• Proceedings of the IEEK Conference
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• 2008.06a
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• pp.1097-1098
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• 2008

In this paper We are going experiment which can happen at the movement of the robot to reduce the Systematic distance error. The system get the experiment result by using BLDC Motor, Encoder, ultrasonic sensor. The Embedded XP is adopted as an operating system, And The robot was controlled by using RS232.

• Proceedings of the KIEE Conference
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• 1994.11a
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• pp.98-100
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• 1994

Shaft position sensing is essential in Switched Reluctance Motor(SRM) in order to synchronize the phase excitation pulses to the rotor position. In low cost application, particularly at low power level, the shaft position sensor is too costly. This paper describes low cost SRM drive system that can control torque and speed utilizing a optointerrupter with slotted disc. The validity of the proposed scheme is verified by experimental results for 6/4 SRM drive system.

• The Journal of Korea Robotics Society
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• v.15 no.1
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• pp.39-47
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• 2020

This paper presents a control and operation system for a remotely operated vehicle (ROV). The ROV used in the study was equipped with a manipulator and is being developed for underwater exploration and autonomous underwater working. Precision position and attitude control ability is essential for underwater operation using a manipulator. For propulsion, the ROV is equipped with eight thrusters, the number of those are more than six degrees-of-freedom. Four of them are in charge of surge, sway, and yaw motion, and the other four are responsible for heave, roll, and pitch motion. Therefore, it is more efficient to integrate the management of the thrusters rather than control them individually. In this paper, a thrust allocation method for thruster management is presented, and the design of a feedback controller using sensor data is described. The software for the ROV operation consists of a robot operating system that can efficiently process data between multiple hardware platforms. Through experimental analysis, the validity of the control system performance was verified.

• Journal of KIISE:Computing Practices and Letters
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• v.14 no.1
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• pp.71-75
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• 2008

Many sensor operating systems have memory limitation constraint; therefore, stack memory areas of threads resides in a single memory space. Because most target platforms do not have hardware MMY (Memory Management Unit), it is difficult to protect each stack area. The method to solve this problem is to exchange original stack handling instructions in binary code for wrapper routines to protect stack area. In this exchanging phase, instruction corruption problem occurs due to difference of each instruction length between stack handling instructions and branch instructions. In this paper, we propose the algorithm to call a target routine without instruction corruption problem. This algorithm can reach a target routine by repeating branch instructions to have a short range. Our solution makes it easy to apply security patch and maintain upgrade of software of sensor node.

• Journal of Auto-vehicle Safety Association
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• v.13 no.4
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• pp.14-19
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• 2021

This paper presents LiDAR static obstacle map based vehicle dynamic state estimation algorithm for urban autonomous driving. In an autonomous driving, state estimation of host vehicle is important for accurate prediction of ego motion and perceived object. Therefore, in a situation in which noise exists in the control input of the vehicle, state estimation using sensor such as LiDAR and vision is required. However, it is difficult to obtain a measurement for the vehicle state because the recognition sensor of autonomous vehicle perceives including a dynamic object. The proposed algorithm consists of two parts. First, a Bayesian rule-based static obstacle map is constructed using continuous LiDAR point cloud input. Second, vehicle odometry during the time interval is calculated by matching the static obstacle map using Normal Distribution Transformation (NDT) method. And the velocity and yaw rate of vehicle are estimated based on the Extended Kalman Filter (EKF) using vehicle odometry as measurement. The proposed algorithm is implemented in the Linux Robot Operating System (ROS) environment, and is verified with data obtained from actual driving on urban roads. The test results show a more robust and accurate dynamic state estimation result when there is a bias in the chassis IMU sensor.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.3
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• pp.388-395
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• 2009

Surveillance Radar System for naval vessels is a primary core sensor for command and fire control, and provides CFCS(Command and Fire Control System) information for 3-D surveillance and fire control. It's composed of Antenna, Transmitter/Receiver, Signal Processor, and Air drier, which are installed on and under deck. They should be designed and produced in order to endure at any operating circumstances. This paper analyzes load of a driving part for driving the antenna considering factors under external operating circumstances, and proposes a condition of load for maintaining fixed RPM through analyzing internal load of the driving part, and how to reduce the load to meet the condition. This paper is verified through experimental studies.

