• Journal of Institute of Control, Robotics and Systems
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• v.6 no.2
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• pp.155-163
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• 2000

This paper presents a path planning method of the sensor based intelligent vehicle using fuzzy logic controller for avoidance of moving obstacles in unknown environments. Generally it is too difficult and complicated to control intelligent vehicle properly by recognizing unknown terrain with sensors because the great amount of imprecise and ambiguous information has to be considered. In this respect a fuzzy logic can manage such the enormous information in a quite efficient manner. Furthermore it is necessary to use the relative velocity to consider the mobility of obstacles, In order to avoid moving obstacles we must deliberate not only vehicle's relative speed toward obstacles but also self-determined acceleration and steering for the satisfaction of avoidance efficiency. In this study all the primary factors mentioned before are used as the input elements of fuzzy controllers and output signals to control velocity and steering angle of the vehicle. The main purpose of this study is to develop fuzzy controllers for avoiding collision with moving obstacles when they approach the vehicle travelling with straight line and for returning to original trajectory. The ability are and effectiveness of the proposed algorithm are demonstrated by simulations and experiments.

• Structural Engineering and Mechanics
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• v.15 no.3
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• pp.299-314
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• 2003

This investigation presents an efficient method for identifying modal characteristics from the measured displacement, velocity and acceleration signals of multiple channels on structural systems. A Vector Backward Auto-Regressive model (VBAR) that describes the relationship between the output information in different time steps is used to establish a backward state equation. Generally, the accuracy of the identified dynamic characteristics can be improved by increasing the order of the Auto-Regressive model (AR) in cases of measurement of data under noisy circumstances. However, a higher-order AR model also induces more numerical modes, only some of which are the system modes. The proposed VBAR model provides a clear characteristic boundary to separate the system modes from the spurious modes. A numerical example of a lumped-mass model with three DOFs was established to verify the applicability and effectiveness of the proposed method. Finally, an offshore platform model was experimentally employed as an application case to confirm the proposed VBAR method can be applied to real-world structures.

• Journal of Ocean Engineering and Technology
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• v.16 no.1
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• pp.64-70
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• 2002

This paper shows the results of the development of a small size of digital type continuous and intermittent welding auto-carriage based on microprocessor (Intel 80196KC) for welding process with long welding line. The developed welding auto-carriage loads welding torch and tracks welding line. It is an automaton largely used for welding process with a lot of long welding lines such as shipbuilding and structure. Most traditional auto-carriages have been developed based on analog circuit for open loop control. So this analog circuit welding auto-carriage cannon control welding speed. Specially welding auto-carriage for intermittent welding condition is so complicated and has the low precision of control performance in welding distance and non-welding distance. The auto-carriage developed in this paper has the following characteristics: It has not only functions of traditional carriage but also functions such as pseudo-welding process of big iron structures, intermittent welding in order to limit heat for welding thin plates, crater treatment of the final step of welding, acceleration at the initial step of welding and deceleration in the final step of welding. The main control board of auto-carriage, power supply system and DC motor drive wee developed and manufactured. The welding speed and the welding distance of the developed auto-carriage are controlled accurately by feedback control using photo-sensor. Hardware and software robust against the heat and noise produced on the welding process are developed.

• Smart Structures and Systems
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• v.26 no.5
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• pp.667-680
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• 2020

This study aims at reporting a systematic procedure for evaluating the static and dynamic structural performance of steel bridges based on a short-period structural health monitoring measurement. Sungsu bridge located in Korea is considered as a case study presenting the most recent tests carried out to examine the bridge condition. Short-period measurements of Structural Health Monitoring (SHM) system were used during the bridge testing phase. A novel symmetry index is introduced using statistical analyses of deflection and strain measurements. Frequency Domain Decomposition (FDD) is implemented to the strain measurements to estimate the bridge mode shapes and damping ratios. Furthermore, Markov Chain Monte Carlo (MCMC) is also implemented to examine the reliability of bridge performance while ambient design trucks are in static or moving at different speeds. Strain, displacement and acceleration were measured at selected locations on the bridge. The results show that the symmetry index can be an efficient and useful measure in assessing the steel bridge performance. The results from the used method reveal that the performance of the Sungsu bridge is safe under operational conditions.

