• Journal of the Institute of Electronics Engineers of Korea SC
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• v.37 no.1
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• pp.19-29
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• 2000

Because the previous simulation tool for attitude control of satellite was designed for the modeling of rigid body and PD controller, the attitude error can be made more than the limitation value for keeping for communication link, and then the communication link can be lost at moving of satellite. So, for rapid attitude restoration and design of stable and modernized controller, the modelling of rigid body and flexible body structure for moving GEO and LEO satellites were performed. Also the minimum time controller is designed for the rapid restoration of attitude error at communication broken and to minimize the disconnection period from ground communication system during the satellite stationkeeping. The linear regulator is designed using the space state vector that is better than accuracy and stability of PD controller. Firstly the simulation was performed for comparison of the rigid and stability of PD controller. Firstly the simulation was performed for comparison of the rigid and flexible models using PD controller and the case of the pitch angle changing by ground command, and the case of the periodic north-south stationkeeping are performed for the analysis of response characteristics of each controller when the attitude is changed. As a result, the flexible body model represents more sililar results of real situation than the rigid body model. The minimum time controller can restore 7 times rapidly than PD controller for its lost attitude. The linear regulator has several merits for capability of adaptation against the external disturbance, stability and response time. In future, we can check the estimated results using this satellite model and controller for real operation. Futhermore the development of new controller and training can be supported.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.9 no.8
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• pp.1722-1729
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• 2005

In this paper, we used the quadruped walking robot Titan-VIII in order to carry out this simulation of sway compensation trajectory. The attitude angle ${\phi}_r$ and ${\phi}_p$ is obtained from 3-D motion sensor that is attached at the center of robot body and the attitude control carried out at every 10[ms] for stable gait of robot. Duty factor, that is fixed at 0.5. When we change period T into 1.5, 2.0, 3.0[sec] each and moving distance per period is changed into 0.2, 0.3(m), we sim띠ate several walking experiment of robot. and then we analyze the experiment results if there are any difference between the imaginary ZMP and actual ZMP of robot and the stable gait of robot is realized.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.228-231
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• 2003

This paper presents the leg trajectory generation for the quadruped robot with genetic-fuzzy algorithm. To have the nobility even at uneven terrain, a robot is able to recognize obstacles, and generates moving path of body that can avoid obstacles. This robot should have its own avoidance algorithm against obstacles, forwarding to target without collision. During walking period, n robot recognizes obstacle from external environment with a PSD and some interface, and this obstacle information is converted into proper the body rotation angle by fuzzy inference engine. After this process, we can infer the walking direction and walking distance of body, and finally can generate the optimal Beg trajectory using genetic algorithm. All these methods are verified with PC simulation program, and implemented to SERO-V robot.

• Proceedings of the KIEE Conference
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• 1999.11c
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• pp.558-560
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• 1999

For the high-rise buildings, the effective use of the buildings heavily depends on the transportation system inside the buildings. For a long period of time, elevators have been the most effective means for moving people residing in the buildings. As the number of elevators in the building grows, it is very complicated to control and manage the elevator system effectively. Since it is almost impossible to find the accurate mathematical model for the elevator systems, the conventional analysis method using the approximated equations is prone to error. In this work, the elevator simulator for the high-rise buildings is developed to assess the accurate behavior of the elevator systems. This simulator can be used to analyze the performance of the given system, or to facilitate the design of the effective elevator systems for new buildings. In this paper, the structure of the simulator has been explained and the simulation results are presented.

