• Journal of Institute of Control, Robotics and Systems
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• v.21 no.11
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• pp.1050-1056
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• 2015

In this paper, we use the characteristics of electromagnetic waves underwater attenuation for estimating linear distance between a transmitting node and receiving node, and research underwater vertical plane attenuation model for constructing the underwater localization system. The underwater localization of 2 dimensional with the plane attenuation model in the horizontal plane (H-plane) was proposed previous research. But for the 3 dimensional underwater localization, the additional vertical plane (E-plane) model should be considered. Because the horizontal plane of omnidirectional antenna has the same attenuation tendency in x-y plane according to the distance, whereas in vertical plane shows an irregular pattern in x-z plane. For that reason, in the vertical plane environment, the attenuation should be changed by the position and inclination. Hence, in this paper the distance and angle between transmitting and receiving node are defined using spherical coordinate system and derive an antenna gain pattern using half power beam width (HPBW). The HPBW is called a term which defines antenna's performance between isotropic and other antennas. This paper derives omnidirectional antenna's maximum gain and attenuation pattern model and define vertical plane's gain pattern model using HPBW. Finally, experimental verifications for the proposed underwater vertical plane's attenuation model was executed.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.12 no.11
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• pp.1954-1960
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• 2008

Modem Robot is used in all industries. Previous Robot was used by simplicity work, at recent times, robot is developed in form that can do action such as a person. Robot's action runs according to command repeat or in the every moment according to sensor's output value, achieve other action. In this raper, we studied about self-regulation transfer robot that follow Object autonomously. This robot can be used by purpose that carry heavy burden instead of human. Robot's composition is drive part which run object's position awareness Sensor, Processor that control action and Motor part. After robot is connects with Network, we did robot remote control and monitor the action situation of robot. For the methode to reduce drive error, we developed algorithm for outside environment. For an experiment we made the self-regulation robot. We showed the directivity of sensor, error of directivity and soft moving of robot. We showed the monitoring system and the execution screen for communication between robot and PC.

• Journal of Advanced Navigation Technology
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• v.25 no.3
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• pp.211-216
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• 2021

Multiple UAV System has been used for various purposes such as reconnaissance, networking and aerial photography. In such systems, it is essential to form and maintain the formation of multiple UAVs. This paper proposes the algorithm that produces an autonomous distributed control for each vehicle for a flexible formation. This command is a repulsive force in the form of the second-order system by the nearest UAV or mission area. The algorithm uses the relative position/speed through sensing and communication for calculating the command without external intervention. The command allows each UAV to follow the reference distance and fill the mission area as densely as possible without overlapping. We determine the reference distance via optimization technique solving the packing problem. The mission area comprises the desired formation outline and can be set flexibly depending on the mission. Numerical simulation is carried out to verify the performance of the proposed algorithm under a complex and flexible environment. The formation is formed in 26.94 seconds and has a packing density of 71.91%.

• Journal of Advanced Navigation Technology
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• v.26 no.2
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• pp.85-90
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• 2022

In this study, in order to test the performance of the aircraft system, a threat signal simulator that can transmit a signal similar to the actual threat to the aircraft under test with high power was designed. The high-power threat signal simulator should be able to transmit broadband (UHF band, L band, S band, X band) communication signals and radar signals, and control to transmit signals accurately directed to the aircraft through interfacing tracking radar. The signal strength of the developed equipment is 63 dBm to 93 dBm or more depending on type of signal, and the tracking precision is less than 0.1 degree, which satisfies the required performance. And it was confirmed that the antenna of the high-power threat signal simulator can accurately direct the signal to the aircraft position through the tracking radar interfacing.

• Convergence Security Journal
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• v.22 no.2
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• pp.105-114
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• 2022

This paper is presents an intelligent control system that visualizes the direction of arrival for hearing impaired using personal mobility, and aims to recognize and prevent dangerous situations caused by sound such as alarm sounds and crack sounds on roads. The position estimation method of sound source uses a machine learning classification model characterized by generalized correlated phase transformation based on time difference of arrival. In the experimental environment reproducing the road situations, four classification models learned after extracting learning data according to wind speeds 0km/h, 5.8km/h, 14.2km/h, and 26.4km/h were compared with grid search cross validation, and the Muti-Layer Perceptron(MLP) model with the best performance was applied as the optimal algorithm. When wind occurred, the proposed algorithm showed an average performance improvement of 7.6-11.5% compared to the previous studies.

