• The Journal of The Korea Institute of Intelligent Transport Systems
• /
• v.17 no.5
• /
• pp.48-54
• /
• 2018

With the 4th industry era, smart factories are emerging. In the era of multi-product small scale production, unmanned transportation vehicles are rapidly increasing in utilization of unmanned transportation vehicles that carry and arrange goods in the work space. The conventional unmanned vehicle detected its position by using the guided line method and the position based method for indoor location recognition and movement. This method has disadvantages of initial high cost and maintenance / maintenance. In this paper, to solve the disadvantages, the method of predicting the direct path of the unmanned vehicle through the Kalman filter is verified using the white LED marker of the warehouse and the position data and the image data of the white LED marker recognition image. Through this, the reliability of the linear movement which occupies the most part in the lattice structure is secured. It is also expected that the reliance on additional position sensors will also be reduced.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.14 no.3
• /
• pp.290-297
• /
• 2004

The control laws for cart-pole system are studied to see the schemes on which the control laws are made. Also, the odd symmetry of the relation between the output of the control laws and the system state vector is observed. Utilizing the symmetry in quantizing the system state variables and implementing the control laws into look-up table is discussed. Then, a CMAC is trained for a nonlinear control law for a cart-pole system such that the symmetry is conserved and its learning performance is evaluated. It is found that utilizing the symmetry is to reduce the memory requirement as well as the training period while improving the learning quality in terms of preserving the symmetry.

• Journal of Digital Convergence
• /
• v.15 no.5
• /
• pp.207-215
• /
• 2017

With rapid development of IT technology and biotechnology, human lifespan is extended rapidly, and we are living in the era where aging becomes the social issue. Due to this aging problem, manpower is mainly replaced by Automated Guided Vehicles (AGV) in manufacturing factories or warehouse logistics transportation. Rate of AGV use increases sharply every year. AGVs, which were used only in Smart Factories, extends its usage into indoor and outdoor operation by changing their usages to container transportation that can carry huge containers in the harbor. With the expansion of AGVs usage, the importance of RCS (Remote Control System) is also increased. In this study, we surveyed and analyzed the characteristics and technology trends of technical features of AGV's RCS that are developing in various ways to establish quality evaluation system of AGV RCS. Based on this, and by referring to international quality assessment standards, ISO/IEC 25000 series, we derived evaluation items on functional suitability and usability to secure reliability of AGV RCS. Also, it is our intention to develop evaluation model using those derived usability and reliability evaluation items.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.16 no.3
• /
• pp.349-356
• /
• 2006

A cartpole system is controlled by a control system consisting of two fuzzy controllers cooperating by a CMAC. Each controller uses 2 different input variables and yields the control force provided to the CMAC. The cooperation is due to training of the CMAC supervised by a judge which selects training information for the CMAC between two fuzzy controllers. The control scheme could be appreciated in terms of the tight structure of the controller, simple cooperating scheme due to the CMAC training, and accomplishing control goal that could not be attained by individual controllers.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.24 no.2
• /
• pp.123-128
• /
• 2014

This paper presents the study about MGV(Magnetic guidance vehicle) with up-and-down rotating type differential drive unit. Previous MGV needs the landmarks to get the driving information and additional sensor to recognize the landmarks except for localization sensor. Previous MGV requires at least 2 drive units when common fixed differential drive unit is used because it occurs the problems with driving control and localization error from imbalance of the MGV's weight. To solve such problems, we propose the MGV using up-and-down rotating type differential drive unit. Proposed MGV recognizes the driving information from the pattern which is consisted of both pole of magnet without landmarks and additional sensors, and it control the backward movement using up-and-down rotating type differential drive unit instead of common drive units. Proposed MGV considers KF(Kalman filter) to improve the localization accuracy. To verify the performance of proposed method, we designed MGV for the experiment. As the results, we can confirm the performance of propoesed method to recognize the pattern and to control the backward movement. With respect to localization, proposed method has the less RMSE about 5.6904 mm than previous method.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
• /
• 2013.10a
• /
• pp.154-155
• /
• 2013

본 논문에서는 소형이고 활어차용 고순도 산소공급장치를 개발하는 것으로 별도의 충전된 산소통을 구비하지 않고 공기에서 산소를 생산하여 활어차의 활어 저장 수조에 고순도 산소를 공급함으로써 신선한 활어의 상태를 유지하는 시스템이다. 현재는 활어차에 액화산소, 기체산소통을 구비하여 활어 저장 수조에 산소를 공급하는 방식으로 물류비용 및 선도유지와 위생처리 문제 등이 어렵다. 따라서, 본 시스템에서는 활어가 최적의 신선도를 유지할 수 있도록 영구적 산소를 생산하기 위한 운반차 전용 산소발생모듈을 개발하여 활어차 차주의 채산성 개선을 위해 액화대비 저렴한 산소 생산이 가능하도록 하였다.

• The tire
• /
• s.136
• /
• pp.53-60
• /
• 1988

• The tire
• /
• s.135
• /
• pp.53-60
• /
• 1988

• The tire
• /
• s.137
• /
• pp.57-64
• /
• 1988

• Journal of Nuclear Fuel Cycle and Waste Technology(JNFCWT)
• /
• v.5 no.2
• /
• pp.155-169
• /
• 2007

A transport container for a 500 kCi tritium storage vessel was developed, which could be used for the transport of metal tritide from Wolsong TRF facility to a disposal site. The structural, thermal, shielding, and confinement analyses were performed for the container in a view of Type B. As a result of structural analysis, the developed container sustained its integrity under normal and accidental conditions. The maximum temperature increase of the inner storage vessel by radiation was evaluated at $134.8^{\circ}C at room temperature. In $800^{\circ}C$ fire test, The thermal barrier of container sustained the inner vessel at $405^{\circ}C after 30 min, which temperature was allowable for the container integrity since maximum design temperature of inner vessel was $550^{\circ}C. In the evaluation of the shielding, the activity of radiation was nearly zero on the outer surface of inner vessel. Consequently the transport container for a 500 kCi tritium was evaluated to pass all the safety tests including accidental condition, so it was concluded that the designed transport container is proper to be used.