• Journal of Institute of Control, Robotics and Systems
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• v.13 no.12
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• pp.1222-1229
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• 2007

In this paper, we propose a new obstacle negotiation method for the rescue robot. The rescue robot has a variable geometry single-tracked mechanism, so it can maximize a contact length with ground for the adaptability to off-road and pursue a stable system due to the lower center of gravity. In this research, we add the basis of autonomous navigation, driving mode control based on obstacle detection, to the robot to realize automation of mode transformation. Obstacle detection using PSD(Position Sensitive Device) infrared sensors gives active transformation of the track shape. Finally, experimental results about mentioned are presented.

• Journal of the Korea Society of Computer and Information
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• v.21 no.6
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• pp.47-53
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• 2016

This paper deals with the capacity constrained time slot assignment problem(CTSAP) that a satellite switches to traffic between $m{\times}n$ ground stations using on-board $k{\leq}_{min}\{m,n\}$ k-transponders switching modes in SS/TDMA time-division technology. There was no polynomial time algorithm to solve the optimal solution thus this problem classified by NP-hard. This paper suggests a heuristic algorithm with O(mn) time complexity to solve the optimal solution for this problem. Firstly, the proposed algorithm selects maximum packet lengths of $\({mn \atop c}\)$ combination and transmits the cut of minimum packet length in each switching mode(MSMC). In the case of last switching mode with inefficient transmission, we applies a compensation strategy to obtain the minimum number of switching modes and the minimum makespan. The proposed algorithm finds optimal solution in polynomial time for all of the experimental data.

• Journal of Electrical Engineering and Technology
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• v.13 no.1
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• pp.379-386
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• 2018

A heat-sink has been widely used to cool down the heat generated from an electronic device, but it can bring unwanted electromagnetic radiation which may cause EMI problems. We propose a systematic method to reduce the electromagnetic radiation by using the multiple grounding technique based on the grounding criteria and the theory of characteristic mode analysis. Our proposed method provides the insight to find the specific grounding positions which can be effectively reduced the radiation from the heat-sink. Numerical experiments are accomplished to validate this approach.

• Advances in nano research
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• v.11 no.6
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• pp.641-648
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• 2021

In this article, the dynamic parameters (frequencies, mode shapes, damping ratios) of the scaled concrete structure and the dynamic parameters (frequencies, mode shapes, damping ratios) of the entire outer surface of titanium dioxide, 80 micron in thickness are compared using operational modal analysis method. Ambient excitation was provided from micro tremor ambient vibration data on ground level. Enhanced Frequency Domain Decomposition (EFDD) was used for the output only modal identification. From this study, a good correlation between mode shapes was found. Titanium dioxide applied to the entire outer surface of the scaled concrete structure has an average of 11.78% difference in frequency values and 10.15% in damping ratios, proving that nanomaterials can be used to increase rigidity in structures, in other words, for reinforcement. Another important result determined in the study was the observation of the adherence of titanium dioxide and similar nanomaterials mentioned in the introduction to concrete structure surfaces was at the highest level.

• Advances in nano research
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• v.12 no.1
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• pp.65-72
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• 2022

The dynamic properties (frequencies, mode shapes, damping ratios) of the scaled WPC warehouse are compared using the operational modal analysis approach to the dynamic parameters (frequencies, mode shapes, damping ratios) of the full outer surface of titanium dioxide, 70 micron in thickness. Micro tremor ambient vibration data on ground level was used to provide ambient excitation. For the output-only modal identification, Enhanced Frequency Domain Decomposition (EFDD) was used. This study discovered a strong correlation between mode shapes. Titanium dioxide applied to the entire outer surface of the scaled WPC warehouse results in an average 14.05 percent difference in frequency values and 7.61 percent difference in damping ratios, demonstrating that nanomaterials can be used to increase rigidity in structures, or for reinforcement. Another significant finding in the study was the highest level of adherence of titanium dioxide and similar nanomaterials mentioned in the introduction to WPC structure surfaces.