• Korean Security Journal
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• no.21
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• pp.155-175
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• 2009

RFID that provide automatic identification by reading a tag attached to material through radio frequency without direct touch has some specification, such as rapid identification, long distance identification and penetration, so it is being used for distribution, transportation and safety by using the frequency of 125KHz, 134KHz, 13.56MHz, 433.92MHz, 900MHz, and 2.45GHz. Also it is one of main part of Ubiquitous that means connecting to net-work any time and any place they want. RFID is expected to be new growth industry worldwide, so Korean government think it as prospective field and promote research project and exhibition business program to linked with industry effectively. RFID could be used for access control of person and vehicle according to section and for personal certify with password. RFID can provide more confident security than magnetic card, so it could be used to prevent forgery of register card, passport and the others. Active RFID could be used for protecting operation service using it's long distance date transmission by application with positioning system. And RFID's identification and tracking function can provide effective visitor management through visitor's register, personal identification, position check and can control visitor's movement in the secure area without their approval. Also RFID can make possible of the efficient management and prevention of loss of carrying equipments and others. RFID could be applied to copying machine to manager and control it's user, copying quantity and It could provide some function such as observation of copy content, access control of user. RFID tag adhered to small storage device prevent carrying out of item using the position tracking function and control carrying-in and carrying-out of material efficiently. magnetic card and smart card have been doing good job in identification and control of person, but RFID can do above functions. RFID is very useful device but we should consider the prevention of privacy during its application.

• Journal of the Institute of Electronics and Information Engineers
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• v.53 no.6
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• pp.174-180
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• 2016

This paper study about an unscented Kalman filter with a variety type of unscented transformation to estimate state values for speed control without position sensor of a permanent-magnet synchronous motor. The principles of an unscented transformation and unscented Kalman filter are examined and their application is explained. Generally the mapping process can be divided into two type, such as a basic and a general form according to a scaling parameter. And computation time, the number of samples, and weights about samples are different from each other. But, there is no little information on the scaling parameter value how this value influences the system performance. Simulation and experimental results show the validity of the designed unscented transformation performance with the various scaling parameter values for sensorless motor drive.

• Particle and aerosol research
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• v.13 no.3
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• pp.111-118
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• 2017

Electrohydrodynamic (EHD) printing with the aid of strong electric fields can generate and pattern droplets that are smaller than droplets by other printing technologies. Conventional EHD printing has created two-dimensional (2D) patterns by moving its nozzle or a substrate in X and Y directions. In this study, we aimed to develop an EHD system that can create 2D patterns using a multielectrode array (MEA) without moving a nozzle or substrate. In particular, printing ink mixtures of biodegradable polymers and model dyes was patterned on a thin film made of another biodegradable polymer. Without movement of a nozzle and substrate, stable 2D patterning of minimum $6{\mu}m$ size over a range of about 1 mm away from the nozzle position was achieved by MEA control only. We also demonstrated the possibility of denser 2D pattering of the ink mixtures by moving a target substrate relative to MEA position.

• Explosives and Blasting
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• v.36 no.3
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• pp.29-38
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• 2018

With the recent industrial developments and economic development nationally, there has been a rapidly increasing demand for the use of underground space as locations for establishing social infrastructure and various convenience facilities. In this study, a mist-control system was developed to reduce the generation of dust in underground blasting. To enhance the dust-reduction effect, a guiding device was developed which is capable of adjusting the direction of the spray toward's the blasting face of mine or tunnel. A numerical analysis was performed by using the AUTODYN software, and results were compared with those published in basic experiments. To verify the mist-diffusion effect according to the position of explosives in a water bag, numerical analyses were conducted for the following cases: Explosives were set in the middle, and in the bottom of the water bag. The optimum condition was external detonation and center charge. The mist particle size from the result was suitable for the reduction of dust after blasting in underground mine and tunnel.

• The Journal of Korean Medicine
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• v.38 no.4
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• pp.41-54
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• 2017

Objectives: The purpose of this study is to investigate the effects of Sa-am acupuncture with Pericardium jung-gyuck (SA-acu-PC) and Triple Energizer jung-gyuck (SA-acu-TE) on the radial pulse in healthy human subjects. Methods: Sixty healthy subjects participated in this study and divided into three groups randomly: Control group(C), Pericardium jung-gyuck group(PC), Triple Energizer jung-gyuck group(TE). Radial pulse was measured by 3 dimensional pulse imaging system (DMP-3000) before, right after, 30 minutes after, and 60 minutes after acupuncture. Results: 1. The changes observed in periodic parameters are considered as the common effects of both SA-acu-TE and SA-acu-PC. SA-acu-TE was more effective than SA-acu-PC in these effects. 2. The effects of SA-acu-PC appeared in the pulse amplitude, pulse area, and pulse power volume mainly at the left chon position, and 3. The effects of SA-acu-TE appeared in the radial augmentation index and main peak angle mainly at the right gwan position. Conclusions: The effects of SA-acu-PC and SA-acu-TE can be observed in the radial pulse. The increases in pulse amplitude, pulse area, and pulse power volume at the left chon may imply the effects of SA-acu-PC. And the decrease in the pulse power volume, the increases in radial augmentation index and main peak angle may imply the effects of SA-acu-TE.