• Journal of Mechanical Science and Technology
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• v.15 no.8
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• pp.1097-1107
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• 2001

In this paper, the wall following navigation algorithm of the mobile robot using a mono vision system is described. The key points of the mobile robot navigation system are effective acquisition of the environmental information and fast recognition of the robot position. Also, from this information, the mobile robot should be appropriately controlled to follow a desired path. For the recognition of the relative position and orientation of the robot to the wall, the features of the corridor structure are extracted using the mono vision system, then the relative position, the offset distance and steering angle of the robot from the wall, is derived for a simple corridor geometry. For the alleviation of the computation burden of the image processing, the Kalman filter is used to reduce search region in the image space for line detection. Next, the robot is controlled by this information to follow the desired path. The wall following control scheme by the PD control scheme is composed of two control parts, the approaching control and the orientation control, and each control is performed by steering and forward-driving motion of the robot. To verify the effectiveness of the proposed algorithm, the real time navigation experiments are performed. Through the result of the experiments, the effectiveness and flexibility of the suggested algorithm are verified in comparison with a pure encoder-guided mobile robot navigation system.

• Journal of Sensor Science and Technology
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• v.19 no.3
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• pp.246-257
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• 2010

Autonomous guided robot navigation which consists of following unknown paths and avoiding unknown obstacles has been a fundamental technique for unmanned robots in outdoor environments. The unknown path following requires techniques such as path recognition, path planning, and robot pose estimation. In this paper, we propose a novel sensor fusion system for autonomous guided robot navigation in outdoor environments. The proposed system consists of three monocular cameras and an array of nine infrared range sensors. The two cameras equipped on the robot's right and left sides are used to recognize unknown paths and estimate relative robot pose on these paths through bayesian sensor fusion method, and the other camera equipped at the front of the robot is used to recognize abrupt curves and unknown obstacles. The infrared range sensor array is used to improve the robustness of obstacle avoidance. The forward camera and the infrared range sensor array are fused through rule-based method for obstacle avoidance. Experiments in outdoor environments show the mobile robot with the proposed sensor fusion system performed successfully real-time autonomous guided navigation.

• Proceedings of the Korea Inteligent Information System Society Conference
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• 2001.01a
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• pp.169-175
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• 2001

It is not easy for business workers to find proper information for his job, because of the following problems:(1) information exist in various information system both internal and external with diverse formats(2) he cannot estimate relevance of all the information and (3) he cannot select proper information among large volume of information. The requirements for the systems are the following things:(1) search of relevant information from various internal and external information systems(2) proving an integrated view of information for workers, and (3) information processing and decision-making are seamlessly integrated fro business workers. We proposed an agent system to fulfill the requirements. We focus on the purchasing job, and developed a prototype system. PIPA(Purchasing Information Process Agent). The PIPA performs not only information processing jobs(information search gathering, display, business form -making)but also decision-making support job (evaluation of supplier candidates, and apply of sourcing policy) for sourcing manager. The framework of the PIPA can be appled to other information processing and desision-making jobs.

• Proceedings of the Korean System Dynamics Society
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• 2000.02a
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• pp.29-37
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• 2000

In this paper an attempt is made to understand contribution factors in the field of electronic commerce(EC). To do that, we adopt and modify an existing commerce model. The following two major conclusions are drawn from our simulation. Most of all, the diminution of information delay introduce monotonous growth rather than fluctuation of EC market. The stable increase of revenue or market scale makes us decide the employment or capacity scale quickly. Second, for favorable and continuous evolution of EC, utilization system of electronic money should be established steadily. The following findings strongly support our claim: We found full oscillation of EC market when electronic money system didn't established well. On the contrary, if electronic money system could provide fast cash flow and fully trustful function, decisions of company or consumer would be executed promptly.

• Proceedings of the KIEE Conference
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• 1995.07a
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• pp.261-264
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• 1995

A scheme of observer-based MFAC(Model Following Acceleration Control) system is proposed for the DC servo position control system. The proposed system is competed of MFAC, feedback controller, and reduced-order state observer. As the servo motor is controlled by the acceleration command, the total servo system becomes the acceleration control system. Simulation results show that the proposed system have robust properties against parameter variations and external disturbances.

