• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2000.04a
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• pp.47-56
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• 2000

In this study, as the preliminary step for developing an unmanned vehicle to deliver a container-box, we designed and implemented Automatic Guided Vehicle(AGV) Simulator for the purpose of Port Facilities Automation. It is preferable to research the intelligent AGV for delivery all day long. For complementing AGV simulator driving, we used multiple-sensor systems with vision, ultrasonic, IR and adapted the high-speed wireless LAN that satisfies the IEEE 802.11 Standard for bi-directional communication between main processor in AGV and Host computer. Here, we mounted on bottom frame in AGV Pentium-III processor, which combine and compute the information from each sensor system and control the AGV driving, and used the 80C196KC micro-controller to control the actuating and steering motors.

• Journal of Korean Port Research
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• v.14 no.2
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• pp.199-207
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• 2000

In this study, as the preliminary step for developing an unmanned vehicle to deliver a container-box, we designed and implemented Automatic Guided Vehicle(AGV) Simulator for the purpose of Port Facilities Automation. It is preferable to research the intelligent AGV for delivery all day long. For complementing AGV simulator driving, we used multiple-sensor systems with vision, ultrasonic, IR and adapted the high-speed wireless LAN that satisfies the IEEE 802.11 Standard for bi-directional communication between main processor in AGV and Host computer. Here, we mounted on bottom frame in AGV Pentium-III processor, which combine and compute the information from each sensor system and control the AGV driving, and used the 80C196KC micro-controller to control the actuating and steering motors.

• Journal of the Korean Institute of Intelligent Systems
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• v.6 no.2
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• pp.57-71
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• 1996

차량 모델 비선형성의 주된 요인중 하나는 타이어의 비선형성이라고 할 수 있다. 타이어 모델도 간편화하기 위해 선형화된 타이어 모델을 적용할 경우에 저속 주행 또는 고속 주행이라고도 조향각이 적을 때는 문제가 없지만, 급격한 가감속과 과도한 조향각을 주었을 때는 타이어 미끄럼 각(Tire Slip Angle)이 급격히 변화되므로 선형화 된 타이어 모텔을 적용하지 못하게 된다. 그러므로 타이어와 지면 사이의 물리적 현상을 자세히 표현할 수 있는 비선형 타이어 모델을 적용하지 못하게 된다. 그러므로 타이어와 지면 사이의 물리적 현상을 자세히 표현할 수 있는 비선형 타이어 모델이 요구되어진다. 실험적 모델은 실제 차량의 실험 데이터를 바탕으로 커브 피팅(Curve Fitting)하여 타이어의 동특성을 표현하도록 모델링 하므로서 모델의 정확도를 높일 수 있는 반면 요구하는 계수들이 많아지게 되어 계산량이 증가되는 단점이 있다. 기존의 타이어 모델 연구 결과에 대해 분석하고, 관측 자료들을 바탕으로 FMFNN(Fuzzy Membership Function based Neural Network)을 이용한 함수 근사화로서 타이어 횡축력과 종축력의 모델링 방법을 제안하였다.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.15 no.9
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• pp.5480-5486
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• 2014

Complete novel software for MDPS for the simulation and analysis is proposed for steering engineers. The software, MSAS, which can provide the functionality for MDPS Simulation, Analysis & Synthesis, is based on the steering system model, vehicle model and control logic. As the suppliers provide the control logic as a black box, this software is capable of using any type of black box logic or white box control logic that can be developed by logic designers. In addition, this software will be synthesized with the suppliers' s-function control logic and RMDPS together.

