• Journal of the Korean Solar Energy Society
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• v.34 no.4
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• pp.123-129
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• 2014

Photovoltaic and fuel cell systems can be used as power source in mobile robots. At this time the photovoltaic system generally generate power in daytime. The starting time of fuel cell is slower than the lithium battery. To compensate for these disadvantages, a battery charge-discharge system is used. Especially the bi-directional converter is used mainly in the charge-discharge method. The controller in a buck converter controls the input voltage of the converter to meet the maximum power point tracking(MPPT) performance. First of all, the simulations of hybrid system for battery charge-discharge system in each step simulated using solar and fuel cell modeling as input source in PSIM. Experiment of the buck and bi-directional converter system is conducted through using photovoltaic/fuel cel simulator(pCube) instead of solar and fuel cell. This hybrid system for battery charge discharge using photovoltaic/fuel cell generates emergency power for the communication system in mobile robot.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.34 no.5
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• pp.523-529
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• 2010

Recently, several research groups have been investigating the motion of flagellated bacteria, with the aim of examining the feasibility of using bacterial chemotaxis as an efficient power source for microactuators. In this study, microparticle-tracking velocimetry ($\mu$-PTV) is used for investigating the motion of fluorescent microbeads propelled by bacterial chemotaxis. Flagellated bacteria, Serratia marcescens, are spontaneously attached to the surface of the fluorescent polystyrene (PS) microbeads in an aqueous culture. The microbeads thus treated are injected into the test medium, which contains the solidified chemoattractant L-aspartate. With time, the particles slowly move toward the zone in which the L-aspartate concentration is high. This study shows that chemotaxis of flagellated bacteria can be applied as an efficient power source for microactuators.

• Progress in Medical Physics
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• v.26 no.3
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• pp.143-152
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• 2015

In this study, we aim to design the architecture of the kV imaging system for tumor tracking in the dual-head gantry system and analyze its accuracy by simulations. We established mathematical formulas and algorithms to track the tumor position with the two-pair kV imaging systems when they are in the non-orthogonal positions. The algorithms have been designed in the homogeneous coordinate framework and the position of the source and the detector coordinates are used to estimate the tumor position. 4D XCAT (4D extended cardiac-torso) software was used in the simulation to identify the influence of the angle between the two-pair kV imaging systems and the resolution of the detectors to the accuracy in the position estimation. A metal marker fiducial has been inserted in a numerical human phantom of XCAT and the kV projections were acquired at various angles and resolutions using CT projection software of the XCAT. As a result, a positional accuracy of less than about 1mm was achieved when the resolution of the detector is higher than 1.5 mm/pixel and the angle between the kV imaging systems is approximately between $90^{\circ}$ and $50^{\circ}$. When the resolution is lower than 1.5 mm/pixel, the positional errors were higher than 1mm and the error fluctuation by the angles was greater. The resolution of the detector was critical in the positional accuracy for the tumor tracking and determines the range for the acceptable angle range between the kV imaging systems. Also, we found that the positional accuracy analysis method using XCAT developed in this study is highly useful and will be a invaluable tool for further refined design of the kV imaging systems for tumor tracking systems.

• Proceedings of the KSME Conference
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• 2007.05b
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• pp.2585-2590
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• 2007

In this paper, a technique of simultaneously measuring the velocity and the temperature in micro-scale flow is proposed. This method uses particle tracking velocimetry (PTV) for measuring the velocity and laser induced fluorescence (LIF) for measuring the temperature. To measure the accurate velocity and temperature, images for PTV and for LIF are separated by using two light sources and a shutter which is synchronized with a camera. By using only one camera, measurement system can be simplified and the error from complicate optical system can be minimized. Error analyses regarding the concentrations of fluorescent dye and particle and the light source fluctuation are also conducted. It is found that the error of the temperature and the velocity highly depends on the concentration of fluorescent particles which are used for PTV. This technique is applied to the simultaneous measurement of the velocity and the temperature in the electrokinetic flow. It is found that the velocity and temperature vary with the electric field strength and the concentration of electrolyte.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.54 no.3
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• pp.107-116
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• 2005

The paper addresses modeling and analysis of a grid-connected photovoltaic generation system (PV system). PSCAD/EMTDC, an industry standard simulation tool for studying the transient behavior of electric power system and apparatus, is used to conduct all aspects of model implementation and to carry out extensive simulation study. This paper is aimed at sharing with the PSCAD/EMTDC user community our user-defined model for PV system applications, which is not yet available as a standard model within PSCAD/EMTDC. An equivalent circuit model of a solar cell has been used for modeling solar array. A series of parameters required for array modeling have been estimated from general specification data of a solar module. A PWM voltage source inverter (VSI) and its current control scheme have been implemented. A maximum power point tracking (MPPT) technique is employed for drawing the maximum available energy from the PV array. Comprehensive simulation results are presented to examine PV array behaviors and PV system control performance in response to irradiation changes. In addition, dynamic responses of PV array and system to network fault conditions are simulated and analysed.

