• 지구물리와물리탐사
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• 제14권4호
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• pp.298-304
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• 2011

한국해양연구원에서는 2011년 4월에 쇄빙선 아라온호, Oceaneering사의 ROV (Remotely Operated Vehicle) 및 삼성분자력계(Three component vector magnetometer)를 이용하여 남서태평양 라우분지에 위치한 TA25해산 칼데라 서측 사면에 대하여 심해자력탐사를 실시하였다. 연구지역은 약 900 m ~ 1200 m의 수심대역을 보인다. 이 심해탐사를 위하여 국내 최초로 3000 m급 심해 삼성분자력계를 제작하였다. 자력계센서부분은 ROV의 상부에, 자력계로거부분은 ROV의 하부에 장착하였으며, ROV는 ROV의 정확한 위치를 알려주는 USBL (Ultra Short Base Line)과 고도계를 이용하여 정해진 측선을 따라 해저면에서 약 25 ~ 30 m의 수직 간격을 유지하며 이동하였다. 삼성분자력계는 자기장의 X(북쪽성분), Y(동쪽성분)과 Z(수직성분)의 벡터성분을 측정하므로 모션센서를 이용하여 ROV의 움직임(피치, 롤, 요)에 대한 보정을 실시하였다. 자력센서자료와 모션센서자료는 ROV의 광케이블과 아라온호의 네트워크를 이용하여 노트북에 저장되며 ROV의 정확한 위치자료인 USBL자료는 후처리를 통하여 병합하였다. 이렇게 획득한 심해 삼성분자력자료는 조사지역의 유망한 열수광상을 유추하는데 유용하게 활용될 것으로 판단된다.

• 센서학회지
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• 제23권5호
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• pp.349-355
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• 2014

In this paper, we developed a new method to transmit multiple visible light channels in time division mode using the AC power line frequency in order to prevent the crosstalk between adjacent optical signals. Synchronizing pulses are generated from the 220 V power line, and one pulse period is subdivided into several time slots for visible light channels. Each channel transmits data in a predefined time slot without interfering adjacent channels. In experiments, synchronizing pulses with a repetition rate of 240 Hz were generated from the 60 Hz power line, and three VLC channels with a bit rate of 9.6 kbps transmitted data independently using the time slots between synchronizing pulses. This configuration is very useful in constructing time division VLC networks for multiple sensors.

• ETRI Journal
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• 제37권4호
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• pp.707-716
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• 2015

The purpose of a localization system is to estimate the coordinates of the geographic location of a mobile device. The accuracy of wireless localization is influenced by nonline-of-sight (NLOS) errors in wireless sensor networks. In this paper, we present an improved time of arrival (TOA)-based localization method for wireless sensor networks. TOA-based localization estimates the geographic location of a mobile device using the distances between a mobile station (MS) and three or more base stations (BSs). However, each of the NLOS errors along a distance measured from an MS (device) to a BS (device) is different because of dissimilar obstacles in the direct signal path between the two devices. To accurately estimate the geographic location of a mobile device in TOA-based localization, we propose an optimized localization method with a BS selection scheme that selects three measured distances that contain a relatively small number of NLOS errors, in this paper. Performance evaluations are presented, and the experimental results are validated through comparisons of various localization methods with the proposed method.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제15권6호
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• pp.2282-2303
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• 2021

To solve the problems of heavy computing load and system transmission pressure in energy internet (EI), we establish a three-tier cloud-edge integrated EI network based on a cloud-edge collaborative computing to achieve the tradeoff between energy consumption and the system delay. A joint optimization problem for resource allocation and task offloading in the threetier cloud-edge integrated EI network is formulated to minimize the total system cost under the constraints of the task scheduling binary variables of each sensor node, the maximum uplink transmit power of each sensor node, the limited computation capability of the sensor node and the maximum computation resource of each edge server, which is a Mixed Integer Non-linear Programming (MINLP) problem. To solve the problem, we propose a joint task offloading and resource allocation algorithm (JTOARA), which is decomposed into three subproblems including the uplink transmission power allocation sub-problem, the computation resource allocation sub-problem, and the offloading scheme selection subproblem. Then, the power allocation of each sensor node is achieved by bisection search algorithm, which has a fast convergence. While the computation resource allocation is derived by line optimization method and convex optimization theory. Finally, to achieve the optimal task offloading, we propose a cloud-edge collaborative computation offloading schemes based on game theory and prove the existence of Nash Equilibrium. The simulation results demonstrate that our proposed algorithm can improve output performance as comparing with the conventional algorithms, and its performance is close to the that of the enumerative algorithm.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집B
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• pp.319-324
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• 2001

