• Journal of the Korean Institute of Intelligent Systems
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• v.22 no.1
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• pp.1-6
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• 2012

In this paper, we present an obstacle avoidance control algorithm for mobile robots based on SFLC (single-input fuzzy logic controller) with an efficient fuzzy logic look-up table to replace the traditional complicated operation. This method achieves better performance than traditional methods in terms of efficiency. The output of a SFLC leads the robot to the target automatically although many obstacles on the path. Our experiments show that the robot has good performance in the view of path tracking and other efficiency.

• Journal of information and communication convergence engineering
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• v.7 no.2
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• pp.119-124
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• 2009

In this paper, we propose a novel approach to estimating the real-time moving trajectory of an object is proposed in this paper. The object's position is obtained from the image data of a CCD camera, while a state estimator predicts the linear and angular velocities of the moving object. To overcome the uncertainties and noises residing in the input data, a Extended Kalman Filter(EKF) and neural networks are utilized cooperatively. Since the EKF needs to approximate a nonlinear system into a linear model in order to estimate the states, there still exist errors as well as uncertainties. To resolve this problem, in this approach the Kohonen networks, which have a high adaptability to the memory of the input-output relationship, are utilized for the nonlinear region. In addition to this, the Kohonen network, as a sort of neural network, can effectively adapt to the dynamic variations and become robust against noises. This approach is derived from the observation that the Kohonen network is a type of self-organized map and is spatially oriented, which makes it suitable for determining the trajectories of moving objects. The superiority of the proposed algorithm compared with the EKF is demonstrated through real experiments.

• Journal of Power Electronics
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• v.10 no.1
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• pp.79-84
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• 2010

This paper presents a grid connected photo-voltaic system using a quasi-Z-source inverter (QZSI) for power stage reduction. The power stage can be reduced because of an additional shoot-through stage which is a characteristic of QZSI. Therefore, by utilizing a QZSI the system's efficiency can be increased. In this paper, for applying a QZSI to a PV system, control methods such as maximum power point tracking (MPPT), point of common coupling (PCC) current control and PWM are studied and verified through simulation and experiment. In order to explain the above controllers, the characteristics of a QZSI are first analyzed. Then the MPPT control technique with a modified P&O method, the PCC current control for the regulation of the dc-link capacitor voltage and the PWM methods for the proposed system are explained. The feasibility of the proposed algorithm is verified through simulation and experiment with a 3kW system.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38A no.1
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• pp.19-25
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• 2013

In this paper, we proposed an enhanced monopulse MIMO radar system for the tactical scenario where the ground receivers are connected wireless backhaul and closely spaced. By applying the ${\alpha}{\beta}$ filter to the conventional monopulse MIMO radar, we show that the localization performance can be improved significantly. We also propose an efficient localization algorithm for a system with lower rate feedback. Using numerical simulations, we demonstrate that the proposed scheme can improve the localization performance while reducing the feedback over conventional scheme.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.10a
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• pp.353-356
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• 1997

Hydraulically driven manipulators are superior to electrically driven ones in the power density and electrical insulation. But an electro-hydraulic manipulator using hydraulic actuators has many nonlinear elements, and this parameter fluctuations are greater than those of electrically driven manipulator. So this is relatively difficult to realize not only stable contact work but also accurate force control for the autonomous field task such as the maintenance task of high voltage active electric line or the automatic excavation task by hydraulic excavator. In this report, we propose robust force control algorithm, which can be applied to there real field task such as the construction field, nuclear plant and so on. Proposed force controller has the same structure as that of disturbance observe for position control. The difference between force and position disturbance observer is that the input and output of disturbance observer are forces in the case force disturbance observer and the plant varies much compared to the case of position control. In the design of force disturbance observer, generalized plant is derived and the stabilized filter is designed by H infinity control theory to ensure the robuts t stability even though the stiffness of environment changes from sponge to steel, and the contact surface also changes from flat to round shape. Experimental results show that highly robust force tracking by a 6-link electro-hydraulic manipulator could be achieved under various environment conditions.