• The Transactions of the Korean Institute of Electrical Engineers B
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• v.54 no.12
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• pp.592-600
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• 2005

In this paper, a low loss magnetic levitation(Maglev) system is suggested and tested. The suggested Maglev system includes four hybrid magnets which consist of permanent magnet and coil. In the steady state, the levitated module system can be supported by attraction force generated by permanent magnet. The coil current controls only dynamic loads due to external disturbances. The module systems are designed by using finite element method(FEM) software tools such as MAXWELL and ANSYS. Also, digital control systems are designed to keep the magnet airgap at a constant value. The control systems include a VME(versa module europa)-based CPU(central processing unit) board, AD(analog to digital) board, PWM(pulse width modulation) board, 4-quadrant chopper, and sensors. In order to estimate the vertical velocity of the magnet, we use second order state observer with acceleration and gap signals as input and output signals, respectively. The characteristics of the suggested low loss Maglev system are demonstrated by experimental results showing coil current of 0A in the steady state of 3m airgap and performance specifications are satisfied for reference gap and force disturbance.

• The Journal of Korea Robotics Society
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• v.18 no.4
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• pp.427-435
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• 2023

This paper proposes a method of estimating the pose of a mobile robot by using a learning model. When estimating the pose of a mobile robot, wheel encoder and inertial measurement unit (IMU) data are generally utilized. However, depending on the condition of the ground surface, slip occurs due to interaction between the wheel and the floor. In this case, it is hard to predict pose accurately by using only encoder and IMU. Thus, in order to reduce pose error even in such conditions, this paper introduces a pose estimation method based on a learning model using data of the wheel encoder and IMU. As the learning model, long short-term memory (LSTM) network is adopted. The inputs to LSTM are velocity and acceleration data from the wheel encoder and IMU. Outputs from network are corrected linear and angular velocity. Estimated pose is calculated through numerically integrating output velocities. Dataset used as ground truth of learning model is collected in various ground conditions. Experimental results demonstrate that proposed learning model has higher accuracy of pose estimation than extended Kalman filter (EKF) and other learning models using the same data under various ground conditions.

• Smart Structures and Systems
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• v.6 no.3
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• pp.183-196
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• 2010

Monitoring and economical design of alternative energy generators such as wind turbines is becoming increasingly critical; however acquisition of the dynamic output data can be a time-consuming and costly process. In recent years, low-cost wireless sensors have emerged as an enabling technology for structural monitoring applications. In this study, wireless sensor networks are installed in three operational turbines in order to demonstrate their efficacy in this unique operational environment. The objectives of the first installation are to verify that vibrational (acceleration) data can be collected and transmitted within a turbine tower and that it is comparable to data collected using a traditional tethered system. In the second instrumentation, the wireless network includes strain gauges at the base of the structure. Also, data is collected regarding the performance of the wireless communication channels within the tower. In both turbines, collected wireless sensor data is used for off-line, output-only modal analysis of the ambiently (wind) excited turbine towers. The final installation is on a turbine with embedded braking capabilities within the nacelle to generate an "impulse-like" load at the top of the tower. This ability to apply such a load improves the modal analysis results obtained in cases where ambient excitation fails to be sufficiently broad-band or white. The improved loading allows for computation of true mode shapes, a necessary precursor to many conditional monitoring techniques.

• Journal of Energy Engineering
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• v.25 no.1
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• pp.163-170
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• 2016

In the condition of electronic controlled acceleration system, APS Sensor is the only and the most important parts to reflect the will of driver. Especially, the non-reference type APS is the critical part of this system. It can't provide the cross-reference values and it will make the vehicle goes into the 'NMC(Non-moveable condition)' or 'Limp-home mode' on the malfunction situation easier. If the situation is happened, it's very dangerous condition for the drivers, soldiers and war material systems of battlefield. The electronic control is not a necessary system for the tactical vehicles. The tactical vehicles must be prepared the manual control system independently from the electronic control system to escape, save and rescue the soldier's life and war materials. Therefore it was studied the water-penetrated broken APS output. If the output value was changed without driver's will, even the cross-reference type APS, it will effect the uncontrollable engine RPM changing or the performance down on limp-home mode. It means the manual control system of tactical vehicle is needed for any kinds of APS.