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or corner. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The experiment has been done to verify the effectiveness of the proposed controllers. These results are shown to fit well by the simulation results.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2003년도 춘계학술대회
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• pp.923-928
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• 2003

This paper presents the motion control of a mobile robot with arc sensor for lattice type welding. Its dynamic equation and motion control method for welding speed and seam tracking are described. The motion control is realized in the view of keeping constant welding speed and precise target line even though the robot is driven along a straight line or comer. The mobile robot is modeled based on Lagrange equation under nonholonomic constraints and the model is represented in state space form. The motion control of the mobile robot is separated into three driving motions of straight locomotion, turning locomotion and torch slider controls. For the torch slider control, the proportional integral derivative (PID) control method is used. For the straight locomotion, a concept of decoupling method between input and output is adopted and for the turning locomotion, the turning speed is controlled according to the angular velocity value at each point of the comer with range of $90^{\circ}$ constrained to the welding speed. The proposed control methods are proved through simulation results and the results have proved that the mobile robot has enough ability to apply the lattice type welding line.

• 전력전자학회:학술대회논문집
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• 전력전자학회 2012년도 추계학술대회 논문집
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• pp.211-212
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• 2012

This paper proposes a single current sensor control technique for controlling motors that use only a single DC-Link current sensing resistor to obtain the information of three line currents. However, the measurement is distorted due to the too narrow current pulse width in the shunt resistor. To solve this problem, the existing phase current reconstruction methods are voltage split methods. They have a disadvantage which makes noise. A new dedicated observer is applied to decrease noise problem. Experimental results showed the effectiveness of the proposed method.

• Tribology and Lubricants
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• 제36권6호
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• pp.297-306
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• 2020

This paper reviews studies on the types and functions of oil sensors used for machine condition monitoring. Machine condition monitoring is essential for maintaining the reliability of machines and can help avoid catastrophic failures while ensuring the safety and longevity of operation. Machine condition monitoring involves several components, such as compliance monitoring, structural monitoring, thermography, non-destructive testing, and noise and vibration monitoring. Real-time monitoring with oil analysis is also utilized in various industries, such as manufacturing, aerospace, and power plants. The three main methods of oil analysis are off-line, in-line, and on-line techniques. The on-line method is the most popular among these three because it reduces human error during oil sampling, prevents incipient machine failure, reduces the total maintenance cost, and does not need complicated setup or skilled analysts. This method has two advantages over the other two monitoring methods. First, fault conditions can be noticed at the early stages via detection of wear particles using wear particle sensors; therefore, it provides early warning in the failure process. Second, it is convenient and effective for diagnosing data regardless of the measurement time. Real-time condition monitoring with oil analysis uses various oil sensors to diagnose the machine and oil statuses; further, integrated oil sensors can be used to measure several properties simultaneously.

• 한국정밀공학회지
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• 제16권1호통권94호
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• pp.42-48
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• 1999

A control method for a robot hand grasping a object in a partially unknown environment will be proposed, where a proximate sensor detecting the distance between the fingertip and object was used. Particularly, the finger joints were driven servo-pneumatically in this study. Based on the proximate sensor signal the finger motion controller could plan the grasping process divided in three phases ; fast aproach, slow transitional contact and contact force control. That is, the fingertip approached to the object with full speed, until the output signal of the proximate sensor began to change. Within the perating range of the proximate sensor, the finger joint was moved by a state-variable feedback position controller in order to obtain a smooth contact with the object. The contact force of fingertip was then controlled using the blocked-line pressure sensitivity of the flow control servovalve for finger joint control. In this way, the grasping impact could be reduced without reducing the object approaching speed. The performance of the proposed grasping method was experimentally compared with that of a open loop-controlled one.

• 한국정밀공학회지
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• 제21권7호
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• pp.145-152
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• 2004

This paper proposed efficient manufacturing system using the OMM (on-machine measurement) system. The OMM system is software based 3D modeler for inspection on machine and it is interfaced tool machine with RS232C. The software is composed of two inspection modules that one is touch probe operating module and the other is laser displacement sensor operating module. The module for touch probe has need of inspection feature that extracted it from CAD data. Touch probe moves to workpiece by three operating modes as follows: manual, general and automatic mode. The operating module of laser displacement sensor is used inspection for profile and very small hole. An Advantage of this inspection method is to be able to execute on-line inspection during machining or after it. The efficiency of proposed system which can predict and definite the machining errors of each process is verified, so the developed system is applied to inspect the mold-base(cavity, core).