• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.23.5-23
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• 2001

This paper is concerned with the vehicle platooning in the AHS (Automated Highway Systems). For this, a relative navigation system is developed for the vehicles operating as a platoon. The relative navigation system is based on two sensors including GPS and MMWR (Millimeter-Wave Radar) and the federated Kalman Iter processing measurements of them. The architecture of this system requires GPS measurements of a preceding vehicle via communication link. Even if GPS measurements are available, they contain errors which are unacceptably high in vehicle platooning. Therefore, GPS carrier phase is considered. Integer ambiguities of GPS carrier phase measurements are determined by using MMWR ...

• 제어로봇시스템학회논문지
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• 제7권1호
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• pp.1196-1204
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• 2001

In this paper, a new architecture of operating software associated with the component-based method is proposed. The proposed architecture comprises 문 execution module and a decision-making module. In order to make effective development and maintenance, the execution module is divided into three components. The components are referred to as Symbol, Gateway, and Control, respectively: The symbol component is for the GUI environments and the standard interfaces; the gateway component is for the network communication and the structure of asynchronous processes; the control component is for the asynchronous processing and machine setting or operations. In order to verify the proposed architecture, and off-line version of operating software is made, and its steps are as follows; I) Make virtual execution modules for the manufacturing devices such as dual-arm robot, handling robot, CNC, and sensor; ii) Make decision-making module; iii) Integrate the modules and GUI using a well-known development tools such as Microsofts Visual Basic; iv) Execute the overall operating software to validate the proposed architecture. The proposed software architecture in this paper has the advantages such as independent development of each module, easy development of network communication, and distributed processing of resources, and so on.

• 한국지능시스템학회논문지
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• 제24권6호
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• pp.634-639
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• 2014

본 논문에서는 근접거리측정이 가능한 적외선 거리 센서를 사용하여 다양한 물체 및 로봇과 이동 로봇 메커니즘간의 충돌 위험성을 확인할 수 있는 충돌 경보기를 제시하고, 이 경보기의 효과적인 산업 응용을 위하여 중요한 신호의 생성 과정 및 동작 특성을 분석하고자 한다. 이를 위하여 제시된 충돌 경보기를 탑재한 이동 로봇 시스템이 전형적인 주차 동작을 수행하는 상황을 고려한다. 결과적으로, 제시된 충돌 경보기는 다양한 이동 로봇이나 차량 메커니즘의 충돌 회피 및 안전 운행을 위하여 유용하게 활용될 수 있음을 보인다.

• 한국지능시스템학회논문지
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• 제14권1호
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• pp.1-8
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• 2004

본 논문에서는 실내대기 가스모니터링 시스템에서의 센서 고장 진단을 위한 신경회로망 기반 고장진단방법을 제안한다. 제안한 고장진단 방법에서는 신호패턴추출을 위해 센서히터 온도조절방법을 이용하였으며, 분류를 위해서는 ART2 신경회로망을 이용하였다. 그리고 가스모니터링 시스템의 실제 데이터를 이용한 시뮬레이션을 통해 제안한 ART2 신경회로망 기반 센서고장진단방법의 성능과 유용성을 확인하였다.

• 대한교통학회지
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• 제23권1호
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• pp.83-92
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• 2005

실시간 교통상황을 정화하게 관측할 수 있는 신뢰성 있는 검지시스템의 개발은 첨단교통체계의 성공적인 현장 구현을 위해 근간이 되는 연구 분양이다. 본 연구에서는 보다 효과적인 검지체계 구축을 위한 노력의 일환으로 이종(異種)의 센서로 구성된 도로구간의 상류부 및 하류뷰 검지 스테이션(detection station)에서 차량의 고유한 특성을 추출하여 개별차량을 재인식하는 방법론을 개발하였다. 상류부에서는 기존의 사각 루프 센서 (square loop sensor)를 하류부에서는 차축의 정보를 얻을 수 있도록 새로이 개발된 비매설식 블레이드 센서(blade sensor)를 이용하여 자료를 수집하였다. 또한, 알고리즘의 평가 결과를 통해 제안된 방법론의 타당성을 검증하였다. 본 연구에서 개발된 차량재인식기법을 활용하여 구간통행시간을 산출하는 방법론은 실시간 교통 모니터링 및 정보제공을 지원하는 유용한 수단이 될 것으로 기대된다.

• 대한의용생체공학회:의공학회지
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• 제28권3호
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• pp.363-368
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• 2007

Most surgery illumination systems have been developed as passive systems. However, sometimes it is inconvenient to relocate the position of the illumination system whenever the surgeon changes his pose. To cope with such a problem, this study develops an auto-illumination system that is autonomously tracking the surgeon's movement. A 5-DOF serial type manipulator system that can control (X, Y, Z, Yaw, Pitch) position and secure enough workspace is developed. Using 3 ultrasonic sensors, the surgeon's position and orientation could be located. The measured data aresent to the main control system so that the robot can be auto-tracking the target. Finally, performance of the developed auto-illuminating system was verified through a preliminary experiment in the operating room environment.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2285-2289
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• 2005

Robot is composed of various devices but, those are incompatible with each other and hardly developing reusable control software. This study suggests standard abstract interface for robot software component to make portable device and reusable control software of robot, based on familiar techniques to abstract device in operating systems. This assures uniform abstracted interface to the device driver software like sensor and actuator and, control program can be transparent operation over device. This study can separately and independently develop devices and control software with this idea. This makes it possible to replace existing devices with new devices which have an improved performance.

• 한국정보시스템학회지:정보시스템연구
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• 제18권1호
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• pp.145-157
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• 2009

If industrial disasters happen at workplace, work's desires of workers and business activities may be dispirited. Especially, industrial disasters frequently happen in the field of heavy and chemical industry companies. According to report of the korea occupational safety and health agency(KOSHA), damage due to industrial disasters is more 5 times than losses due to industrial strifes. Thus, in these manufacturing companies, a safety management field for preventing industrial disasters is emerging as an important factor of business activities. This paper proposes an industrial disaster prediction model for safety management and also implements industrial safety management system(after this, is called as u-Safety system) based on the proposed model using ubiquitous computing technologies like USN(ubiquitous sensor networks) which are given much attention among recent information technologies. The implemented system is successfully operating in the shipbuilding division of 'H' companies.

• Journal of information and communication convergence engineering
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• 제13권3호
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• pp.152-158
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• 2015

We consider the problem of designing independently operating local quantizers at nodes in distributed estimation systems, where many spatially distributed sensor nodes measure a parameter of interest, quantize these measurements, and send the quantized data to a fusion node, which conducts the parameter estimation. Motivated by the discussion that the estimation accuracy can be improved by using the quantized data with a high probability of occurrence, we propose an iterative algorithm with a simple design rule that produces quantizers by searching boundary values with an increased likelihood. We prove that this design rule generates a considerably reduced interval for finding the next boundary values, yielding a low design complexity. We demonstrate through extensive simulations that the proposed algorithm achieves a significant performance gain with respect to traditional quantizer designs. A comparison with the recently published novel algorithms further illustrates the benefit of the proposed technique in terms of performance and design complexity.

• Journal of international Conference on Electrical Machines and Systems
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• 제2권1호
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• pp.83-90
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• 2013

This paper describes advanced brushless DC motor drive without position sensor for home appliances with compressor to reduce the pulsating currents and vibration. The proposed method limits the motor currents during starting period and reduces commutation torque ripple during sensorless operating period. Experimental results show that the proposed method implemented in an inverter for a BLDC motor driven compressor considerably reduces not only the pulsating currents but also vibration of the home appliances.