• Journal of Advanced Navigation Technology
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• v.5 no.1
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• pp.19-25
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• 2001

In this study an analysis on flight characteristics and flight control methods for a wing in ground effect vehicle is made. In order to closely view its nonlinearity a few limit cycles are examined and related to the characteristics of the linearized systems. Several flight control methods are compared for the cruise mode with initial height error and command tracking mode of ascending, cruise, and descending. In comparison performance and the implementation aspects are examined. For the possible control inputs, combinations of elevator, thrust, and flap are considered and LQR-based output command tracking scheme is applied in the control system design.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.5
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• pp.399-405
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• 2007

This paper deals with the controller for a stable walking of a humanoid robot using genetic algorithm. A humanoid robot has instability during walking because it isn't fixed on the ground, and its nonlinearities of the joints increase its instability. If controller isn't robust, the robot may fall down at the ground during walking because of its nonlinearities. To solve this problem, robust controller is required to reduce the effect of nonlinearities and to gain the good tracking performance. In this paper, motion controller that is based on fuzzy-sliding mode controller is proposed. This controller can remove the effect of the saturation by limitation of the input voltage. It also includes compensator for reducing the effect of the nonlinearity by backlash and PI controller improving the tracking performance. In here, genetic algorithm is used for searching the optimal gains of the controller. From the given controller, a humanoid robot can moved more preciously. All the processes are investigated through simulations and are verified experimentally in a real joint system for a humanoid robot.

• Journal of the Korean Solar Energy Society
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• v.25 no.4
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• pp.69-76
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• 2005

The performance of water-to-water heat pump system coupled with the ground source vertical heat exchanger is presented in this paper. The CAP program of Florida Heat Pump Co. is used to predict the heat pump performances while the EED program calculates the borehole fluid temperature. It is shown that COPH increases with decreasing the temperature of output water for the operation of heating mode and COPR increases with increasing temperature of output water for the operation of cooling mode. The value of specific heat extraction rate must be moderate to insure the reasonable installation cost of borehole system. With $1^{\circ}C$decrease of $T_{wo}$ the average COPH increase is estimated as about $0.06/^{\circ}C$(for $T_{wo}\;=\;45{\sim}60^{\circ}C$ range) while with $1^{\circ}C$ increase of $T_{wo}$ the estimation of COPR increase is about $0.13/^{\circ}C$(for $T_{wo}\;= \;5{\sim}11^{\circ}C$ range) at the specific heat extraction rate of 30W/m.

• Journal of the Institute of Convergence Signal Processing
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• v.9 no.4
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• pp.280-287
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• 2008

For the reduction of common-mode noise level in Indirect-contact ECG (IDC-ECG) measurement a driven-right-leg grounding method was a lied to the IDC-ECG. Because the IDC-ECG does not require any direct contact between the electrodes and the human skin. it is adequate for un-constraining long-term ECG measurement at home and its various applications are now under development. However, larger 60 Hz noise induced by power line a ears in IDC-BCG than in conventional ECG, that is a restriction of IDC-ECG a application. In this study, the driven-right-leg ground which has been used in conventional direct-contact ECG, was adapted to the IDC-ECG measurement by feedback of the inversion of amplified common-mode noise to the body through the conductive fertile laid on the chair seat By this study, indirect-contact driven-right-leg ground was developed and it was shown to work stably. It was shown that the level of 60Hz power line noise was reduced to about -40 dB when the driven-right-leg gain was 1000. This study shows that we can extend the upper limit of the frequency band of IDC-ECG to 100Hz from 30Hz which is conventional upper limit in IDC-ECG, and we can raise the ground impedance between the body and conductive textile. So it is expected that the application area of the IDC-ECG will be extended by the results of this study.

• Korean Journal of Optics and Photonics
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• v.31 no.5
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• pp.223-230
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• 2020

In this paper, we have studied the characteristics of stimulated Brillouin scattering (SBS) and mode instability (MI) in a ytterbium-doped polarization-maintaining fiber laser with master oscillator power amplifier configuration. We measured the laser output power and back-reflection spectrum for a variety of ytterbium-doped fibers and seed lights, to investigate the power-scaling limits of fiber lasers. By optimizing the laser structure, we demonstrated an all-fiber high-power polarization-maintaining fiber laser with near-diffraction-limited beam quality. The output power of 1.5 kW was achieved with a linewidth of 10 GHz, generated by pseudo-random binary sequence (PRBS) phase modulation. The beam quality M² was about 1.15 at the maximum output power. The polarization extinction ratio (PER) was greater than 17 dB.