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Tracking Control of 3-Wheels Omni-Directional Mobile Robot Using Fuzzy Azimuth Estimator (퍼지 방위각 추정기를 이용한 세 개의 전 방향 바퀴 구조의 이동로봇시스템의 개발)

  • Kim, Sang-Dae;Kim, Seung-Woo
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.11 no.10
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    • pp.3873-3879
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    • 2010
  • Home service robot are not working in the fixed task such as industrial robot, because they are together with human in the same indoor space, but have to do in much more flexible and various environments. Most of them are developed on the base of the wheel-base mobile robot in the same method as a vehicle robot for factory automation. In these days, for holonomic system characteristics, omni-directional wheels are used in the mobile robot. A holonomicrobot, using omni-directional wheels, is capable of driving in any direction. But trajectory control for omni-directional mobile robot is not easy. Especially, azimuth control which sensor uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy azimuth estimator. A trajectory controller for an omni-directional mobile robot, which each motor is controlled by an individual PID law to follow the speed command from inverse kinematics, needs a precise sensing data of its azimuth and exact estimation of reference azimuth value. It has imprecision and uncertainty inherent to perception sensors for azimuth. In this paper, they are solved by using fuzzy logic inference which can be used straightforward to perform the control of the mobile robot by means of the fuzzy behavior-based scheme already existent in literature. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.

Strength properties of composite clay balls containing additives from industry wastes as new filter media in water treatment

  • Rajapakse, J.P.;Gallage, C.;Dareeju, B.;Madabhushi, G.;Fenner, R.
    • Geomechanics and Engineering
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    • v.8 no.6
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    • pp.859-872
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    • 2015
  • Pebble matrix filtration (PMF) is a water treatment technology that can remove suspended solids in highly turbid surface water during heavy storms. PMF typically uses sand and natural pebbles as filter media. Hand-made clay pebbles (balls) can be used as alternatives to natural pebbles in PMF treatment plants, where natural pebbles are not readily available. Since the high turbidity is a seasonal problem that occurs during heavy rains, the use of newly developed composite clay balls instead of pure clay balls have the advantage of removing other pollutants such as natural organic matter (NOM) during other times. Only the strength properties of composite clay balls are described here as the pollutant removal is beyond the scope of this paper. These new composite clay balls must be able to withstand dead and live loads under dry and saturated conditions in a filter assembly. Absence of a standard ball preparation process and expected strength properties of composite clay balls were the main reasons behind the present study. Five different raw materials from industry wastes: Red Mud (RM), Water Treatment Alum Sludge (S), Shredded Paper (SP), Saw Dust (SD), and Sugar Mulch (SM) were added to common clay brick mix (BM) in different proportions. In an effort to minimize costs, in this study clay balls were fired to $1100^{\circ}C$ at a local brick factory together with their bricks. A comprehensive experimental program was performed to evaluate crushing strength of composite hand-made clay balls, using uniaxial compression test to establish the best material combination on the basis of strength properties for designing sustainable filter media for water treatment plants. Performance at both construction and operating stages were considered by analyzing both strength properties under fully dry conditions and strength degradation after saturation in a water bath. The BM-75% as the main component produced optimum combination in terms of workability and strength. With the material combination of BM-75% and additives-25%, the use of Red Mud and water treatment sludge as additives produced the highest and lowest strength of composite clay balls, with a failure load of 5.4 kN and 1.4 kN respectively. However, this lower value of 1.4 kN is much higher than the effective load on each clay ball of 0.04 kN in a typical filter assembly (safety factor of 35), therefore, can still be used as a suitable filter material for enhanced pollutant removal.

