• Journal of the Korean Institute of Telematics and Electronics S
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• v.34S no.12
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• pp.19-29
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• 1997

This paper presents stable kinematic modeling and path planning and path tracking algorithms for the poisition control of 4-wheeled 2-d.o.f(degree of freedom) mobile robot. We drived the actuated inverse and sensed forward solution for the calculation of actuator velocity and robot velocities. the deal-reckoning algorithm is introduced to calculate the position of WMR in real time. The gaussian functions are applied to control and to design the smooth orientation angle of WMR and the path planning algorithm for obstacle avoidance is prosed. We composed feedback control system to compensate for error because of uncertainty kinematic modeling and measurement noise. The simulation resutls show that the proposed kinematkc modeling and path planning and feedback control algorithms are useful.

• The Transactions of the Korean Institute of Power Electronics
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• v.21 no.3
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• pp.207-214
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• 2016

Magnetic circuit is a physical modeling method that is useful in designing and analyzing power transformers, especially for a priori evaluation of leakage and magnetizing inductance before actual production. In this study, a novel modeling approach that uses PSIM magnetic elements adopting gyrator and permeance-capacitances is investigated. A formula to determine the permeance-capacitors in the core and leakage path are established, and a simulation jig is devised to link the physical model and the electrical terminal characteristics with an automated parameter determination process. The derived formula is verified by measurement results of the prototype transformer samples. Given its accuracy and simplicity, this approach is suitable for analyzing and designing LLC resonant transformers whose leakage and magnetizing inductance are very critical to circuit operation.

• ETRI Journal
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• v.45 no.4
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• pp.557-569
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• 2023

Traditional deterministic channel modeling is accurate in prediction, but due to its complexity, improving computational efficiency remains a challenge. In an alternative approach, we investigated a multilayer artificial neural network (ANN) to predict large-scale and small-scale channel characteristics in metro tunnels. Simulated high-precision training datasets were obtained by combining measurement campaign with a ray tracing (RT) method in a metro tunnel. Performance on the training data was used to determine the number of hidden layers and neurons of the multilayer ANN. The proposed multilayer ANN performed efficiently (10 s for training; 0.19 ms for prediction), and accurately, with better approximation of the RT data than the single-layer ANN. The root mean square errors (RMSE) of path loss (2.82 dB), root mean square delay spread (0.61 ns), azimuth angle spread (3.06°), and elevation angle spread (1.22°) were impressive. These results demonstrate the superior computing efficiency and model complexity of ANNs.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.43-46
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• 2000

Optical triangulation displacement sensors(0TDSs) are widely used for their simple struchlre, high resolution, and long operating range. However, there are several factors that must be taken into account in order to obtain high accuracy and reliability Measurement errors from inclinations a？ an object surface, prohe signal fluctuations generated by speckle effects. power vanation of a light source, electronic noises, and so on. Previous models of OTDSs can not show reasonable behavior as change of surface inclination and shape of light intensity distribution on the detector. In this paper, we propose a new and reasonable modeling for diffise-type OTDSs based on a geometrical optics. To verify propriety of new modeling, we take basic experiments. Shape of light intensity distribution is asymmetric in both simulation result and experimental result. Both simulation result and experimental result show same tendency of light intensity distribution movement as changing surface inclination

• International Journal of Aeronautical and Space Sciences
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• v.8 no.2
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• pp.126-131
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• 2007

In this paper, Monte Carlo Simulation (MCS) method was used as an uncertainty assessment tool for air flow, net thrust measurement. Uuncertainty sources of the net thrust measurement were analyzed, and the probability distribution characteristics of each source were discussed. Detailed MCS methodology was described including the effect of the number of simulation. Compared to the conventional sensitivity coefficient method, the MCS method has advantage in the uncertainty assessment. The MCS is comparatively simple, convenient and accurate, especially for complex or nonlinear measurement modeling equations. The uncertainty assessment result by MCS was compared with that of the conventional sensitivity coefficient method, and each method gave different result. The uncertainties in the net thrust measurement by the MCS and the conventional sensitivity coefficient method were 0.906% and 1.209%, respectively. It was concluded that the first order Taylor expansion in the conventional sensitivity coefficient method and the nonlinearity of model equation caused the difference. It was noted that the uncertainty assessment method should be selected carefully according to the mathematical characteristics of the model equation of the measurement.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.4
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• pp.1-10
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• 1996

In this paper are presented kinematic and dynamic modeling and path-tracking of fourwhelled mobile robot with 2 d.o.f. having the limited drivetorques. Controllability of wheeled-mobile robot is revealed by using the kinematic model. Instantaneously coincident coordinate cystem, force/torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robot follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.33 no.2
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• pp.75-83
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• 2005

NASA/DLR Gravity Recovery and Climate Experiment (GRACE) mission, which consists of two co-orbiting low altitude satellites, is to measure the Earth gravity field with unprecedented accuracy. Its key instruments include inter-satellite ranging systems and three-axis accelerometers. For the preliminary design and requirements analysis, extensive instrument simulation models are developed. These modeling techniques and orbit-gravity field estimation techniques are described.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.52 no.8
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• pp.482-491
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• 2003

In this paper are presented kinematic and dynamic modeling and path-tracking of four-wheeled mobile robots with 2 d.o.f haying the limited drive-torques. Controllability of wheeled-mobile robots is revealed by the kinematic model. Instantaneously coincident coordinate system, force/torque propagation and Newton's equilibrium law are used to drive the dynamic model. When drive-torques generated by inverse dynamics exceed the limitation, we make wheeled-mobile robots follow the reference path by modifying the planned reference trajectory with time-scaling. The controller is introduced to compensate for error owing to modeling uncertainty and measurement noise. And simulation results prove that method proposed by this paper is efficient.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.11
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• pp.1862-1870
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• 1997

A fast and precise technique to measure 3-dimensional coordinates of an object is proposed. It is essential to take the 3-dimensional measurements of the object in design and inspection. Using this developed system a surface model of a complex shape can be constructed. 3-dimensional world coordinates are projected onto a camera plane by the perspective transformation, which plays an important role in this measurement system. According to the shape of the object two measuring methods are proposed. One is rotation of an object and the other is translation of measuring unit. Measuring speed depending on image processing time is obtained as 200 points per second. Measurement resolution i sexperimented by two parameters among others; the angle between the laser beam plane and the camera, and the distance between the camera and the object. As a result of these experiments, it was found that measurement resolution ranges from 0.3mm to 1.0mm. This constructed surface model could be used in manufacturing tools such as rapid prototyping machine.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.1
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• pp.12-17
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• 2010

The oil tanker ship over 150GRT must equip oil content meter which satisfy requirements of revised MARPOL 73/78. Online measurement of oil content in complex samples is required to have fast response, continuous measurement, and satisfaction of ${\pm}10ppm$ or ${\pm}10%$ error in this field. The research of this paper is to develop oil content measurement system using analysis of light transmission and scattering among turbidity measurement methods. Light transmission and scattering are analytical methods commonly used in instrumentation for online turbidity measurement of oil in water. Gasoline is experimented as a sample and the oil content approximately ranged from 14ppm to 600ppm. TSK Fuzzy Model may be suitable to associate variously derived spectral signals with specific content of oil having various interfering factors. Proposed Parallel TSK Fuzzy Model is reasonably used to classify oil content in comparison with other models. Those measurement methods would be effectively applied and commercialized to oil content meter that is key components of oil discharge monitoring control equipment.