• The Journal of Korea Robotics Society
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• v.1 no.2
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• pp.117-124
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• 2006

In this paper, we develope the navigation system for patrol robots in indoor environment. The proposed system consists of PDA map modelling, a localization algorithm based on a global position sensor and an automatic charging station. For the practical use in security system, the PDA is used to build object map on the given indoor map. And the builded map is downloaded to the mobile robot and used in path planning. The global path planning is performed with a localization sensor and the downloaded map. As a main controller, we use PXA270 based hardware platform in which embedded linux 2.6 is developed. Data handling for various sensors and the localization algorithm are performed in the linux platform. Also, we implemented a local path planning algorithm for object avoidance with ultra sonar sensors. Finally, for the automatic charging, we use an infrared ray system and develop a docking algorithm. The navigation system is experimented with the two-wheeled mobile robot using North-Star localization system.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2005.05a
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• pp.197-202
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• 2005

An aspheric lens is one of a key point optical element in the optical industry. The feature of an aspheric lens is not to have the spherical aberration. An aspheric lens is also essential element for high-precision and light-weight in the optical machine. Generally it have been used in a tailor progression an aspheric lens modelling much. In this study we applied a lay back-tracer using a index of refraction to draw a creative aspheric lens. Also we developed the automatic design program for aspheric lens. We manufactured the aspheric lens and executed a comparison experiment for refraction situation of shape and straightness experiment to inspect the drawn aspheric lens in this study.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 1996.04a
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• pp.77-92
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• 1996

When an automatic course-keeping is concerned as is quite popular in modern navigation the closed-loop steering system consists of autopilot device power unit (or telemotor unit) steering gear magnetic or gyro compass and ship dynamics. The consideration of irregular disturbances to ship dyanmics and a few non-linear mechanisms involved in the system inevitably or artificially are known to be very important in properly evaluating or analyzing the automatic steering system. In the present study the mathematical model of each element of an automatic steering system is derived which takes account of a fex non-linear mechanisms. PD(Proportional-Derivative) controller and low-pass filter with a weather adjustment are adopted to modelling the characteristics of an autopilot. The calculation method of imposing irregular disturbances to ship dynamics is proposed where irregular disturbances implying irregular wave and the fluctuating component of wind. For he evaluation of automatic steering system of ships in the open seas an important term "performance index" is introduced from the viewpoint of energy saving which derived from the concept of energy loss on ship propulsion. Finally the present methods are applied to two typical types of ship ; an ore carrier and a fishing boat. The various effects of linear and/or non-linear control constants of autopilot on propulsive energy loss are investigated to validate and clarify the present smulation technique.

• Korean Journal of Computational Design and Engineering
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• v.1 no.3
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• pp.189-202
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• 1996

Complex geometric shapes can be defined simply and efficiently by combining and operating various surface primitives. These primitives and their intersection curves are used in finite element mesh generation to form an easy and intuitive procedure for finite element modelling of curved surfaces. This paper proposes techniques of automatic mesh generation on surface primitives with arbitrarily shaped boundaries and control curves, which may be created by surface to surface intersection. A method of automatic mesh generation on plane, which was previously developed by the author, has been modified for application to the surface mesh generation. Owing to the mesh generation-wise differences between planes and surfaces, the surfaces should be transformed into conceptual plane so that the modified plane mesh generation method can be applied. Surface development, mapping and mesh reconstruction are the key techniques suggested in this paper. The selection of the technique to apply can be determined automatically on the basis of the developability, existence of singularity and other characteristics of the surfaces on which the mesh is to be generated. The suggested techniques were implemented into parts of mesh generation functions of the finite element software, MacTran. Their validity and practicality were manifested by the actual use of this software.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.21 no.10
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• pp.1636-1647
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• 1997

As most of today's automatic transmissions in passenger car adopt a electro-hydraulic control system, the role of electronically controlled solenoid valves occupies an important position and it is essential to predict solenoid transient characteristics in order to design and evaluate the performance of the hydraulic control system. However, in general, both the magnetic and electrical parameters f the solenoid system are hardly known and it is not easy to model this section with moderate complexity although mechanical system could be developed using the classical second order system. This paper presents a dynamic modelling technique of a solenoid valve, that is controlled by pulse width modulation for an automatic transmission, in terms of system identification theory. In nonlinear computer simulation, it is shown that the identified systems which produce magnetic force to input duty cycle for various excitation signals predict the static and dynamic performance very well near the operating point and in experiment conducted to confirm the validity of identification theory for PWM solenoid valve, we find that there is a good agreement between the experimental data and simulation result. Hence, this model can be utilized in the development of pressure control system with PWM solenoid valve.

• Proceedings of the KSRS Conference
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• 2005.10a
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• pp.83-86
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• 2005

This paper presents a method for point-based 3D building reconstruction using LiDAR data and digital map. The proposed method consists of three processes: extraction of building roof points, identification of roof types, and 3D building reconstruction. After extracting points inside the polygon of building, the ground surface, wall and tree points among the extracted points are removed through the filtering process. The filtered points are then fitted into the flat plane using ODR(Orthogonal Distance Regression). If the fitting error is within the predefined threshold, the surface is classified as a flat roof. Otherwise, the surface is fitted and classified into a gable or arch roof through RMSE analysis. Based on the roof types identified in automated fashion, the 3D building reconstruction is performed. Experimental results showed that the proposed method classified successfully three different types of roof and that the fusion of LiDAR data and digital map could be a feasible method of modelling 3D building reconstruction.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 1998.10a
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• pp.216-221
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• 1998

dynamic modelling method is applied to the driving simulation which has the calculable model of engine, transmission, vehicle. And driving pattern is used for database by actual tests and analyzed in neural network system. The simulation is compared to real test results and structures to the tracked vehicle powertrain.

• Proceedings of the KSR Conference
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• 2004.06a
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• pp.696-701
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• 2004

Electric vehicle that is manufactured present by development of electric vehicle technology were available automatic driving. Control of air breaking system for precision stopping is important at automatic driving. Current Electric vehicle is doing precision stopping using braking force control. Braking force control is difficult to take static deceleration by rail condition or change of friction coefficient. Therefore, Proposed the controller in this study is deceleration controller. Designed controller is a robust controller that take state control characteristic for modelling error.

• Proceedings of the Korean Society of Machine Tool Engineers Conference
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• 2001.04a
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• pp.387-392
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• 2001

This paper is to model a 30-shape product applying mathematically the data acquired from a 3D scanner and using an Automatic Design Program. The research studied in th reverse engineering up to now has been developed continuously and surprisingly. However, forming 3D-shape solid models in CAE and CAM, based on the research, the study leaves much to be desired. Especially, analyses and studies reverse-designing automatically using measured data after manufacturing. Consequently, we are going to acquire geometric data using an 3D scanner in this study with which we will open a new field of reverse engineering by a program which can design a 3D-shape solid model in a CAD-based program automatically.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.29 no.11
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• pp.47-52
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• 2015

This paper derives the problems that occur when asynchronous transfer in case of phase, frequency, voltage between the emergency generator and the grid and proposed the countermeasure to solve this problem when the transfer switch replace ATS(Automatic Transfer Switch) with CTTS(Closed Transition Transfer Switch) for the non-interrupting switching. In order to simulate above cases, modelling was used the transient analysis program PSCAD/EMTDC. By using this, the customer installed emergency generator and the grid was implemented. We compared three cases of asynchronous transition based on the basic case and proposed improvement by controlling the governor of emergency generator.