A Study on the Test Results of 32 Gbps Observing System for Wideband VLBI Observation (광대역 VLBI 관측을 위한 32Gbps 관측장비의 시험결과 고찰)

  • Oh, Se-Jin;Yeom, Jae-Hwan;Roh, Duk-Gyoo;Jung, Dong-Kyu;Harada, Kenichi;Takezawa, Kosuke
    • Journal of the Institute of Convergence Signal Processing
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    • v.18 no.1
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    • pp.13-20
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    • 2017
  • In this paper, we evaluate the basic test results of the 32 Gbps observational equipment introduced as the back-end system for the wideband VLBI (Very Long Baseline Interferometry) observation of KVN (Korean VLBI Network). Radio astronomers want to make a large radio telescope that has excellent performance in order to observe the superfine structure of a celestial body, but a lot of money is needed. Therefore, in order to increase the sensitivity, the performance improvement of the receiving system and the method of observing the wide frequency bandwidth are introduced. To do this, we adopted a wideband sampling method for converting analog signals to digital with ultra-fast speeds and a wideband sampler for performing digital filtering in order to observe a wide observational frequency bandwidth. The wideband sampler (OCTAD-K) supports up to 16 Gsps-2bits sampling and supports a variety of observational bandwidth using digital filtering techniques. In particular, it is designed to support KVN's 4-frequency simultaneous observation system and VERA(VLBI Exploration of Radio Astrometry)'s 2-beam observation system. It can also support polKVN(Korean VLBI Network), KaVA(KVN and VERA Array), 32Gbps Direct Sampler, Digital Filter, Widebandarization observations and supports the standard VDIF(VLBI Data Interchange Format) format of observed data. In this paper, the performance of the system and the problem solving are described in detail after performing the factory inspection and field test before the system is introduced.

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Mechanical Alignment of Hull Mounted Phased Array Radar on the Separated Mast (분리된 마스트에 설치되는 선체고정 위상 배열 레이더의 기계적 정렬)

  • Seo, Hyeong-Pil;Kim, Dae-Han;Kim, Joon-Woo;Lee, Kyung-Jin;Cho, Kyu-Lyong
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.20 no.9
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    • pp.465-473
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    • 2019
  • This paper is meaningful as the first case where a 4 - sided hull-fixed phased array radar was installed on a mast separated from Korea and the alignment was verified. The mechanical alignment method was studied for accurately mounting two separate masts for naval ships and the 3D scanner for alignment. Hull-fixed phased array radar uses very high frequency, so the short wavelength can cause a phase difference of the device due to the small positional error. Since the array antenna is fixed with the hull, it has higher accuracy control than the rotary radar for 4 array surfaces. The study describes a method of checking the flatness of two radar masts manufactured at a factory, a method of aligning masts in a shipyard, and a method of aligning four array pad mounting surfaces. As a tool for this, a 3D laser scanner and a software-based method for comparing survey results with 3D CAD are used. This paper is meaningful as the first example of installing a four-sided hull-fixed phased array radar on a separate mast from a Korean naval ship and deriving a mechanical alignment method.

A Study on the Major Issues and Legislative Considerations of CCTV Installation in an Operating Room (수술실 CCTV 설치의 쟁점과 입법방향에 관한 소고(小考))

  • Kim, Sungeun;Choe, A Reum;Bae, Kyounghee
    • The Korean Society of Law and Medicine
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    • v.22 no.2
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    • pp.111-138
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    • 2021
  • 'Unlicensed medical practice by a non-medical practitioner' often represented by surrogate surgery or so-called 'ghost surgery,' causes irreparable damage to life or body, and therefore calls for very strict and effective controls. The 'bill on installment of CCTVs in an operating room' to prevent unlicensed surrogate surgery has been discussed for a long time, but due to numerous issues and heated confrontations, it has been pending in the National Assembly. Nevertheless, it is expected that the bill will be discussed again in earnest in the National Assembly because surrogate surgery and factory-type cosmetic surgery, which has been performed mainly in the field of cosmetic surgery, has also been occurring in the field of therapeutic surgery. In general, an operating room is considered as being locked or closed, as well as disallowing implicit complicity among insiders. Hence, if the insiders conspire to commit or cover up an illegal act, or if a surgeon performs rapid cosmetic surgery and then leaves the recipient (or medical institution) so as to perform more operations for profit - even if it is legitimate practice - it may result in serious consequences in terms of the recovery of a patient. In this case, installation of CCTVs can be of great help in identifying an illegal act and assessing any occurrence of negligence. On the other hand, while the fundamental purpose of therapeutic surgery is to restore a patient's life or body - that is, lifesaving - installation of CCTVs may base the relationship between a surgeon and a patient on distrust and surveillance, so it may increase the number of requests for CCTV footage or lead to more disputes, as well as placing a burden on the surgeon when best results are not achieved for a patient. As a result, the surgeon may choose non-invasive treatment contrary to conscience instead of risky but necessary surgery, or he/she may have significant difficulty in determining the timing of surgery, which may limit the provision of effective surgical medical care. Then, in terms of the relationship between a surgeon and patient, and in the long run, there could be significant disadvantages for the public and patients if CCTV footage is allowed. In this paper, we review domestic and overseas cases and issues regarding installation of CCTVs in an operating room, and present various viewpoints and suggestions to promote legislation with minimized legal problems and side effects, thereby contributing to protection of the lives and health of the public, patients, and recipients of surgery.

