• IEMEK Journal of Embedded Systems and Applications
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• v.9 no.3
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• pp.165-171
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• 2014

In this paper, we propose the hardware and software of a test-bed of a hovering AUV (autonomous underwater vehicle). Test-bed to develop as the underwater robot for the hovering -type is planning to apply for marine resource development and exploration for deep sea. The RTU that controls a azimuth thruster and a vertical thruster of test-bed is a intergrated-type thruster. The main control unit that collects sensor's data and performs high-speed processing and controls a movement of test-bed is a underwater hybrid navigation system. Also it transfers position, posture, state information of test-bed to the host PC of user using a wireless communication. The host PC checks a test-bed in real time by using a realtime monitoring system that is implemented by LabVIEW.

• Proceedings of the KIPE Conference
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• 2005.07a
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• pp.215-219
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• 2005

In this paper, a novel motor control method is proposed to improve the performance of sensorless drive of BLDC motors. The unknown input (back-EMF) is modelled as the additional state of system in this paper. Taking into account the disturbance adopted by the back-EMF, the observer can be obtained by the augmented system equation. An algorithm to detect the back-EMF of the BLDC motor using the state observer is constructed. As a result, the novel sensorless drive of BLDC motors that can strictly estimate rotor position and speed is proposed.

• 제어로봇시스템학회:학술대회논문집
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• 1998.10a
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• pp.367-372
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• 1998

In this paper, the mathematical model of a cut with an inverted flexible beam and a concentrated tip mass was derived. The characteristic equation for calculating the natural frequencies of the cart-beam-mass system was obtained and the motion of the system was analyzed through unconstrained modal analysis. A good positioning response of the cart without excessive vibrational motion of the tip mass could be obtained through numerical simulation using PID controller with the feedback of both the position of the cart and the deflection of the beam.

• Proceedings of the KIEE Conference
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• 1987.07a
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• pp.304-306
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• 1987

This paper deals with a development of auto mobile watch system which can control direct auto mobile state or position. Main controller consists of the Z-80 computer, sensor and high frequency receiver. Mobile loading consists of the Intel 8751H one-chip and ultrasonic transmitter, having able to detect all auto mobile state. And, the search data is sent the main controller by the high frequency transmitter and ultrasonic transducer.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.30.5-30
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• 2001

This paper describes a new design of blimp having wheeled vehicle part. This system can work both on the ground using wheeled vehicle and in the air using the floating capability of the blimp part. The passive wheeled mechanism in the vehicle part enables the stable taking off, landing on as well as it is greatly helpful to keep a stationary position on the floor. On the other hand, the floating capability enables the wheeled blimp to fly freely regardless of the ground condition or obstacles. The wheeled blimp can be used as an agent robot for the tole-presence application. Using multimedia devices such as camera, speaker, LCD and microphone mounted on the blimp surface, this system can get necessary information at the local site and communicate with person from a distance. As a typical tele-presence application, the wheeled blimp is currently being developed to a tole-guidance robot working in public indoor areas such 35 exhibition halls, departments, hospitals, etc ...

• Journal of the Korean Society for Aviation and Aeronautics
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• v.28 no.4
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• pp.125-131
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• 2020

In order to study the correlation between the pilot's cognitive ability and recovery ability by applying a physical element that can cause spatial loss of position to the pilot, a turntable was installed on the top of the motion system to give a quantitative rotational error. We propose a method of simulating flight movement to reduce a difference in feeling and an intuitive method of forward kinematic analysis.

• Journal of the Korean Society of Industry Convergence
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• v.26 no.4_1
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• pp.545-551
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• 2023

In this paper, a robot automation methodology for chemical drum assembly in semiconductor industries are presented. Robot automation is essential to resolve safety issues in which operators are directly or indirectly exposed to chemicals or fumes in assembling dispense heads on chemical drums. However, the chemical drum assembling process involves complex and difficult tasks, such as mating male/female keycodes and fastening screws with large-diameter, which may be very difficult to be performed by a single-arm robot with a commercial rigid F/T sensor. In order to solve the problems, a method for assembling a chemical drum using dual-arm collaborative robot system, compliance F/T sensor, robot vision and gripper is presented.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2004.04a
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• pp.103-106
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• 2004

Nowadays it is necessary to manage the road system effectively because of the explosive increment of vehicle and goods. To resolve this problems through the fast upgrade of information about position and time of moving vehicle, the combined navigation system using GPS and complementary navigation system, i.e. INS, DR, etc. has been used. Although GPS is popular for the vehicle navigation system, this is not useful for the kinematic positioning of the vehicles in the urban canyon because of its few satellites. Therefore, this study deals with the kinematic positioning of the vehicles with GPS CORS to GPS navigation. For this, first the static single point positioning of GPS and GPS for reference station was performed to evaluate the accuracy of GPS positioning. Next, in the post-processed, the DGPS (Differential GPS) was performed for the kinematic positioning of the vehicles. So, it is expected that GPS CORS can be applicable to the control of traffic flow, the effective management of road system, and the development of ITS and it is regarded that the combined navigation system of vehicles with GPS, INS, and DR, etc. should be studied constantly.

• 한국신재생에너지학회:학술대회논문집
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• 2010.11a
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• pp.65.2-65.2
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• 2010

The aim of this study was to analysis the Heating/cooling performance of Solar Window built in apartments. The solar window is the idea to integrate daylight as a third form of solar energy into a PV/Solar Collector system and allows more control due to the possibility to close the reflectors. However, there can be a conflict between the desire for on one hand daylight and view and on the other hand optimal energy conversion for the PV/Solar Collector system. The process of this study is as follows: 1) The Solar Window system is designed through the investigation of previous paper and work. 2)The simulation program(ESP-r, Therm5.0, Window6.0) was used in Heating/cooling performance analysis. The reference model of simulation was made up to analysis Heating/cooling performance on Solar Window. 3)Selected reference model(Floors:15, Area of Unit:$148.5m^2$) for heating energy analysis, Energy performance simulation with various variants, such as U-value of Solar Window system according to its position and angle. Consequently, When Solar Window system is equipped with balcony window of Apartment, Annual heating and cooling energy of reference model was cut down about 5%~11%.

• Proceedings of the KIEE Conference
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• 2008.04c
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• pp.218-220
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• 2008

This paper proposes a the high efficiency tracking system regarding power loss when operating a tracking system for environment variable such as a rapidly changing insolation to improve the power of PV tracking system. In case of tracking an azimuth and altitude of the sun in realtime, therefore, the actual PV power is less increasing than the power of tracking system fixed a specific position. To reduce the power loss, this paper proposes a nonel control algorithm of the tracking system. The paper is analyzed efficiency about conventional PV tracking method, comparing proposed algorithm with high Performance method. We show propriety of proposed algorithm by means of the demonstrable study.