• Korean Management Science Review
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• v.31 no.1
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• pp.49-61
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• 2014

We investigate the hedging effectiveness of incorporating single-stock futures into the corresponding stocks. Investing in only stocks frequently causes too much risk when market volatility suddenly rises. We found that single-stock futures help reduce the variance and risk levels of the corresponding stocks invested. We use daily prices of Korean stocks and their corresponding futures for the time period from December 2009 to August 2013 to test the hedging effect. We also use system trading technique that uses automatic trading program which also has several simulation functions. Moving average strategy, Stochastic's strategy, Larry William's %R strategy have been considered for hedging strategy of the futures. Hedging effectiveness of each strategy was analyzed by percent reduction in the variance between the hedged and the unhedged variance. The results clearly showed that examined hedging strategies reduce price volatility risk compared to unhedged portfolio.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.22 no.9
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• pp.1243-1249
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• 2018

In this paper, we propose a scheme that tunes the backoff period for enhancing the system throughput with estimating the number of devices in IEEE 802.15.4 slotted carrier sense multiple access with collision avoidance (CSMA/CA) networks. Since each device does not sense the channel always in IEEE 802.15.4 slotted CSMA/CA networks, a personal area network (PAN) coordinator is used to estimate the number of active devices. The PAN coordinator broadcasts an optimal backoff period for the estimated number of devices through a beacon frame. In order to estimate the number of devices in run time, a simple moving average filter is utilized. We show the performance of our proposed scheme in terms of the estimated number of devices and the system throughput. The simulation results show that our proposed scheme can obtain higher system throughput than the IEEE 802.15.4 standard.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.31 no.7C
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• pp.743-754
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• 2006

In the proposed method, two regular laser working at two different wavelengths perform moving object detection alternatively in time. The laser intensity and the beaming period of each laser is equally maintain as to the single laser radar, hence, externally, dual beam lasers radar works exactly same as the single beam laser radar except that the proposed dual lasers radar needs additional post-processing of received signals in the receiver. To verify the robustness of the proposed method, a set of computer simulation has been performed. The communication channel is assumed to be additive white Gaussian noise, and the perfect synchronization is assumed. All other simulation parameters such as signal power and signalling period are equally maintain in both systems while the signal processing time such as spreading and filtering are expected to be trivial in call cases.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• v.9 no.2
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• pp.204-207
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• 2005

Until present, most studies about energy efficiency of quadruped walking robot are mathematical modelings, dynamic analysis or simulation consumption energy per period by basic efficiency evaluate in this paper, a quadruped walking robot Titan-VIII is used for walking experience. The total moving length is about 2[m]. The stride length is 0.1, 0.2, 0.3, walking period is changed by 1.0, 1.5, 2.0, 3.0[sec] per each stride length. So consumption energy of 12 cases are measured. The energy efficiency of quadruped walking robot was analyzed by data that is saved by an experiment.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.2
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• pp.178-185
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• 2011

In this paper, we propose the position estimation algorithm based on the multisensor fusion using equalization of state variables and feedback structure. First, the state variables measured from INS of main sensor with large error and DVL of assistance sensor with small error are measured before prediction phase. Next, the equalized state variables are entered to each filter and fused the enhanced state variables for prediction and update phases. Finally, the fused state variables are returned to the main sensor for improving the position estimation of UUV. For evaluation, we create the moving course of UUV by simulation and confirm the performance of position estimation by applying the proposed algorithm. The evaluation results show that the proposed algorithm is the best for position estimation and also possible for robust position estimation at the change period of moving courses.

• The Journal of Korea Robotics Society
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• v.3 no.4
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• pp.331-337
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• 2008

The field of robots is being widely accepted as a new technology today. Many robots are produced continuously to impart amusement to people. Especially the robot which operates with a wheelbarrow was enough of a work of art to arouse excitement in the audiences. All the wheelbarrow robots share the same technology in that the direction of roll and pitch are acting as balance controllers, allowing the robots to maintain balance for a long period by continuously moving forward and backward. However one disadvantage of this technology is that they cannot avoid obstacles in their way. Therefore movement in sideways is a necessity. For the control of rotation of yawing direction, the angle and direction of rotation are adjusted according to the velocity and torque of rotation of a motor. Therefore this study aimed to inquire into controlling yawing direction, which is responsible for rotation of a robot. This was followed by creating a simulation of a wheelbarrow robot and equipping the robot with a yawing direction controlling device in the center of the body so as to allow sideway movements.