• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.23 no.5
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• pp.9-17
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• 2009

In this paper, we describe a flow meter system for pulverized coal developed for the pulverizer-burner system of a boiler or blast furnace, which uses the density and the velocity of the granule flow. The granule flow density is measured by a sensor that detects the capacitance from the electrode on the surface of the piping system. The velocity of granule flow can be calculated using the distance between two pairs of built-in sensors in the flow direction, the time obtained from the sampling cycle using the correlation method between two waveforms of the sensors. The flow rate is calculated from the density and velocity of the granule flow. The reliability and accuracy of the flow meter system has been verified by comparing the data with the weight measured from a load-cell.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2004.10a
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• pp.274-279
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• 2004

Currently, carbon-fiber reinforced plastics(CFRP) are widely used in both space and civil aircraft due to their superior stiffness and strength to weight ratios compared to conventional metallic materials. This paper is to study the effects of curvature and stacking sequence on the penetration characteristics of composite laminated shell. And were performed to investigate the penetration characteristics of composite laminated shells by the oblique impact. They are stacked to [0$_3$/90$_3$]s, [90$_3$/0$_3$]s and [0$_2$/90$_3$/0]s, [90$_2$/0$_3$/90]s their interlaminar number two and fore. They are manufactured to varied curvature radius (R=100, 150, 200mm and $\infty$). When the specimen is subjected to transverse impact by a steel ball, the velocity of the steel ball was measured both before and after impact by determining the time for it to pass two ballistics-screen sensor located a known distance apart. In general, the critical penetration energy interface decrease and slope angle on the impact surface increased. [0$_3$/90$_3$]s and [0$_2$/90$_3$]s specimens higher than [90$_3$/0$_3$]s and [90$_2$/0$_3$/90]s specimens.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.565-570
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• 2008

Recently, the intelligent service robot is applied for the purpose of guiding the building or providing information to the visitors of the public institution. The intelligent robot which is on development has a sensor to recognize its location at the bottom of it. Four wheels which are arranged in the form of a lozenge support the weight of the components and structures of the robot. The operating environment of this robot is restricted at the uneven place because the driving part and internal structure is designed in one united body. The impact from the ground is transferred to the internal equipments and structures of the robot. This continuous impact can cause the unusual state of the precise components and weaken the connection between each structural part. In this paper, a suspension system which can be applied to the intelligent robot is designed. The dynamic model of the robot is created, and the driving characteristics of the actual robot and the robot with suspension are compared. The road condition which the robot can operate is expanded by the application of the suspension system. Additionally, the suspension system is optimized to reduce the impact to the robot components.

• Proceedings of the Korean Society of Broadcast Engineers Conference
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• 2009.01a
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• pp.808-811
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• 2009

Robovie-R2 [1], developed by ATR, is a 110cm high, 60kg weight, two wheel drive, human like robot. It has two arms with dynamic fingers. It also has a position sensitive detector sensor and two cameras as eyes on his head for recognizing his surrounding environment. Recent years, we have carried out a project to integrate new functions into Robovie-R2 so as to make it possible to be used in a dining room in healthcare center for helping serving meal for elderly. As a new function, we have developed software system for adaptive movement control of Robovie-R2 that is primary important since a robot that cannot autonomously control its movement would be a dangerous object to the people in dining room. We used the cameras on Robovie-R2's head to catch environment images, applied our original algorithm for recognizing obstacles such as furniture or people, so as to control Roboie-R2's movement. In this paper, we will focus our algorithm and its results.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.28 no.3
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• pp.222-229
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• 2004

In this paper, the torque of CNC spindle motor during machining is estimated without speed measuring sensor. The CNC spindle system is divided into two parts, the induction spindle motor part and mechanical part. In mechanical part, the variation of the frictional force due to the increment of the cutting torque and the effect of damping coefficient is investigated. Damping coefficient is found to be a function of spindle speed and not influenced by the weight of the load, while frictional force is a function of both the cutting torque and spindle speed. Experimental equations are drawn for damping coefficient and Coulomb friction as a function of spindle speed. Incremental frictional torque Is also obtained as a function of both cutting torque and spindle speed. Graphical programming is used to implement the suggested algorithm to monitor the torque of an induction motor in real time. Torque of the spindle induction motor is estimated well in about average 3% error range under various cutting conditions.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.6
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• pp.58-65
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• 1999