• Journal of the Microelectronics and Packaging Society
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• v.27 no.4
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• pp.55-60
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• 2020

The PERC photovoltaic (PV) modules installed in PV power plant are still reports potential-induced degradation (PID) degradation due to high voltage potential differences. This is because Na+ ions in the cover glass of PV modules go through the encapsulant (EVA) and transferred to the surface of solar cells. As positive charges are accumulated at the ARC (SiOx/SiNx) interface where many defects are distributed, shunt-resistance (Rsh) is reduced. As a result, the leakage current is increased, and decrease in solar cell's power output. In this study, to prevent of this phenomenon, a Moth-eye nanostructure was deposited on the rear surface of an optical film using Nano-Imprint Lithography method, and a solar mini-module was constructed by inserting it between the cover glass and the EVA. To analyze the PID phenomenon, a cell-level PID acceleration test based on IEC 62804-1 standard was conducted. Also analyzed power output (Pmax), efficiency, and shunt resistance through Light I-V and Dark I-V. As a result, conventional solar cells were decreased by 6.3% from the initial efficiency of 19.76%, but the improved solar cells with the Moth-eye nanostructured optical film only decreased 0.6%, thereby preventing the PID phenomenon. As of Moth-eye nanostructured optical film, the transmittance was improved by 4%, and the solar module output was improved by 2.5%.

• Management & Information Systems Review
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• v.15
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• pp.109-145
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• 2004

Upcoming 21st century, Management circumstance for a small and medium enterprise have been rapidly changed by Knowledge management, Informationization, Hi-technology. Changing from an era of small concept to strong concept, It will be a severe innovation period and can not survive with life as the same as the past, It is the era of best which mean only the best can survive, None of the average faculty can survive. Due to rapid proceeding of innovation of Informationization, It stimulate acceleration of technology innovation, infinity competition regardless the nation boarder, result in proceeding to Informationization. A small and medium enterprise is defined as smaller size of business than big business as point of capital, employee, output. It is concept, which usually used against concept of big business. When define a small and medium enterprise, criteria to determine a small and medium enterprise is depends on country and a category of business. However, In every country, A small and medium enterprise is getting be bigger and importance factor in whole industry. A small and medium enterprise is well developed and also well balanced with a large enterprise in the developed country. All around in the world, Interest about a small and medium enterprise is becoming higher. It is actively researching into a small and medium enterprise as the mean to create new employment, new industry, as means to from integration of a all and medium enterprise,as source of high competitive power. The status quo of rapid changing into informationization have been realized at considerable level in Korea. Information society is defined as information technology is main key to determine individuals competitiveness, which can solve effectively the side effect result from industrialization. It cleary imply that information technology is the most promising and important industry in 21st century. Therefore, We should seek to foster independent a small and medium enterprise and develop them corresponding to new concept of a small and medium enterprise in 21st century. The main frame of policy should be new economic system, which can contribute establishment of a small and medium enterprise, management innovation. It also attribute a small and medium enterprise to reveal their creative. New economic paradigm in 21st will be expanded with organization, market, technology. So far, a small and medium enterprise has been acknowledge as economic weaker and the one should be protected. However, In 21st century a small and medium enterprise will be considered as active majority or a source of creative. Development of technology to produce a small quantity with variety product and acceleration of knowledge and informationization will result in comparative merits of a small and medium enterprise. Hereby, The role and relative importance of a small and medium enterprise in our economic will getting be larger and It will be developed as the main force to activate the economic. However, Only a small and medium enterprise, which overcome difficulty with active desire and effort to improve their lot can be developed as a competitive enterprise in 21st century in considering themselves to be developed as diversity, active, independent, business by an enterprise.