• Journal of the Korean Institute of Intelligent Systems
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• v.15 no.3
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• pp.330-336
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• 2005

Existing Bayesian update method using ultrasonic sensors only for mobile robot map building has a problem of the quality of map being degraded in the wall with irregularity, which is caused by the wide beam distribution. For improving this problem, an infrared sensors aided map building method is presented in this paper. Information of obstacle at each region in ultrasonic sensor beam is acquired using the infrared sensors and the information is used to get the confidence of ultrasonic sensor information via fuzzy inference system and genetic algorithm. Combining the resulting confidence with the result of Bayesian update method, an improve map is constructed. The proposed method showed good results in the simulations and experiments.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.44 no.3
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• pp.14-21
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• 2007

Sight Stabilization system is the control system to preserve Line of Sight for the targets though many nonlinear disturbances and vibrations are generated. In this paper, we identified Stabilization system using RLS algorithm, one of the system identification algorithm and found out the modeling of system. Considering nonlinear operational condition this paper proposes two Knowledge-base controllers - Fuzzy controller, Fuzzy PI Gain Scheduling controller, and simulates the performances of proposed controllers compare with Lead PI controller being used in Sight system of NFIV.

• Journal of Ocean Engineering and Technology
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• v.27 no.2
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• pp.80-86
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• 2013

KIOST developed a deep-sea mining robot called "MineRo" to collect manganese nodules in 2007. MineRo operates on flat ground. SMS (seafloor massive sulfide) deposits are shaped like undulating mountains. This paper deals with a numerical analysis model of a mining robot for SMS deposits. The mining robot consists of a tracked vehicle, chassis structure with a turntable, boom arm with 2 articulations, excavation tool, discharging unit, hydro-electric system, and sensing-and-monitoring system. In order to compare and analyze the dynamic responses of the driving mechanism, various tracked vehicles are modeled using commercial software. Straight driving simulations are conducted under undulating ground conditions. A conceptual design of a mining robot with four track systems for SMS deposits is modeled on the basis of these results.

• Journal of the Korean Institute of Intelligent Systems
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• v.6 no.4
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• pp.81-91
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• 1996

This paper proposes an optimal COA(Center Of Area) defuzzification method that improves the contr~lp erformance of a fuzzy logic controller. The defuzzification method incorporates both the membership values and the effective span of membership function6 in calculating a crisp value. An optimal effective span is determined automatically by the genetic algorithm thrqugh the training of some typical examples. Simulation of the proposed COA defuzzifier to the truck backer-upper control problem is presented and the control performance of the praposed COA defuzzifier outperforms that of the conventional COA defuzzifier by more than 20% in terms of ayerage tracing distance.

• Journal of the Computational Structural Engineering Institute of Korea
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• v.24 no.4
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• pp.399-404
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• 2011

Overload vehicles have demoralizing influence upon the social overhead capital, economics of nation, traffic flow and road safe as various components. Accordingly, this study established a ubiquitous sensor network system to develop an intelligent regulation system to monitor overloaded vehicles in motion. and Unlike WIM, after detecting the axle of driving vehicles by measuring deformation of roads, this system calculates the weights of vehicles by using signals from the strain sensors installed under the road and an analysis method. Also the study conducted an simulation test for vehicle load analysis using genetic algorithm. and tested wireless sensor for USN system.

• The Transactions of the Korean Institute of Power Electronics
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• v.16 no.3
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• pp.274-282
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• 2011

The ultra slim U-I and W-I primary and pick-up coils for OLEV (On-Line Electric Vehicles) are proposed. With the proposed structures, the amount and the cost of the core are dramatically reduced. Not only air gap but also the lateral displacement are improved. The proposed structures are applied to the OLEV bus and SUV, which achieve 83% efficiency at 17cm air gap with more than 60kW output power, and the construction cost is lower than ￦300M/km. The proposed coil structures are verified with simulations and experiments.

• Journal of KIISE:Computing Practices and Letters
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• v.16 no.5
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• pp.591-595
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• 2010

In this paper, a method that dynamically adapts the traffic flow of automated guided vehicles (AGVs) used in automated container terminals to the changing operational condition is presented. In a container terminal, the AGVs are vulnerable to traffic congestion because a large number of AGVs operate in a limited area. In addition, dynamically changing operational condition requires the traffic flow of AGVs to be continuously adjusted to keep up with the change. The proposed method utilizes a genetic algorithm to optimize the traffic flow. Exploiting the dynamic nature of the problem an approach that reuses the results of the previous search is tried to speed up the convergence of the genetic algorithm. The results of simulation experiments show the efficiency of the proposed method.

• Annual Conference of KIPS
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• 2015.10a
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• pp.10-11
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• 2015

최근 자율 주행 분야의 연구에서 LIDAR를 활용한 분류 기법들이 연구되고 있다. 그러나 2D 영상 처리와 비교하여, 대량의 3D 포인트를 사용하는 분류 알고리즘의 성능을 평가하기 위한 지상 검증자료를 쉽게 획득하기 어렵다. 본 연구는 LIDAR를 가상 공간에서 시뮬레이션 함으로써 감지한 물체의 정보를 기록함으로써 3D 포인트 클라우드를 사용하는 다양한 분류 알고리즘의 검증을 위한 지상검증자료를 생성하는 기법을 설명한다. 본 기법은 실제 LIDAR를 사용하는 것보다 적은 비용으로 다양한 환경에서의 분류 알고리즘 성능 검증을 가능하게 한다.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.5
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• pp.701-706
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• 2007

Recently, a number of researches about linear magnetorheological(MR) damper using valve-mode characteristics of MR fluid have sufficiently undertaken, but researches about rotary MR damper using shear-mode characteristics of MR fluid are not enough. In this paper, we performed vibration control of shear-mode MR damper for unlimited rotating actuator of mobile robot. Also fuzzy logic based vibration control for shear-mode MR damper is suggested. The parameters, like scaling factor of input/output and center of the triangular membership functions associated with the different linguistic variables, are tuned by genetic algorithm. Simulation results demonstrate the effectiveness of the fuzzy-skyhook controller for vibration control of shear-mode MR damper under impact force.

• Journal of the Korea Institute of Military Science and Technology
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• v.22 no.5
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• pp.687-696
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• 2019

To identify the driving dynamic characteristics of the Tractor-Trailer Type Transporter for mounting a large scale precision equipment, real vehicle driving tests on the 3 inch-bump-space-road were performed. And using general Dynamics Analysis Program - RecurDyn(V8R5), Dynamics M&S were carried out assuming the similar condition with real tests. Then the acceleration data obtained from real tests and M&S were analyzed and compared with each other in the part of root-mean-square-acceleration($g_{rms}$), peak-acceleration($g_{peak}$) and frequencies. In simple view of the $g_{rms}$ & $g_{peak}$, although the results of MRBD are more similar to ones of the real vehicle driving tests, but the results of RFlex have more information to get various useful dynamic characteristics.