The spinning machine has been developed for a bus and truck wheel disc which is manufactured by spinning process method. This machine has the mechanical structure with bed, 2-column, cross head, 2-vertical slide, 2-horizontal slide with forming roller, clamp slide and main spindle similar to large size vertical lathe. Main spindle attached the mandrel is rotated about 500rpm drived by 280kW power DC motor, and a rotating black material pressed on the mandrel with the clamp slide is spinformed by 2-forming rollers which are attached inner end of the 2-horizontal slides. The 2-vertical and 2-horizontal slides are actuated by the hydraulic cylinder which is controlled by the servo valve individially, and these servo valves are controlled by control signal of the CNC controller which is computed with position signal feedbacked from the encoder sensor. The developed machine can manufacture wheel disc of various section profile without mandrel change because section profile is easily modified using program editing in the CNC controller processor. The wheel disc manufactured by spinning process method has many advantages that the endurance is increased by 2 times and the weight is decreased by 30% compared with a conventional disc.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.35 no.2
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• pp.91-102
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• 2017

Backpack-mounted mapping system is firstly introduced for flexible movement in indoor spaces where satellite-based localization is not available. With the achieved advances in miniaturization and weight reduction, use of LiDAR (Light Detection and Ranging) sensors in mobile platforms has been increasing, and indeed, they have provided high-precision information on indoor environments and their surroundings. Previous research on the development of backpack-mounted mapping systems, has concentrated mostly on the improvement of data processing methods or algorithms, whereas practical system components have been determined empirically. Thus, in the present study, a simulator for a LiDAR sensor (Velodyne VLP-16), was developed for comparison of the effects of diverse conditions on the backpack system and its operation. The simulated data was analyzed by visual inspection and comparison of the data sets' statistics, which differed according to the LiDAR arrangement and moving speed. Also, the data was used as input to a point-cloud registration algorithm, ICP (Iterative Closest Point), to validate its applicability as pre-analysis data. In fact, the results indicated centimeter-level accuracy, thus demonstrating the potentials of simulation data to be utilized as a tool for performance comparison of pointdata processing methods.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.34 no.8
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• pp.63-70
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• 2006

Due to the small size and weight of micro aerial vehicle (MAV), only miniaturized MEMS type sensors are applicable for MAV autonomous flight system. In this paper, we propose a accelerometer and gyro mixing algorithm to improve an attitude performance of MEMS type sensors. The performance of the proposed mixing algorithm is compared with the performance of fuzzy-based mixing algorithm through simulation. The simulation results show that the attitude compensation method through the attitude compensation has better performance than the fuzzy-based mixing method for MAV attitude estimation.

• Proceedings of the Korean Information Science Society Conference
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• 2006.10d
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• pp.600-605
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• 2006

센서 네트워크는 데이터를 수집하는 싱크 주변에 있는 센서 노드가 극심한 에너지 소비를 보이는 문제가 있다. 이러한 싱크 주변 센서 노드의 에너지 소비 분산을 위해 모바일 싱크를 사용한 데이터 수집방법에 대한 연구가 최근 활발히 진행되고 있다. 모바일 싱크를 사용하여 데이터를 수집하기 위해서는 각 센서 노드별 데이터 수신 순서를 스케줄링하여 각 센서 노드에게 균등한 데이터 전송 기회를 부여하는 것이 중요하다. 본 논문에서는 싱글 홉 센서 네트워크에서 모바일 싱크를 이용한 균등한 데이터 수집을 위한 데이터 가중치 기반 스케줄링기법인 DWEDF를 제안한다. 또한 시뮬레이션을 통해 여러 다른 스케줄링 기법들에 비해 약 1.5배에서 3배가량 높은 성능을 보임으로써 그 효율성을 검증하였다.

• Proceedings of the Korean Information Science Society Conference
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• 2011.06d
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• pp.115-117
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• 2011

Intrusion detection systems (IDS) are supposed to be an efficient safety measure against inside attacks. In purely distributed IDS approach, IDS agent is installed in every node. It checks abnormal behavior of neighboring nodes locally. It collects the data that it receives from nodes in its radio range. Sensor nodes audit that data and generate alerts for abnormal activity. Here, there are two ways of taking decision. First, it can take decision individually and second, it can communicate with its neighbor to find the status of the claimed compromised nodes. In this paper, we propose a collaborative decision making scheme for purely distributed detection system. The proposed scheme is light weight compared to consensus based validation methodology. It provides a better scheme to find intrusions by interacting with other nodes.