• The Korean Journal of Physiology
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• v.8 no.1
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• pp.7-14
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• 1974

This study was carried out to investigate the acute changes in R-A-A system following lasix administration, and to evaluate the materials in plasma R-A-A system and electrolytic excretion every 30 minutes for 2 hours after lasix administration with normal high sodium Korean food, moderate sodium restriction, and severe sodium restriction, and it was concluded as followed; 1. Plasma renin activity, angiotensin II concentration, and aldosterone concentration elevated in course of time after lasix administration with high sodium Korean food, but the R-A-A system takes insignificant part because of the increasing rate was so slight. 2. Although the increasing rate of plasma renin activity reached lower levels, angiotensin II and aldosterone concentration were significantly increased after lasix administration with moderate sodium restriction. 3. It was observed that higher rise in aldosterone concentration following lasix administration during severe sodium restriction than when moderate sodium restriction. 4. Urinary sodium and potassium excretion during two hours after lasix administration showed decrease as little as the amount of sodium intake, but K/Na excretion ratio showed increase with small amount of sodium intake because of the decreasing rate of potassium was low value. 5. Sodium excretion after lasix administration reached more than 1.5 times of sodium intake, even though R-A-A reaction showed significantly. 6. As our results showed, R-A-A reaction following acute diuresis was insignificant with high sodium Intake, the increasing ratio of aldosterone concentration showed high rise compare with of plasma renin activity as little as the amount of sodium intake, and the participated rate in sodium reabsorption of R-A-A system was increased.

• Journal of Energy Engineering
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• v.8 no.1
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• pp.76-84
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• 1999

The demand of Small Self-generating System (SSS) including Small Cogeneration System (SCS) is constantly increasing with the need of electricity and/or thermal in office, hospital, hotel, and small factory, etc. It is especially recommended to operate SCS in the heat-following mode to maximize the efficiency of generator. In case of the heat-following mode SCS has got to be connected to distribution system so as to send surplus power to the utility or receive the short power from utility. But the interconnection of SSS with distribution system causes a few problems such as the bad power quality, and low security. If SSS is not promptly disconnected after faults occur (Islanding of SSS), it can not only damage equipment of utility and adjacent customers but also endanger life of human due to overvoltage or overcurrent. In this paper it has been deeply discussed if interconnection of engine self-generator/control system satisfies the protective requirement for SSS or not. 500 kW engine generator running in the Jodo island has been used to perform the analysis of interconnection.

• Proceedings of the KIEE Conference
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• 2007.07a
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• pp.772-773
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• 2007

This study suggests a modeling of grid-connected wind power generation system that has induction generator, and aims to perform simulations for outputs by the variation of actual wind speed and for fault current of wind generation system by the transformer winding connection. This study is implemented by matlab&simulink. The simulation shall be performed by assuming single line to ground fault generated in the system. Generator power, rotor speed, terminal voltage, system voltage, and fault current shall be observed following the performance of simulation. The fault current change will be dealt through the simulation results for fault current of wind generation system following the grid-connected transformer winding connection and the simulation result by the transformer neutral ground method.

• Journal of Information Processing Systems
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• v.18 no.6
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• pp.755-762
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• 2022

The existing electrical engineering design method and the dynamic objective function in the application process of automatic control system fail to meet the unbounded condition, which affects the control tracking accuracy. In order to improve the tracking control accuracy, this paper studies the electrical engineering design method based on neural network and the application of automatic control system. This paper analyzes the structure and working mechanism of electrical engineering automation control system by an automation control model with main control objectives. Following the analysis, an optimal solution of controllability design and fault-tolerant control is figured out. The automatic control power coefficient is distributed based on an ideal control effect of system. According to the distribution results, an automatic control algorithm is based on neural network for accurate control. The experimental results show that the electrical automation control method based on neural network can significantly reduce the control following error to 3.62%, improve the accuracy of the electrical automation tracking control, thus meeting the actual production needs of electrical engineering automation control system.

• Journal of the Korean Data and Information Science Society
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• v.17 no.2
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• pp.367-377
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• 2006

This paper develops a periodic preventive maintenance(PM) policy following the expiration of warranty. Two types of warranty are considered: renewing warranty and non-renewing warranty. Also, we consider the situation where each PM cost is an increasing function of the PM effect. We determine the optimal number of PM's before replacing the system by a new one and the optimal length of period for the periodic PM following the expiration of warranty. Explicit solutions to determine the optimal periodic PM are presented for the Weibull distribution case.