• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.871-875
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• 2003

To detect and avoid obstacles is one of the important tasks of mobile navigation. In a real environment, when a mobile robot encounters dynamic obstacles, it is required to simultaneously detect and avoid obstacles for its body safely. In previous vision system, mobile robot has used it as either a passive sensor or an active sensor. This paper proposes a new obstacle detection algorithm that uses a stereo camera as both a passive sensor and an active sensor. Our system estimates the distances from obstacles by both passive-correspondence and active-correspondence using laser slit. The system operates in three steps. First, a far-off obstacle is detected by the disparity from stereo correspondence. Next, a close obstacle is acquired from laser slit beam projected in the same stereo image. Finally, we implement obstacle avoidance algorithm, adopting the modified Dynamic Window Approach (DWA), by using the acquired the obstacle's distance.

• 한국항공우주학회지
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• 제46권7호
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• pp.542-550
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• 2018

본 논문에서는 헬리콥터의 전진비행시 발생하는 허브 진동 하중 저감을 위해 설계된 능동 뒷전 플랩이 장착된 SNUF 블레이드의 무베어링 주 로터 적용 설계에 대해 살펴보았다. 이를 위해 EDISON의 박벽 복합재료 회전보 진동해석 프로그램(CORBA77_MEMB)을 이용하여 유연보의 단면 설계가 이루어졌다. 다물체 동역학 해석 프로그램 DYMORE를 이용하여 단면 설계에 따른 블레이드 동특성 및 능동 뒷전 플랩을 이용한 하중 제어의 특성을 예측하였다.

• 한국소음진동공학회논문집
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• 제14권3호
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• pp.253-263
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• 2004

The problem considered in this paper is about the collocation of sensor and actuator for the active control of sound and vibration. It is well-known that a point collocated sensor-actuator pair offers an unconditional stability with very high performance when it is used with a direct velocity feedback (DVFB) control, because the pair has strictly positive real (SPR) property. In order to utilize this SPR characteristics, a matched piezoelectric sensor and actuator pair is considered. but this pair suffers from the in-plane motion coupling problem with the out-of-plane motion due to the piezo sensor and actuator interaction. This coupling phnomenon limits the stability and performance of the matched pair with DVFBcontrol. As a new alternative, a point sensor and distributed piezoelectric actuator pair is also considered, which provides SPR property in all frequency range when the pair is implemented on a clamped-clapmed beam. The use of this sensor-actuator pair is highly expected for the applications to more practical active control of sound and vibration systems with the DVFB control strategy.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.1775-1780
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• 2005

One of the most important factors so that mobile objects can achieve their purpose is the information about their positions. In this paper, we propose an improved beacon system, to which ultrasonic sensors are attached, for the indoor localization of mobile objects. We have researched so that it can cover the wider space and estimate more accurate positions than the existent beacon systems. The existent beacon systems have the constraint that one beacon cannot cover wide area since ultrasonic sensors have limits in the angle of signal (beam-angle) on which their signal strength depends. Hence, we used the active beacon which consists of a pan-tilt mechanism and a beacon module. The active beacon system can always aim at mobile objects in order to transmit the strongest signal of the ultrasonic sensors into the objects using the pan-tilt mechanism. In addition, this system is inexpensive because it can decrease the number of beacons by about a half of the beacons of the existent system. Finally, the results show what is the difference between the active beacon system and existent beacon systems, and how accurate it is.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2004년도 추계학술대회논문집
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• pp.834-839
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• 2004

In this paper, we have studied on the active vibration control of an automotive roof in passenger car's structure using piezoelectric material as the actuator and sensor attached on the surface of the automotive roof, As a control algorithm, negative velocity feedback control method is used in the study and the position of the sensor is almost attached on the nearest position of maximum normal stresses occurring while the roof is vibrating due to disturbance or exciting, Also, the actuator is attached on the other side mostly collocated to the sensor. The optimum positions have the maximum stresses of the roof which have been found in the result of the finite element analysis using Nastran software, As the fundamental experiments, a beam and plate have also been implemented to verify the performance of vibration suppression. Finally the experiment of the roof has been carried out and The roof experiment has just given a possibility to an active vibration control of the automotive structure still not applied for passenger cars.

• 대한전자공학회논문지TC
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• 제37권7호
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• pp.18-23
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• 2000

능동 위상배열 안테나는 방사부 및 저잡음증폭기와 위상천이기를 포함하는 능동회로부가 결합된 다수의 채널들로 구성된다. 각각의 채널은 능동회로부의 초기위상 및 이득의 비균일성, 방사소자와 능동회로부의 인터페이스 및 빔성형회로의 편차 등으로 인하여 제각기 다른 양의 초기위상 및 이득값을 갖게 된다. 이는 능동 위상배열 안테나에 내재된 문제점으로서, 설계된 안테나 방사패턴 및 안테나 이득을 실제로 구현하기 위해서는 각각의 채널의 초기위상 및 이득 편차를 보정할 필요가 있다. 본 논문에서는 능동 위상배열 안테나에 대하여 초기위상 및 이득의 편차를 효율적으로 보정하여 안테나 성능을 최대로 향상시키는 새로운 보정 방법을 제시하였다. 실제 이 방법을 수행하여 12개의 상당히 비균일한 채널의 초기위상 천이 및 이득을 보정하여 안테나 이득을 2.0dB 이상 향상시켰다.

