• The Journal of Korea Robotics Society
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• v.11 no.4
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• pp.285-292
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• 2016

For articulated swimming robots, there have been no researches about controlling the motion or trajectory following. A control method for articulated swimming robot is suggested by extending a previous algorithm, ESPG (Extended Swimming Pattern Generator). The control method focuses on the situation that continuous pre-determined swimming pattern is applied for long range travelling. In previous studies, there has not been a way to control the propulsive force when a swimming pattern created by ESPG was in progress. Hence, no control could be made unless the swimming pattern was completed even though an error occurred while the swimming pattern was in progress. In order to solve this problem, this study analyzes swimming patterns and suggests a method to control the propulsive force even while the swimming pattern was in progress. The angular velocity of each link is influenced and this eventually modifies the propulsive force. However, The angular velocity is changed, a number of problems can occur. In order to resolve this issue, phase compensation method and synchronization method were suggested. A simple controller was designed to confirm whether the suggested methods are able to control and a simulation has affirmed it. Moreover, it was applied to CALEB 10 (a biomimetic underwater articulated robot) and the result was verified.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.12 no.4
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• pp.131-140
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• 2012

The shortest path search algorithm of navigation is generally based on Dijkstra algorithm and considers only the distance using the weight. Dijkstra algorithm based on the distance mainly ought to perform the 'number of nodes 1' and requires a lot of memory, for it is to start from the starting node and to decide the shortest path for all the nodes. Also, it searches only the same identical path in case of any bottleneck due to an accident nearby, since it is based only on the distance, and hence does not have a system that searches the detour road. In order to solve this problem, this paper considers only the travelling time per road (travelling speed * distance), without applying speed criteria (smoothness, slow speed, stagnation and accident control) or road class (express road, national road and provincial road). This provides an advantage of searching the detour, considering the reality that there are differences in time take for the car to travel on different roads with same distance, due to any accident, stagnation, or repair construction. The suggested algorithm proves that it can help us to reach the destination within the shortest time, making a detour from any congested road (outbreak) on providing an information on traveling time continuously(real-time) even though there is an accident in a particular road.

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.2
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• pp.155-163
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• 2000

This paper presents a path planning method of the sensor based intelligent vehicle using fuzzy logic controller for avoidance of moving obstacles in unknown environments. Generally it is too difficult and complicated to control intelligent vehicle properly by recognizing unknown terrain with sensors because the great amount of imprecise and ambiguous information has to be considered. In this respect a fuzzy logic can manage such the enormous information in a quite efficient manner. Furthermore it is necessary to use the relative velocity to consider the mobility of obstacles, In order to avoid moving obstacles we must deliberate not only vehicle's relative speed toward obstacles but also self-determined acceleration and steering for the satisfaction of avoidance efficiency. In this study all the primary factors mentioned before are used as the input elements of fuzzy controllers and output signals to control velocity and steering angle of the vehicle. The main purpose of this study is to develop fuzzy controllers for avoiding collision with moving obstacles when they approach the vehicle travelling with straight line and for returning to original trajectory. The ability are and effectiveness of the proposed algorithm are demonstrated by simulations and experiments.

• Journal of the Korean Society of Industry Convergence
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• v.17 no.2
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• pp.42-53
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• 2014

Robust voice recognition (RVR) is essential for a robot to communicate with people. One of the main problems with RVR for robots is that robots inevitably real environment noises. The noise is captured with strong power by the microphones, because the noise sources are closed to the microphones. The signal-to-noise ratio of input voice becomes quite low. However, it is possible to estimate the noise by using information on the robot's own motions and postures, because a type of motion/gesture produces almost the same pattern of noise every time it is performed. In this paper, we propose an RVR system which can robustly recognize voice by adults and children in noisy environments. We evaluate the RVR system in a communication robot placed in a real noisy environment. Voice is captured using a wireless microphone. Navigation Strategy is shown Obstacle detection and local map, Design of Goal-seeking Behavior and Avoidance Behavior, Fuzzy Decision Maker and Lower level controller. The final hypothesis is selected based on posterior probability. We then select the task in the motion task library. In the motion control, we also integrate the obstacle avoidance control using ultrasonic sensors. Those are powerful for detecting obstacle with simple algorithm.

• Journal of Electrical Engineering and Technology
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• v.13 no.6
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• pp.2145-2157
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• 2018

Congestion Management (CM) is an attractive research area in the electrical power transmission with the power compensation abilities. Reconfiguration and the Flexible Alternating Current Transmission Systems (FACTS) devices utilization relieve the congestion in transmission lines. The lack of optimal power (real and reactive) usage with the better transfer capability and minimum cost is still challenging issue in the CM. The prediction of suitable place for the energy resources to control the power flow is the major requirement for power handling scenario. This paper proposes the novel optimization principle to select the best location for the energy resources to achieve the real-reactive power compensation. The parameters estimation and the selection of values with the best fitness through the Symmetrical Distance Travelling Optimization (SDTO) algorithm establishes the proper controlling of optimal power flow in the transmission lines. The modified fitness function formulation based on the bus parameters, index estimation correspond to the optimal reactive power usage enhances the power transfer capability with the minimum cost. The comparative analysis between the proposed method with the existing power management techniques regarding the parameters of power loss, cost value, load power and energy loss confirms the effectiveness of proposed work in the distributed renewable energy systems.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.23 no.10
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• pp.1240-1247
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• 1999

Particle motion through a disk type critical orifice placed in a 3.0cm diameter chamber has been studied numerically. In the simulation, the velocity field is solved using Pantankar's SIMPLER algorithm for the compressible flow and convergence of the computation is confirmed if the mass source at each control volume is smaller than $10^{-7}$. The particle motion in the flow field is solved in Lagrangian method. The particle trajectories showed that the particles injected away from the center line are expanded rapidly. At lower pressures, this expansion phenomena are more dominant. At lower pressures, the clear difference in particle and air speed is showed all the way down to the exit plan. It was found that particles with Stokes number of ca.2.5 tend to focus close to the center line very well except the particles travelling near the wall. However, particles with Stokes number greater than ca.2.5 show a tendency to cross the center line.