• Transactions of the Korean Society of Mechanical Engineers A
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• v.38 no.11
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• pp.1193-1199
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• 2014

To achieve safe and high-speed navigation of a mobile service robot, velocity of dynamic obstacles should be considered while planning the trajectory of a mobile robot. Trajectory planning schemes without considering the velocity of the dynamic obstacles may collide due to the relative velocities or dynamic constraints. However, the general planning schemes that considers the dynamic obstacle velocities requires long computational times. This paper proposes a velocity control scheme by scaling the time step of trajectory to deal with dynamic obstacle avoidance problem using the RNLVO (Robot Nonlinear Velocity Obstacles). The RNLVO computes the collision conditions on the basis of the NLVO (Nonlinear Velocity Obstacles). The simulation results show that the proposed scheme can deal with collision state in a short period time. Furthermore, the RNLVO computes the collisions using the trajectory of the robot. As a result, accurate prediction of the moving obstacles trajectory does not required.

• Journal of Convergence for Information Technology
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• v.8 no.5
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• pp.77-83
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• 2018

A modular robot that memorizes motion can be easily created and operated because it expresses by hand. However, since there is not enough storage space in the module to store the user-created operation, it is impossible to reuse the created operation, and when the modular robot again memorizes the operation, it changes to another operation. There is no main controller capable of operating a plurality of modular robots at the same time, and thus there is a disadvantage that the user must input directly to the modular robot. To overcome these disadvantages, a remote controller has been proposed that can be operated in the surrounding smart devices by designing web server and component based software using wired and wireless network. In the proposed method, various types of structures are created by connecting to a modular robot, and the reconstructed operation is performed again after storing, and the usefulness is confirmed by regenerating the stored operation effectively. In addition, the reliability of the downloaded trajectory data is verified by analyzing the difference between the trajectory data and the actual trajectory. In the future, the trajectory stored in the remote controller will be standardized using the artificial intelligence technique, so that the operation of the modular robot will be easily implemented.

• Journal of the Korean Magnetics Society
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• v.5 no.3
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• pp.222-232
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• 1995

자기저항이란 외부 자기장에 의해 재료의 전기저항이 변화되는 현상을 일컫는다. Au와 같은 비자성도체 및 반도체 재료의 경우 외부에서 자기장이 가해지면 전도 전자가 Lorentz 힘을 받아 궤적이 변하므로 저항이 변화한다. 이러한 저항 변화 를 정상 자기저항(Ordinary Magnetoresistance, OMR)이라 하며 일반적으로 상당히 작은 저항의 변화를 나타낸다. 강자성도체 재료에서는 정상 자기저항 효과 외에도 부가적인 효과가 생긴다. 이는 스핀-궤도 결합에 기인한 효과로써 자기 저항은 강자성체의 자화용이축, 외부자계와 잔류간의 각도에 의존하며 이방성 자기저항(Anisotropic Magnetoresistance, AMR)이라 한다. AMR 비(%)는 일반적 으로 다음과 같이 정의된다. 즉 ${\Delta}{\rho}_{AMR}/{\rho}_{ave}=(\rho_{\|}-\rho_{T})/{\rho}_{ave}$로 여기서 $\rho_{\|}$는 자기장의 방향이 전류의 방향과 같을 때의 비저항 이고 $\rho_{T}$는 서로 수직일 때이며 ${\rho}_{ave}=(\rho_{\|}-\rho_{T})/3$이다. 기존의 MR 센서나 자기재생헤드(magnetic read head)에 사용되는 퍼머로이계 합금의 AMR 비는 상온에서 약 2% 정도의 저항변화를 보인다.

• Journal of KIISE:Software and Applications
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• v.28 no.10
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• pp.699-705
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• 2001

As it became possible to generate 3D sound on a PC environment due to the advances in computing performance and digital signal processing technology, 3D sound technology gains its focus in the multimedia area Specifically a two-channel based 3D sound technology is being studied by many researchers because of its space efficiency and economical structure. While the positional sound effect is simple in its implementation, the moving sound effect has many problems to be resolved as there are only discrete measured point of HRTF database. In this paper, we propose the method of generating smooth moving sound in a two-channel based 3D sound technique with respect to generating smooth trajectory, and the interpolation method of discrete measured HRTF data. We perform the tests in the PC environment and prove the utility of the proposed method.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.39 no.10
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• pp.985-993
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• 2015

Free-piston Stirling engines (FPSEs) have attracted much attention in the renewable energy field as a key device in the conversion from thermal to mechanical energy, and in the recycling of waste energy. Traditional Stirling engines consist of two pistons that are connected by a mechanical link, while FPSEs are formed as a vibration system by connecting each piston to a spring without a physical link. To ensure the correct design and control of operations, this requires elaborate dynamic-performance predictions. In this paper, we present the performance-prediction methodology using a linear and nonlinear dynamic analytical model considering the external load of FPSEs. We perform linear analyses to predict the operating point of the engine using the root locus technique. Using nonlinear analysis, we also predict the amplitude of pistons by performing numerical integration considering both the linear and nonlinear damping terms of the external load. We utilize the predicted dynamic behavior to predict the engine performance. In addition, we compare the experiment results and existing model predictions for RE-1000 to verify the reliability of the analytical model.