• Journal of Institute of Control, Robotics and Systems
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• v.22 no.9
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• pp.716-722
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• 2016

Coordinate estimation is an essential function for autonomous navigation of a mobile robot. The optical mouse sensor is convenient and cost-effective for the coordinate estimation problem. It is possible to overcome the position estimation error caused by the slip and the model mismatch of robot's motion equation using the optical mouse sensor. One of the simple methods for the position estimation using the optical mouse sensor is integration of the velocity data from the sensor with time. However, the unavoidable noise in the sensor data may deteriorate the position estimation in case of the simple integration method. In general, a mobile robot has ready-to-use motion information from the encoder sensors of driving motors. By combining the velocity data from the optical mouse sensor and the motion information of a mobile robot, it is possible to improve the coordinate estimation performance. In this paper, a coordinate estimation algorithm for an autonomous mobile robot is presented based on the well-known Kalman filter that is useful to combine the different types of sensors. Computer simulation results show the performance of the proposed localization algorithm for several types of trajectories in comparison with the simple integration method.

• Nuclear Engineering and Technology
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• v.49 no.5
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• pp.896-904
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• 2017

Several Generation IV nuclear reactor concepts have goals for optimizing investment recovery through phased introduction of multiple units on a common site with shared facilities and/or reconfigurable energy conversion systems. Additionally, small modular reactors are suitable for remote deployment to support highly localized microgrids in isolated, underdeveloped regions. The long-term economic viability of these advanced reactor plants depends on significant reductions in plant operations and maintenance costs. To accomplish these goals, intelligent control and diagnostic capabilities are needed to provide nearly autonomous operations with anticipatory maintenance. A nearly autonomous control system should enable automatic operation of a nuclear power plant while adapting to equipment faults and other upsets. It needs to have many intelligent capabilities, such as diagnosis, simulation, analysis, planning, reconfigurability, self-validation, and decision. These capabilities have been the subject of research for many years, but an autonomous control system for nuclear power generation remains as-yet an unrealized goal. This article describes a functional framework for intelligent, autonomous control that can facilitate the integration of control, diagnostic, and decision-making capabilities to satisfy the operational and performance goals of power plants based on multimodular advanced reactors.

• Structural Engineering and Mechanics
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• v.84 no.4
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• pp.561-573
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• 2022

This paper presents a new model to obtain the minimum area of the contact surface for rectangular isolated footings, considering that the contact surface works partially to compression (a part of the contact surface of the footing is subjected to compression and the other is not in compression or tension). The methodology is developed by integration to obtain the axial load "P", moment around the X axis "M_x" and moment around the Y axis "M_y". This document presents the simplified and precise equations of the four possible cases of footing subjected to uniaxial bending and five possible cases of footing subjected to biaxial bending. The current model considers the contact area of the footing that works totally in compression, and other models consider the contact area that works partially under compression and these are developed by very complex iterative processes. Numerical examples are presented to obtain the minimum area of rectangular footings under an axial load and moments in two directions, and the results are compared with those of other authors. The results show that the new model presents smaller areas than the other authors presented.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.9
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• pp.898-904
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• 2010

Unmanned autonomous forklifts have a great potential to enhance the productivity of material handling in various applications because these forklifts can pick up and deliver loads without an operator and any fixed guide. There are, however, many technical difficulties in developing such forklifts including localization, map building, sensor fusion, control and so on. Implementation, which is often neglected, is one of practical issues in developing such an autonomous device. This is because the system requires numerous sensors, actuators, and controllers that need to be connected with each other, and the number of connections grows very rapidly as the number of devices grows. Another requirement on the integration is that the system should allow changes in the system design so that modification and addition of system components can be accommodated without too much effort. This paper presents a network-based distributed approach where system components are connected to a shared CAN network, and control functions are divided into small tasks that are distributed over a number of microcontrollers with a limited computing capacity. This approach is successfully applied to develop an unmanned forklift.

