• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 1999.10a
• /
• pp.105-110
• /
• 1999

This paper presents a local obstacle avoidance method for indoor mobile robots using Lane method and velocity Space Command approach. The method locates local obstacles using the information form multi-sensors, such that ultrasonic sensor array and laser scanning sensor. The method uses lane method to determine optimum collision-free heading direction of a robot. Also, it deals with the robot motion dynamics problem to reduce some vibration and guarantee fast movement as well. It yields translational and rotational velocities required to avoid the detected obstacles and to keep the robot heading direction toward goal location as close as possible. For experimental verification of the method, a mobile robot driven by two AC servo motors, equipped with 24 ultrasonic sensor array and laser scanning sensor navigates using the method through a corridor cluttered with obstacle.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
• /
• 2000.04a
• /
• pp.679-684
• /
• 2000

This paper presents the development of system and program for a Parallel-Typed CNC Machine. The system consists of parallel manipulator, PC (Personal Computer), DMC (DSP Motion Controller), and machining tools. In order to control the manipulator, the program, which is implemented in "c/c++" language, involves inverse/direct kinematics, velocity mapping, Jacobian and etc. A controller computes the kinematic formulation in real-time and generates and motion by the DMC. A monitor, which has access to program and sensory information, displays the status of manipulator.nipulator.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.8 no.4 s.23
• /
• pp.14-23
• /
• 2005

In this paper we propose a sensor fusion method for the navigation algorithm which can be used to estimate state vectors such as position and velocity for its motion control using multi-sensor output measurements. The output measurement we will use in estimating the state is a series of known multi-sensor asynchronous outputs with measurement noise. This paper investigates the Extended Kalman Filtering method to merge asynchronous heading, heading rate, velocity of DVL, and SSBL information to produce a single state vector. Different complexity of Kalman Filter, with. biases and measurement noise, are investigated with theoretically data from MOERI's SAUV. All levels of complexity of the Kalman Filters are shown to be much more close and smooth to real trajectories then the basic underwater acoustic navigation system commonly used aboard underwater vehicle.

• Proceedings of the KSME Conference
• /
• 2000.04b
• /
• pp.637-643
• /
• 2000

The shrouded corotating disk flow has a simple figure on geometric basis, but has various and complicated forms of flow. this complicated flows can be variously applied to not only information storage device, but also turbomachinery which is greatly influenced by centrifugal force. This study measured its velocity to measure inner flow field with unique flow field univluenced, using LDV and subminiature hot-wire. The result of experiment shows that distribution limits of solid body rotation region, dimensionless velocity gradient and distribution limits of disk surface boundary layer(Ekman layer) are changed by the gap of disks and rotating speed. Circulating vortex which is near the shroud is effected by the gap of disks and rotating speed.

• Proceedings of the KSME Conference
• /
• 2003.11a
• /
• pp.1524-1529
• /
• 2003

In this paper deals with a unique method for measuring vehicle states such as body sideslip angle and tire sideslip angle using GPS velocity information in conjunction with other sensors. A method for integrating Inertial Navigation System (INS) sensors with GPS measurements to provide higher update rate estimates of the vehicle states is presented, and the method can be used to estimate the tire cornering stiffness. The experimental results for the GPS velocity-based sideslip angle measurement and cornering stiffness estimates are compared with the theoretical predictions. From the experimental results, it can be concluded that the proposed method has an advantage for future implementation in a vehicle safety system.

• Journal of the Institute of Convergence Signal Processing
• /
• v.14 no.1
• /
• pp.21-26
• /
• 2013

The objective of this study was to develop a system for handwriting recognition in three dimensions (3D) to authenticate users. While previous studies have used a stylus pen for two-dimensional input on a tablet, this study uses the Wii Remote controller because it can capture 3D human motion and could therefore be more effective means of recognition. The information obtained from a Wii Remote controller included x and y coordinates, acceleration (x, y, z), angular velocity (pitch, yaw, roll), twelve input buttons, and time. The proposed system calculates distances using six features extracted after preprocessing the data. In an experiment where 15 subjects wrote "AIZU" 10 times, we obtained a 94.8% identification rate using a combination of writing velocity, the peak value of pitch, and the peak value of yaw. This suggests that this system holds promise for handwriting-based authentication in the future.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.175-175
• /
• 2000

In this Paper we propose a navigation algorithm which can be used to estimate state vectors such as position and velocity for its motion control using multi-sensor output measurements. The output measurement we will use in estimating the state is a series of known multi-sensor asynchronous outputs with measurement noise. This paper investigates the Extended Kalman Filtering method to merge asynchronous heading, heading rate, velocity of DVL, and SSBL information to produce a single state vector. Different complexity of Kalman Filter, with biases and measurement noise, are investigated with theoretically data from KRISO's AUV. All levels of complexity of the Kalman Filters are shown to be much more close and smooth to real trajectories then the basic underwater acoustic navigation system comment)'used aboard underwater vehicle.

• Proceedings of the KOSOMBE Conference
• /
• v.1998 no.11
• /
• pp.213-214
• /
• 1998

The important role of the ultrasonic Doppler system in the modem clinical medicine is to provide the clinical information of the vascular system. The ultrasonic pulsed wave(PW) Doppler system, a kind of the ultrasound Doppler system, is more available than the ultrasonic continuous wave(CW) Doppler system because it can evaluate the velocity and the direction of blood flow as well as the depth of vessel. However, the ultrasonic PW Doppler system has the disadvantage that the range of evaluating velocity of blood flow is limited(Nyquist limit). In order to solve this limit, we propose the algorithm for eliminating this aliasing in this paper. In addition, we propose the efficient signal processing algorithm.

• Journal of Power System Engineering
• /
• v.14 no.1
• /
• pp.40-46
• /
• 2010

This paper shows the development process for measuring three-dimensional flow velocity components in a web-browser. The system is developed in an embeddable C/C++ interpreter Ch and Ch-CGI toolkit. The interface for the web-based measurement system consists of a set of web HTML files and Ch files for CGI. All of data in web browser are passed to Ch-CGI script to generate the output of new HTML file. PC-Server and PC-Client can submit measurement parameters and receive the text/graphical results each other. PC-Client can control the test equipment by using a parameters that received from PC-Server. It also can pass the test results between the web-based measurement system. In summary, the designed measurement system is evaluated, the outputs shown well on the web browser.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2002.10a
• /
• pp.837-840
• /
• 2002

An analysis method for rubber toughened PVC is suggested to evaluate critical dynamic strain energy release rates($G_c$) from the Charpy impact energy measurements. An instrumented Charpy impact tester was used to extract ancillary information concerning fracture parameters in addition to total fracture energies and maximum critical loads. The dynamic stress intensity factor $K_{Id}$ was computed for varying amounts of rubber contents from the obtained maximum critical loads and also toughening effects were investigated as well. The fracture surfaces produced under low velocity impact fur PVC/MBS composites were investigated by SEM. The results show that MBS rubber is very effective reinforcement material for toughening PVC.C.