• Journal of Ocean Engineering and Technology
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• v.11 no.1
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• pp.106-112
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• 1997

This paper describes the development of a test-bed vehicle named TAUV which can be a tool to evaluate the performance of a new control algorithm, operating software and the characteristics of sensors for an AUV. The test-bed AUV is designed to operate at depth of ten meters. It is 19.5kg in air and neural buoyancy in water and the dimension is $535{\times}400{\times}102mm$. TAUV is equipped with a magnetic compass, a biazial inclinometer, a rate gyro, a pressure sensor and an altitude sonae for measuring the motion of the vehicle. Two horizoltal thursters and two elevators are installed in order to propel and control the AUV. This paper persents the control system of TAUV which is based on a 16 bit single-chip microprocessor, 80c196kc, and the software architecture for the operating system. Experimental results are included to verify the performance of the TAUV.

• Journal of the Korean Ceramic Society
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• v.27 no.8
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• pp.1004-1010
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• 1990

SnO2-ThO2-PdCl2-In2O3 gas sensing ceramic systems were studied in order to lowr the operating temperatures and reduce the dependence of ambient temperatures and humidities. Sensing materials were coated by brush on the alumina tube followed by the impregnation of solidfier(ethylsilicate). Coated species were dried and sintered at 75$0^{\circ}C$ for 30min. carbon monoxide gas detecting sensitiviteis were measured in various ambinet temperatures and humidities. In the composition of 94SnO2-5ThO2-PdCl2 system carbon monoxide gas detecting sensors showed the highest detecting sensitivities and the lowest operating temperature(15$0^{\circ}C$). As the ambient temperatures and humidities were increased, sensitivities were decreased. Because the oscillation effects were observed at high humidities, it was suggested that the sensitivities of sensors depend greatly on the humidities.

• The Transactions of the Korean Institute of Electrical Engineers C
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• v.53 no.6
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• pp.324-329
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• 2004

Six stator slot couplers(SSC) and a flux probe sensor installed on the stator winding slots of large turbine generator. Assessment of insulation condition has been based upon the measurements of partial discharge(PD) of stator windings and shorted-turn of rotor windings in operating large turbine generator. The maximum PD magnitude(Qm), normalized quantify number(NQN), PD pattern and shorted-turn were measured using on-line insulation condition monitoring system. The NQN and Qm of slot PD side in the phase A are indicated the highest value in six SSC sensors. Monitoring system results showed that discharge at conductor surface and internal discharge were detected at the surface of stator winding and in voids of the groundwall insulation. Insulation of stator and rotor windings in large turbine generator was judged to be in good condition.

• International Journal of Contents
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• v.9 no.4
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• pp.22-29
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• 2013

In this paper, we propose a integrated real-time monitoring system for recycling agriculture resourcing based on USN. We design and implement the monitoring system so that we can integrate the quality control of farmyard and liquid manures, barn environment monitoring, and positioning information control into a total management system performing recycling of excrement and manure. Selection of sensors and sensor-node construction and requirements, structure of wire/wireless communication networks, and design of monitoring program are also presented. As a result of operating our system, we can get over various drawbacks of conventional separated system and promote the proper circulation of excrement up to the farmyard. We confirm that these advanced effects arise from the effective management of the total system integrating quality control of farmyard/liquid manure, barn/farmhouse information, and vehicle moving monitoring information etc. Moreover, this monitoring system is able to exchange real-time information throughout communication networks so that we can construct a convenient information environment for agricultural community by converging IT technology with farm and stockbreeding industries. Finally we present some results of processing using our monitoring system. Sensing data and their graphs are processed in real-time, positioning information on the v-world map offers various moving paths of vehicles, and statistical analysis shows all the procedure from excrement occurrence to recycling and resourcing.