• ETRI Journal
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• v.45 no.5
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• pp.735-745
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• 2023

This paper surveys recent multiagent reinforcement learning and neural Myerson auction deep learning efforts to improve mobility control and resource management in autonomous ground and aerial vehicles. The multiagent reinforcement learning communication network (CommNet) was introduced to enable multiple agents to perform actions in a distributed manner to achieve shared goals by training all agents' states and actions in a single neural network. Additionally, the Myerson auction method guarantees trustworthiness among multiple agents to optimize rewards in highly dynamic systems. Our findings suggest that the integration of MARL CommNet and Myerson techniques is very much needed for improved efficiency and trustworthiness.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.119.4-119
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• 2002

$\textbullet$ Intoduction : Control architecture of PSR $\textbullet$ Layered functionality diagrams $\textbullet$ Class diagrams $\textbullet$ Petri-net based configuration diagram $\textbullet$ Experiments $\textbullet$ Conclusions

• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.1-10
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• 2014

In recent years, the research of 3D mapping technique in urban environments obtained by mobile robots equipped with multiple sensors for recognizing the robot's surroundings is being studied actively. However, the map generated by simple integration of multiple sensors data only gives spatial information to robots. To get a semantic knowledge to help an autonomous mobile robot from the map, the robot has to convert low-level map representations to higher-level ones containing semantic knowledge of a scene. Given a 3D point cloud of an urban scene, this research proposes a method to recognize the objects effectively using 3D graph model for autonomous mobile robots. The proposed method is decomposed into three steps: sequential range data acquisition, normal vector estimation and incremental graph-based segmentation. This method guarantees the both real-time performance and accuracy of recognizing the objects in real urban environments. Also, it can provide plentiful data for classifying the objects. To evaluate a performance of proposed method, computation time and recognition rate of objects are analyzed. Experimental results show that the proposed method has efficiently in understanding the semantic knowledge of an urban environment.

• Journal of Multimedia Information System
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• v.5 no.2
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• pp.105-110
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• 2018

Autonomous cars require the integration of multiple communication systems for driving safety. Many carmakers unveil mirrorless concept cars aiming to replace rear and sideview mirrors in vehicles with camera monitoring systems, which eliminate blind spots and reduce risk. This paper presents optical vehicle-to-vehicle (V2V) communications for autonomous mirrorless cars. The flicker-free light emitting diode (LED) light sources, providing illumination and data transmission simultaneously, and a high speed camera are used as transmitters and a receiver in the OCC link, respectively. The rear side vehicle transmits both future action data and vehicle type data using a headlamp or daytime running light, and the front vehicle can receive OCC data from the camera that replaces side mirrors so as not to prevent accidents while driving. Experimental results showed that action and vehicle type information were sent by LED light sources successfully to the front vehicle's camera via the OCC link and proved that OCC-based V2V communications for mirrorless cars can be a viable solution to improve driving safety.

• Asia-pacific Journal of Multimedia Services Convergent with Art, Humanities, and Sociology
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• v.7 no.8
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• pp.327-342
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• 2017

In this paper, we introduce an integrated processing system of smart sensor data for IoT service which collects sensor data and efficiently processes it. Based on the technology of collecting sensor data to the development of the IoT field and sending it to the network · Based on the receiving technology, as various projects such as smart homes, autonomous running vehicles progress, the sensor data is processed and effectively An autonomous control system to utilize has been a problem. However, since the data type of the sensor for monitoring the autonomous control system varies according to the domain, a sensor data integration processing system applying the autonomous control system to various different domains is necessary. Therefore, in this paper, we introduce the Smart Sensor Data Integrated Processing System, apply it and use the window as a reference to process internal and external sensor data 1) receiveData, 2) parseData, 3) addToDatabase 3 With the process of the stage, we provide and implement the automatic window opening / closing system "Smart Window" which ventilates to create a comfortable indoor environment by autonomous control system. As a result, standby information is collected and monitored, and machine learning for performing statistical analysis and better autonomous control based on the stored data is made possible.

• The Journal of Society for e-Business Studies
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• v.6 no.2
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• pp.39-55
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• 2001

As the Proliferation of the Internet, especially World Wide Web, numerous information resources have been constructed. The characteristics of information resources on the Internet are that the information resources are distributed, autonomous, and heterogeneous. Moreover each information resource has its own query method, data representation, and schema structure. The integration of information resources is one of the most important research issues in the Internet data management. The task of information resources integration system is to answer queries that require extracting and combining data from multiple information sources. In this paper, we propose an XML-based Mediation Framework(XMF) for integrating the Internet information resources.