• 한국전자파학회논문지
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• 제20권2호
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• pp.167-173
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• 2009

본 논문에서는 단일 급전 능동 소자와 4개의 기생 소자로 구성된 5.8 GHz ISM 대역에서 동작하는 전자적인 빔 조향 배열 안테나를 제안하였다. 빔 조향은 고가의 위상 변위기를 이용하지 않고, 기생 소자의 부하에 연결된 가변 리액턴스 제어 회로의 리액턴스를 제어하여 얻을 수 있다. 제안한 안테나는 빔 조향 각도에 따라 ISM 대역 내에서 -10 dB 이하의 반사 손실을 가지면서도 E-평면과 H-평면으로 각각 ${\pm}30^{\circ}$의 빔 스캔을 실현하였다. 스캔 범위에서 이득은 E-평면에서 $6.18{\sim}7.53\;dBi$, H-평면에서 $7.022{\sim}7.779\;dBi$를 보였다.

• Current Optics and Photonics
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• 제1권3호
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• pp.207-213
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• 2017

The Adaptive Front-lighting System (AFS) is a part of the active safety system, providing optimized vision to the driver during night time and other poor-sight conditions of the road by automatic adaptation of lighting to environmental and traffic conditions. Basically, an AFS provides four different modes of the passing beam as designated in an United Nations Economic Commission for Europe regulation (ECE324-R123): neutral state or country light (Class C), urban light (Class V), highway light (Class E), and adverse weather light (Class W). In this paper, we first present an optics design for an AFS system capable of producing the Class C/V/E/W patterns requiring only on/off modulation of multi-array LEDs with no need for any additional mechanical components. The AFS optics consists of two separated modules, cutoff and spread; the cutoff module lights a narrow central area with high luminous intensity, satisfying the cutoff regulation, and the spread module forms a wide spread beam of low luminous intensity. Each module consists of two major parts; the first converts a discretely positioned LED array into a full-filled area emitting light source plane, and the second projects the light source plane to a 25 m away target plane. With the combination of these two optics modules, the four beam patterns are formed by simple on/off modulation of multi-array LEDs. Then we report the development of a prototype that was demonstrated to provide the four beam patterns.

• 한국인터넷방송통신학회논문지
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• 제14권5호
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• pp.81-86
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• 2014

이동통신망 사용자는 인터넷 서비스를 위해 빠른 데이터 전송 및 넓은 대역폭을 필요로 한다. 기존의 MIMO 시스템은 주어진 환경에서 광대역서비스를 위한 방법으로 안테나의 개수를 수요 대역 만큼 계속 추가하는 것인데, 이 방법은 이동통신 단말기의 제한된 공간으로 계속적인 추가가 어렵다. 이는 추가되는 안테나간 간격을 사용주파수의 파장만큼 거리를 두어야 하는 공간적 제한 때문이다. 컴팩트 MIMO 기술은 이를 해결하는 방법으로 등장하고 있으며, 액티브 안테나 주변에 가변 리액턴스 값을 갖는 PE(parasitic element)를 두어 하나의 안테나 구성으로 다수 안테나의 효과를 얻는 방법이다. 이때 가변 리액턴스를 제어하기 위해 사용되는 회로의 구성 및 간섭에 강인한 스위칭 속도를 갖는 제어회로가 요구된다. 본 논문에서는 리액턴스 제어를 위한 스위칭 블록을 제안하고, 이 방법에 의한 빔의 영향을 분석하였다.

• Smart Structures and Systems
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• 제7권2호
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• pp.103-116
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• 2011

This paper is concerned with the trajectory tracking and vibration suppression of a single-link flexible arm by using piezoelectric materials. The dynamics of a single flexible arm with PZT patches as sensor and actuator is derived using extended Hamilton's principle. Resulting equations show that the coupled beam dynamics including beam vibration and its rigid in-plane rotation takes place in two different time scales. By using singular perturbation theory, the system dynamics is divided into two subsystems. Then, a composite control scheme is elaborated that makes the orientation of the arm track a desired trajectory while suppressing its vibration. The proposed controller has two parts: one is a tracking controller designed for the slow (rigid) subsystem, and the other one is a stabilizing controller for the fast (flexible) subsystem. The outputs considered for the system are angular position of the hub and voltage of the sensor mounted on the structure. To avoid requiring further measurements of beam vibration and also angular velocity of the hub for the fast and slow control laws, respectively, two sliding mode observers for estimating the unknown states are also designed.