• Journal of Satellite, Information and Communications
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• v.11 no.4
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• pp.39-43
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• 2016

In this paper, we propose PID gain auto tuning method in steering type mobile robot. PID controller gain select method are various methods. Ziegler-Nichols step tuning method is one method tuning in PID controller. Use step tuning method find a the first gain and did experiment in steering mobile robot. and Make a new the second gains from the first gains. After appling the second gain in PID controller, Where perform observe for convergence time and stabilization error. Experiments result the second gain are useful in real steering mobile robot system.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.18 no.1 s.116
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• pp.7-14
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• 2007

In this paper, the scan characteristics of phased array antenna consisted of rectangular open-ended waveguide with a triangular grid are investigated. An infinite array structure is analyzed by numerically solving the integral equation for the electric field over the waveguide aperture using waveguide mode function and Floquet mode function. Next, SEP(Scan Element Pattern) and SI(Scan Impedance) characteristics are simulated by CST's MWS(Microwave Studio) and Ansoft's HFSS(High Frequency Structure Simulator) for the finite and infinite array structures. Also, validity of these approaches is verified by comparing the calculated and simulated results with the measured ones for an $8{\times}8$ subarray. Within 10.5 % fractional bandwidth in the X-band, the fabricated subarray showed the flat gain characteristic in the scan range of ${\pm}45^{\circ}C$ in the E-plane(azimuth) and ${\pm}20^{\circ}C$ in the H-plane(elevation), and also showed the return loss characteristic of less than -10 dB.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.14 no.7
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• pp.769-776
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• 2003

This paper presents analysis and design of microstrip Rotman lens operating over wide band and wide steering angle by the contour integral method along with the segmentation method. All mutual coupling, internal reflections between ports and the discontinuity at every junction are taken into account. Equally spaced ports are designed and realized, which make suppress output ripple through the array ports. Impedance matching and mutual coupling between ports are analyzed and optimized using 12 input and 12 output exponential tapers. The measured results of fabricated lens show ${\pm}$ 1.8 dB insertion loss deviation over 6∼18 GHz wide frequency range and beam steering accuracy less than 1$^{\circ}$over ${\pm}$53$^{\circ}$angle and agrees well with the analysis results.

• The Journal of the Acoustical Society of Korea
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• v.41 no.6
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• pp.637-646
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• 2022

Sub-arrays of arbitrary conformal array have different geometric shape through steering direction, thus the beam patterns of sub-arrays are always non-uniform. In this paper, we apply the beam pattern synthesis method using convex optimization into the conformal array, and shows the improvement of uniformity of beam performance. The simulation is performed with the conformal array of cut-sphere shape. As a result, the standard deviation of 3 dB beamwidth in elevation is greatly reduced but the directivity index is also reduced. To alleviate this trade-off, we propose a convex optimization using a shading function.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2008.05a
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• pp.768-771
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• 2008

컴퓨터를 활용한 제어 기술이 발달함에 따라 무인화 시스템이 증가하고 있는 현실이다. 이 논문에서는 현재 많은 연구가 활발히 이루어지고 있는 무인화 시스템들 중의 하나인 무인 자동 주차 시스템을 위한 기법을 제안하고 시뮬레이션 실험을 통하여 그 가능성을 보였다. 제안한 자동 주차 시스템에서는 센서 정보를 입력으로 하고 퍼지 함수에 의한 추론 결과를 활용하여 조향 장치를 제어하는 방식을 제안하였다. 성능 평가를 위하여 그래픽 시뮬레이션 환경을 구축하고 제안한 기법을 이용한 가상자동차의 주차 과정을 보였으며 그 결과를 분석하였다.

• The Journal of the Acoustical Society of Korea
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• v.24 no.7
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• pp.423-430
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• 2005

In this paper. a microphone array beamforming algorithm that reduces the signal distortion caused by reverberation and near-field effect in car environment is proposed. When reverberation or near-field effect is present, an optimum beamformer should be constructed with a steering vector consisting of transfer functions between source and microphones, but it is generally difficult to estimate transfer functions on-line without knowledge of the source signal. Instead, a sub-optimal beamforming algorithm that reduces signal distortion is proposed. It is constructed with steering vectors consisting of relative transfer functions between reference sensor and other sensors. In order to evaluate the performance of the proposed algorithm. we had recorded noisy speech database in a car, and performed speech recognition experiments with HMM Toolkit (HTK) released by Cambridge University. The recognition rate of the proposed algorithm was 15 percents higher than that of the conventional far-field beamformers in best case.