A Study for Operation Technique Plan of Low-Cost UAV Data Bus (저가형 무인항공기 DATA BUS 운용기술 방안 연구)

  • Gil, Hyun-Cheol;Ahn, Dong-Mhan;Hong, Gyo-Young
    • Journal of Advanced Navigation Technology
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    • v.16 no.6
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    • pp.1024-1031
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    • 2012
  • In the past, the part of development of that is used for the military aviation target or reconnaissance is being extended to the range of application not only reconnaissance but also civilian industry as the introduction of the newest IT technology and the technical evolution. The Civilian low-cost UAV that is expected growth at the market of UAV in the world is accelerated to the extended applicability in the fields. However, The UAV study is recently focused on the Link and The Data bus because the main decision of the civilian UAV system configuration is not suitable to determinate the factory of price. In this paper is analysed the UAV data bus through the simulation in same condition both the CAN Bus which used the automobile industry and the MIL-STD-1553B which is used the aviation industry. As a comparison result, we identified that the CAN Bus of conventional configuration is possible to transmit the data without the need for a separate coupler equipment against the MIL-STD-1553B data. Thus, we identified that the CAN bus is capable to apply as a low-cost UAV internal data bus to optimize configuration and weight than 1553B.

Design and Verification of Ceramic Heating Element-based Tankless Instant Electric Water Heater (세라믹 발열체기반 비저장식 순간 전기 온수기 개발 및 검증)

  • Ahn, Sung-Su;Kim, Woo-Hyun
    • Journal of the Institute of Electronics and Information Engineers
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    • v.53 no.11
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    • pp.151-159
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    • 2016
  • This paper proposes a ceramic heating element-based tankless instant electric water heater for hand/face washing that does not require a lot of hot water. The heating module, which heats the input water and outputs hot water, operates the ceramic heating element detecting input water using a flow sensor. Inside of the heating module is designed to form one flow path in order to get almost $15^{\circ}C$ increased heated water compared to the input water temperature within 2 second after 1.5 liter per minute water supply. The design validity is verified using a heat flow analysis of the water flow and temperature variations inside of the heating module also. Based on the design data, the heating module is constructed including a single rod-type ceramic heating element. After that, a prototype system having temperature setting function by three steps were constructed. The prototype system is connected to a 1.5 liter per minute water supply line, and the water output temperature and time measurement experiments confirmed that the proposed system output the heated water increased by $18.3^{\circ}C$ in case of third step setting within 2 second after water supply. And standby power is under 1 W and peak power does not exceed the permissible range for the general house usage. Several performance results verify that the proposed tankless instant electric water heater is applicable for the washstand of the house, highway rest area and factory so on as winter-time hand/face washing.

Hysteretic Behavior of R/C Shear Wall with Various Lateral Reinforcements in Boundary Columns for Cyclic Lateral Load (경계부재내 횡보강근 배근방법에 따른 R/C전단벽의 반복하중에 대한 이력거동)