• The Journal of the Acoustical Society of Korea
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• v.33 no.5
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• pp.326-334
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• 2014

This paper proposes a novel covariance matrix estimation scheme for minimum variance distortionless response (MVDR) beamforming. By accurately tracking direction-of-sound source arrival (DoA) information using audio-visual sensors, the covariance matrix is efficiently estimated by adopting a variable forgetting factor. The variable forgetting factor is determined by considering signal-to-interference ratio (SIR). Experimental results verify that the performance of the proposed method is superior to that of the conventional one in terms of interference/noise reduction and speech distortion.

• Advances in robotics research
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• v.2 no.2
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• pp.113-127
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• 2018

Robotics and automation are rapidly growing in the industries replacing human labor. The idea of robots replacing humans is positively influencing the business thereby increasing its scope of research. This paper discusses the development of an experimental platform controlled by a robotic arm through Robot Operating System (ROS). ROS is an open source platform over an existing operating system providing various types of robots with advanced capabilities from an operating system to low-level control. We aim in this work to control a 7-DOF manipulator arm (Robai Cyton Gamma 300) equipped with an external vision camera system through ROS and demonstrate the task of balancing a ball on a plate-type end effector. In order to perform feedback control of the balancing task, the ball is designed to be tracked using a camera (Sony PlayStation Eye) through a tracking algorithm written in C++ using OpenCV libraries. The joint actuators of the robot are servo motors (Dynamixel) and these motors are directly controlled through a low-level control algorithm. To simplify the control, the system is modeled such that the plate has two-axis linearized motion. The developed system along with the proposed approaches could be used for more complicated tasks requiring more number of joint control as well as for a testbed for students to learn ROS with control theories in robotics.

• Proceedings of the KIEE Conference
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• 2008.04c
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• pp.221-223
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• 2008

This paper presents a maximum power point tracking(MPPT) of Photovoltaic system with chopping ratio of DC-DC converter considered load. A variation of solar irradiation is most important factor in the MPPT of PV system. That is nonlinear, aperiodic and complicated. The paper consists of solar radiation source, DC-DC converter, DC motor and load(cf, pump). NN algorithm apply to DC-DC converter through an adaptive control of neural network, calculates converter-chopping ratio using an adaptive control of NN. The results of an adaptive control of NN compared with the results of converter-chopping ratio which are calculated mathematical modeling and evaluate the proposed algorithm. The experimental data show that an adequacy of the algorithm was established through the compared data.

• Proceedings of the KIPE Conference
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• 2001.10a
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• pp.639-643
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• 2001

Recently, photovoltaic system has been studied widely as a renewable energy system, because it does not produce environmental pollution and it has infinity energy source from the sun. A study on photovoltaic system has a lot of problems like as reappearance and repetition of some situation in the laboratory experiment for development of MPPT algorithm and islanding detection algorithm, because output characteristics of solar cell are varied by irradiation and surface temperature of solar cell. And this system is consisted a lot of solar cell unit. Therefore, the assistant equipment which emulates the solar cell characteristics which can be controlled arbitrarily by researcher is require to the researchers for reliable experimental data. In this paper, the virtual implement of solar cell (VISC) system is proposed to solve these problems and to achieve reliable experimental result on photovoltaic system. VISC system emulates the solar cell output characteristics, and this system can substitute solar cell in laboratory experiment system. To realize the VISC, mathematical model of solar cell is studied for driving converter and the DC/DC converters are compared in viewpoint of tracking error using computer simulation. And then analysis of parallel and series characteristics was done for combination of VISC model.

• Transactions of the Korean Society of Mechanical Engineers B
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• v.31 no.7 s.262
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• pp.644-652
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• 2007

In this paper, a technique of simultaneously measuring the velocity and the temperature in micro-scale flow is proposed. This method uses particle tracking velocimetry (PTV) for measuring the velocity and laser induced fluorescence (LIE) for measuring the temperature. To measure the accurate velocity and temperature, images for PTV and for LIE are separated by using two light sources and a shutter which is synchronized with a camera. By using only one camera, measurement system can be simplified and the error from complicate optical system can be minimized. Error analyses regarding the concentrations of fluorescent dye and particle and the light source fluctuation are also conducted. It is found that the error of the temperature and the velocity highly depends on the concentration of fluorescent particles which are used for PTV. This technique is applied to the simultaneous measurement of the velocity and the temperature in the electrokinetic flow. It is found that the velocity and temperature vary with the electric field strength and the concentration of electrolyte.