• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.6
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• pp.744-748
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• 2007

In this paper, a new localization method of indoor mobile robot using multi IR(infrared) range sensors is proposed. Each IR range sensor detects the edge of obstacles and wall using the acquired range data. The environment map is built by the merging process of the detected edge data of each sensor. The performance of proposed system is verified by the comparison of the real environment and the detected map in experiments.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.104.3-104
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• 2001

This paper develops a control approach to generic formation tasks of multiple mobile robots with inaccurate sensor information. Inaccurate sensor information means that all the robots have only local sensors which cannot accurately measure absolute distances and directions of objects. The control logic is developed considering generic situations in order to adapt to increasing number of robots which participate in the formation. Petri nets are used for modeling and design of the control logic, which can visualize the control models and make it easy to check the states of each robot. Physically homogenous mobile robots are designed and built to evaluate the developed logic. Each robot is equipped with eighteen infrared sensors and a UHF transceiver module. The developed control ...

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.3
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• pp.230-237
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• 2004

Lane Sensing techniques based on vision sensors are regarded promising because they require little infrastructure on the highway except clear lane markers. However, they require more intelligent processing algorithms in vehicles to generate the previewed roadway from the vision images. In this paper, a lane sensing algorithm using vision sensors is developed to improve the sensing robustness. The parallel stereo-camera is utilized to regenerate the 3-dimensional road geometry. The lane geometry models are derived such that their parameters represent the road curvature, lateral offset and heading angle, respectively. The parameters of the lane geometry models are estimated by the Kalman filter and utilized to reconstruct the lane geometry in the global coordinate. The inverse perspective mapping from the image plane to the global coordinate considers roll and pitch motions of a vehicle so that the mapping error is minimized during acceleration, braking or steering. The proposed sensing system has been built and implemented on a 1/10-scale model car.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.2
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• pp.213-219
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• 2002

A cone-shaped active magnetic healing spindle system for high speed internal grinding with built-in motor that has 7.5kW power and maximum rotational speed of 50,000 rpm is designed and built. Using cone-shaped AMB(Active Magnetic Bearing) system, the axial rotor dick and magnets of conventional 5-axis actuating design can be eliminated. so this concept of design provides a simple magnetic bearing system. In this paper, the cone-shaped electromagnets are designed by magnetic circuit theory, and a de-coupled direct feedback PID controller is applied to control the coupled magnetic bearings. The designed crone-shaped AMB spindle system is built and constructed with a digital control system, which has TMS320C6702 DSP, 16 bit AD/DA, switching power amplifier and gap sensors. As the AMB system provides high damping ratio eliminating overshoot and resonance speed, this spindle runs up to 40,000 rpm stably with about 5${\mu}{\textrm}{m}$ of runout.

• Proceedings of the KIEE Conference
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• 2004.07d
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• pp.2495-2497
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• 2004

A system, featuring the hybrid isolator for control in the vertical direction, of active microvibration control was proposed. The main components of this system are a stage vibration isolation table with built-in acceleration sensors for detecting microvibration, hybrid isolators and a digital controller with high precision signal converters. The vibration control algorithm is focused on settling-time critical application and feedback/feedforward combination.

• Proceedings of the Earthquake Engineering Society of Korea Conference
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• 1998.10a
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• pp.274-285
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• 1998

Increasing flexibility and lightness of recently built high-rise buildings make the structures susceptible to loads such as earthquakes and winds. Therefore, higher performance vibration control systems to reduce the vibration levels are demanded more than any time in the past. One of typical active vibration control systems is the active mass damper(AMD). In this paper, an active vibration control system consisting of small shaking table, building model, sensors, signal processing board and AMD is constructed. The dynamic characteristics of these individual systems are investigated through the experimental study. The performance of the active vibration control system is verified through harmonic resonant load excitation on building model.

• Transactions on Control, Automation and Systems Engineering
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• v.3 no.4
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• pp.203-209
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• 2001

This paper develops a control method for some generic formation tasks of multiple mobile robots with inaccurate sensor information. Inaccurate sensor information means that all the robots have only local sensors that cannot accurately measure absolute distances and directions of objects. That is, all the sensors have limitation on the range, and uncertainty in the values. Therefore, more robust and reliable control logic is proposed and implemented. The logic is developed considering generic situations and increasing the number of robots participating in the formation. Petri nets are used for modeling and design of the control logic, which can visualize the control models and make it easy to check the states of each robot. Physically homogeneous mobile robots are designed and built to evaluate the developed logic. Each robot is equipped with eighteen infrared sensors and a UHF transceiver module. The experiment results are analyzed quantitatively by using the data of the relative distances and angles between the robots. And the trajectories of the robots during the formation are also evaluated. The developed control approach is demonstrated with experiments to be successful and efficient for the formation of autonomous mobile robots.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.54 no.11
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• pp.643-649
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• 2005

A heart diagnosis system adopts Superconducting Quantum Interface Device(SQUD) sensors for precise MCG(MagnetoCardioGram) signal acquisitions. Such system needs to deal with hundreds of sensors, requiring fast signal sampling md precise analog-to-digital conversions(ADC). Our development of hardware board, processing 64-channel 12-bit in 1 ks/s speed, is built by using 8-channel ADC chips, 8-bit microprocessors, SPI interfaces, and specially designed parallel data transfers between microprocessors to meet the 1ks/s, i.e. 1 mili-second sampling interval. We extend the design into 256-channel hardware and analyze the speed .using the measured data from the 64-channel hardware. Since our design exploits full parallel processing, Assembly level coding, and NOP(No Operation) instruction for timing control, the design provides expandability and lowest system timing margin. Our result concludes that the data collection with 256-channel analog input signals can be done in 201.5us time-interval which is much shorter than the required 1 mili-second period.

• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.6
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• pp.698-703
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• 2006

This paper proposes an approach to search for the odor source using an autonomous mobile robot equipped with vision and odor sensors. The robot is initially navigating around the specific area with vision system until it looks for an object in the camera image. The robot approaches the object found in the field of view and checks it with the odor sensors if it is releasing odor. If so, the odor is classified and localized with the classification algorithm based on neural network The AMOR(Autonomous Mobile Olfactory Robot) was built up and used for the experiments. Experimental results on the classification and localization of odor sources show the validity of the proposed algorithm.

• Journal of the Korea Institute of Military Science and Technology
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• v.4 no.1
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• pp.177-187
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• 2001

It is important to test and evaluate the variation degree of ship-mounted antenna radiated power with respect to all directions in order to use more effectively antennas that installed on naval ships. The naval ship has various sensors for navigation, communication and electronic warfare, etc. And the performance of these sensors extremely depends on the various characteristics of antenna system to transmit and receive electromagnetic wave. The radiated power pattern of the antenna differs from all aspect angles of the ship because of complex superstructures. It is important to know the weak point(direction) of antenna radiation for appropriate operation. Therefore, the ARP(Antenna Radiation Pattern) of shipboard antennas is measured for the all aspect angles. The results of ARP measurement are utilized as reference for antenna arrangement of newly-built same class warship. This study also describes the development results for the ARP measurement technique, software design and test procedures to measure the radiation pattern of communication equipment antennas using the fixed test site.