  • Seo, Soo-Yeon;Oh, Tae-Gun;Kim, Kyeong-Tae;Yoon, Seong-Joe
    • Journal of the Korea Concrete Institute
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    • v.22 no.3
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    • pp.357-366
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    • 2010
  • This paper presents experimental results about shear wall with various lateral reinforcement details in boundary elements. The research objective is to study the structural behavior of shear wall with boundary column confined by rectangular spiral hoops and headed cross ties developed to improve workability in the fabrication of boundary columns. These two details can be fabricated in a factory and put together on-site after being delivered so that the construction work may be reduced. Main parameters in the experimental study were the types of hoop and cross tie: rectangular spiral hoop and headed cross tie vs. standard hoop and cross tie with hook. Four half scaled shear wall specimens with babel shape were made and tested by applying horizontal cyclic load under constant axial force, 10% of nominal compressive strength of concrete. Based on the test result, it was shown that the shear wall with rectangular spiral hoop and headed cross tie in boundary columns has structural capacity compatible with conventional shear wall. The specimen SW-Hh which has bigger hoop bar and higher volumetric ratio of transverse reinforcements than other showed improved energy dissipating characteristic but it presented a rapid reduction of strength after peak point. The results indicates that, it is necessary to consider volumetric ratio of transverse reinforcements as well as hoop space in designing of shear wall with boundary columns for improved strength and ductility.

Estimation of Cardinal Temperatures for Germination of Seeds from the Common Ice Plant Using Bilinear, Parabolic, and Beta Distribution Models

  • Cha, Mi-Kyung;Park, Kyoung Sub;Cho, Young-Yeol
    • Horticultural Science & Technology
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    • v.34 no.2
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    • pp.236-241
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    • 2016
  • The common ice plant (Mesembryanthemum crystallinum L.) has some medicinal uses and recommended plant in closed-type plant factory. The objective of this study was to estimate the cardinal temperatures for seed germination of the common ice plant using bilinear, parabolic, and beta distribution models. Seeds of the common ice plant were germinated in the dark in a growth chamber at four constant temperatures: 16, 20, 24, and $28^{\circ}C$. For this, four replicates of 100 seeds were placed on two layers of filter paper in a 9-cm petri dish and radicle emergence of 0.1 mm was scored as germination. The times to 50% germination were 4.3, 2.5, 2.0, and 1.8 days at 16, 20, 24, and $28^{\circ}C$, respectively, indicating that the germination of this warm-weather crop increased with temperature. Next, the time course of germination was modeled using a logistic function. For the selection of an accurate model, seeds were germinated in the dark at constant temperatures of 6, 12, 32, and $36^{\circ}C$. Germination started earlier and increased rapidly at temperatures above $20^{\circ}C$. The minimum, optimal, and maximum temperatures were estimated by regression of the inverse of time to 50% germination rate, as a function of the temperature gradient. The different functions estimated differing minimum, optimal and maximum temperatures, with 5.7, 27.7, and $36.5^{\circ}C$, respectively for the bilinear function, 13.4, 25.0, and $36.6^{\circ}C$, respectively, for the parabolic function and 7.8, 25.9, and $36.0^{\circ}C$, respectively, for the beta distribution function. The models estimated that the inverse of time to 50% germination rate was 0 at 6 and $36^{\circ}C$. The observed final germination rates at 12 and $32^{\circ}C$ were 62 and 97%, respectively. Our data show that a beta distribution function provides a useful model for estimating the cardinal temperatures for germination of seed from the common ice plant.

Speed Control for BLDC Motors Using a Two-Degree-of-Freedom Optimal Control Technique (2자유도 적분형 최적제어법을 이용한 BLDC 모터의 속도제어)

  • 권혁진;정석권
    • Journal of the Korean Society of Fisheries and Ocean Technology
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    • v.36 no.3
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    • pp.257-265
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    • 2000
  • Brushless DC(BLDC) motors are widely used as AC servo motors in factory automation fields because of their quick instantaneous mobility, good energy saving efficiency and easiness of design for control system comparing with induction motors. Recently, a Two-Degree-of-Freedom(2DOF) PI control law has been adopted to some application parts to accomplish an advanced speed control of BLDC motors. The method can treat the two conflicting performances, minimum tracking errors versus reference inputs without large overshoot and rejection of some disturbances including modeling errors, independently. However, the method can not design the optimal system which is able to minimize tracking errors and energy consumption simultaneously. In this paper, a 2DOF integral type optimal servo control method is investigated to promote the speed control performances of BLDC motors considering energy consumption. In order to applicate the method to the speed servo system of the BLDC motor, the motor is modeled in the state space using the vector control and decoupling technique. To verify the validity of the suggested method, some simulations and experiments are performed.

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