase much when the feature point is variant or jumping to a new feature point. To solve the problem, we propose to use two feature points and show that the positioning error can be reduced much.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.2
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• pp.39-47
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• 2020

The fire protection system for high-rise buildings is currently confined to the preparation of sprinklers, emergency stairs, and exit and monitoring systems. On the other hand, an integrated system, including the model with scenario-based actions, is required for effective fire protection. An integrated fire protection system is needed to operate and manage the total cycle of the fire protection. In this study, an integrated fire protection system, which included sensing and consequent processes related to fire emergencies, was designed and implemented. The designed scheme can gather and analyze the data of the production, operation, and consumption patterns as it integrates fire protection systems for fire fighters and evacuating people. The integrated fire protection technology and system, which has target performance with satisfied 1/2 sec transaction response time and 1.2 transactions per second, is expected to contribute to market creation in converged technology-based fire protection fields.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.5
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• pp.103-110
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• 2020

Bio-inspired underwater robots have been studied to improve the dynamic performance of fins, such as swimming speed and efficiency, which is the most basic performance. Among them, bio-inspired soft robots with a compliant tail fin can have high degrees of freedom. On the other hand, to improve the driving efficiency of the compliant fins, the stiffness of the tail fin should be changed with the driving frequency. Therefore, a new type of variable stiffness mechanism has been developed and verified. This study, which was inspired by the anatomy of a real dolphin, assessed a process of designing and manufacturing a robotic dolphin with a variable stiffness mechanism. By mimicking the vertebrae of a dolphin, the variable stiffness driving part was manufactured using subtractive and additive manufacturing. A driving tendon was placed considering the location of the tendon in the actual dolphin, and the additional tendon was installed to change its stiffness. A robotic dolphin was designed and manufactured in a streamlined shape, and the swimming speed was measured by varying the stiffness. When the stiffness of the tail fin was varied at the same driving frequency, the swimming speed and thrust changed by approximately 1.24 and 1.5 times, respectively.

• Journal of the Korean Solar Energy Society
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• v.32 no.3
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• pp.33-41
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• 2012

As the wind farms in large scale demand enormous amount of construction cost, minimizing the economic burden is essential and also it is very important to measure the wind resources and forecast annual energy production correctly to judge the economic feasibility of the proposed site by way of installing a Met mast at or nearby the site. Wind resources were measured by installing a 80[m] high Met mast at WangdeungYeo Island to conduct the research incorporated in this paper and offshore wind farm was designed using WindPRO. Wind farm of 100[MW] was designed making use of 3 and 4.5[MW] wind generator at the place selected to compare their annual energy production and capacity factor applying the loss factor of 10[%] and 20[%] respectively to each farm. As a result, 336,599[MWh] was generated by applying 3[MW] wind generator while 358,565 [MWh] was produced by 4.5[MW] wind generator. Difference in the energy production by 3[MW] generator was 33,660 [MWh] according to the loss factor with the difference in its capacity factor by 3.8[%]. On the other hand, 23 units of 4.5 [MW] wind generators showed the difference of annual energy production by 35,857 [MWh] with 4.0[%] capacity factor difference.

• Proceedings of the KSRS Conference
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• 2008.10a
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• pp.61-64
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• 2008

Seasonal distribution of the oceanic water intrusion was investigated using satellite SST (sea surface temperature) and chl-a (chlorophyll-a) images taken by the MODIS Aqua sensor. The warm water mass emanating periodically from the meandering Kuroshio Current brings the oceanic water intrusion, known as the 'Kyucho' phenomenon, into Kagoshima bay during the winter. Satellite SST images and buoy robot data show that this warm water intrusion has the characteristics of a semigeostrophic gravity current influenced by the Coriolis effect. However, it is difficult to find the oceanic water intrusion during the summer season considering that it is accompanied by thermal stratification, and SST shows almost the same temperature between the inner side of the bay and the ocean. In this research, the satellite chl-a images taken by MODIS Aqua were employed instead of SST images to reveal the oceanic water intrusion in each season. The enclosed bay has the tendency to undergo eutrophication caused by organic materials from land and differences in chl-a concentration of the bay water and the oceanic water. As a result, distribution of low concentration chl-a with oceanic water intrusion in summer season shows almost the same pattern in winter season. On the other hand, in spring season, both SST and chl-a images are available to differentiate the oceanic water intrusion. Therefore, applying the suitable satellite sensor images for each season is effective in the monitoring of oceanic water intrusion. Moreover, in this area, SST and chl-a distribution reveal not only the oceanic water intrusion into Kagoshima bay but also the intrusion at Fukiage seashore facing East China Sea.

• Journal of the Korean Institute of Intelligent Systems
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• v.8 no.3
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• pp.95-103
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• 1998

This paper deals with a problem occuring in recognition of tactile images due to the effects of imposed force at a me urement moment. Tactile image of a contact surface, used for recognition of the surface type, varies depending on the forces imposed so that a false recognition may result in. This paper fuzzifies two parameters of the contour of a tactile image with the membership function formed by considering the imposed force. Two fuzzifed paramenters are fused by the average Minkowski's dist; lnce. The proposed algorithm was implemented on the multisensor system cnmposed of an optical tact le sensor and a 6 axes forceltorque sensor. By the experiments, the proposed algorithm has shown average recognition ratio greater than 869% over all imposed force ranges and object models which is about 14% enhancement comparing to the case where only the contour information is used. The pro- ~oseda lgorithm can be used for end-effectors manipulating a deformable or fragile objects or for recognition of 3D objects by implementing on multi-fingered robot hand.

• Journal of Positioning, Navigation, and Timing
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• v.6 no.3
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• pp.105-116
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• 2017

Several wireless localization algorithms are evaluated for the IR-UWB-based indoor location with the assumption that the ranging measurements contain the channelwise Non-Calibration Error (NCE). The localization algorithms can be divided into the Model-free Localization (MfL) methods and Model-based Kalman Filtering (MbKF). The algorithms covered in this paper include Iterative Least Squares (ILS), Direct Solution (DS), Difference of Squared Ranging Measurements (DSRM), and ILS-Common (ILS-C) methods for the MfL methods, and Extended Kalman Filter (EKF), EKF-Each Channel (EKF-EC), EKF-C, Cubature Kalman Filter (CKF), and CKF-C for the MbKF. Experimental results show that the DSRM method has better accuracy than the other MfL methods. Also, it demands smallest computation time. On the other hand, the EKF-C and CKF-C require some more computation time than the DSRM method. The accuracy of the EKF-C and CKF-C is, however, best among the 9 methods. When comparing the EKF-C and CKF-C, the CKF-C can be easily used. Finally, it is concluded that the CKF-C can be widely used because of its ease of use as well as it accuracy.

• Journal of the Korea Convergence Society
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• v.11 no.3
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• pp.85-93
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• 2020

This study is to examine the randomized controlled trials abroad studies on ICT-based convergence studies in the elderly, and to investigate the types and effects of ICT-based interventions. Eight studies that meet the selection criteria were selected from 326 studies identified by three databases and hand-searching. As a result of this study, the most commonly used ICT were the three internet, followed by two tablets and mobile phones, one twoway videoconferencing, one Kinect, one robot, and one Blood Glucose Monitoring System. These results could be used for ICT-based convergence studies in Korea, and further studies should be conducted with higher quality studies such as randomized controlled trials.