• Journal of the Korean Society for Precision Engineering
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• v.9 no.3
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• pp.73-82
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• 1992

An industrial robot, installed real manufacturing processes an element of the system autmation, can be considered as an uncertain system due to dynamic uncertainties in inertial parameters and varying payloads. Most difficuties in controlling a robot manipulator are caused by the fact that the dynamic equations describing the motions of the manipulator are inherently nonlinear and heavily coupled effects between joints and associated links. Existing robot conrol systems have constant predefined gains and do not cover the complex dynamic interactions between manipulator joints. As a result, the manipulator is severly limited in range of application, speed of operation and variation of payload. The proposed controller is operated by adjusting its gains based on the response of the manipulator in such a way that the manipulator closely matches the reference model trajectories defined by the desinger. The proposed manipulator studied has two loops, an inner loop of model reference adaptive controller and an outer loop of state feedback controller with integral action to guarantee the stability of the adaptive scheme. This adaptation algorithm is based on the hyperstailiy approach with an improved Lyapunov function. The coupling among joints and the nonlinearity in the dynamic equation are explicitly considered. The designed manipulator controller shows good tracking performance in practical working environment, various load variations and parameter uncertainties.

• Journal of IKEEE
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• v.15 no.3
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• pp.211-217
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• 2011

The energy of CPV system is different as the altitude and azimuth of solar. In order to The maximum of solar energy density, the tracking system which does there to make be the module and the solar will be able to maintain a normal line is necessary. This paper proposed for GPS solar tracker of stand-alone 60[W] concentrating photovoltaic system. The position algorithm of solar tracker is through the coordinates transformation calculating the altitude and azimuth of the solar.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.12 no.5
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• pp.25-30
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• 2012

It is important to detect dangerous objects which are intentionally abandoned in public places. Nowadays visual surveillance system is required to enhance the performance in two ways : high resolution and wireless linking ability. In this study the design of visual surveillance system is newly proposed to detect abandoned objects for social security purpose based on wireless high resolution image transmission technology. Also, to enhance PED, PAT performance, the tracking algorithm is included in the previous visual surveillance software scheme. By implementing proposed design scheme on the real wireless high resolution image transmission system, the effectiveness of the overall system is shown with the transmission performance of 4.0 Gbps speed.

• Journal of the Semiconductor & Display Technology
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• v.14 no.2
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• pp.9-16
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• 2015

In this paper, selection criterions on selection diversity are researched. The diversity is applied to the multiple antenna system based on wireless access in vehicular environment (WAVE) standard for rapid varying channel. Least squares (LS) based decision feedback equalizer (DFE) are used for channel equalization. Received signal is regenerated by means of the decision feedback path. In the selection diversity, the regenerated signal as well as the received signal is selected according to selection criterion. The decision feedback algorithm can follow the fast speed of WAVE fading channel. To control the tracking speed of the time-varying channel, simple low pass filter is used. Finally, the estimated channel value recovers the distorted payloads. Signal power before automatic gain control (AGC) in analog stage can be used as a selection criterion. In the digital stage, signal power after AGC, noise power after AGC, signal to noise ratio after AGC and cross-correlation method can be used as selection criterions. According to the simulation results, the performance of the selection diversity is improved in comparison with that of the combining diversity for the WAVE fading channel.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.281-284
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• 2006

After building a ship in a shipyard, there are so many repeated inspection of welding seam defects and painting status before delivering to the ship's owner. An inspection on the bottom part of a ship in commercial service should be done in every two years for the purpose of safety and for the prevention of ship speed deterioration. conventional welding seam inspection systems are rely on the visual inspection by human or the ultrasonic inspection for the selective part of a ship. This paper suggests a remote controlled inspection system for the examination of large ships or steel structures. The proposed system moves in contact with the ship under inspection and have a CCD camera to provide visual-guidance information to a remotely located human worker. Additionally this system utilizes a weld line tracking algorithm for an optimal position control. We verified the effectiveness of the inspection system by experimental data.