• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.24 no.8
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• pp.119-125
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• 2010

This paper proposes a new solution about physical problem of autonomous mobile robots system using ultrasonic sensors. An mobile robot uses several sensors for recognition of its circumstance. However, such sensor data are not accurate all the time. A means of removing the noise that sensor data contains constantly, It is possible for simulation to estimate its circumstance based on ultrasonic sensor data by learning algorithm SVR(Support Vector Regression). To use SVR, it is being selected parameter and kernel which are the component of SVR. Selecting the component of SVR, the most accurate parameter data was selected through the tests because it is not existed determined data. In addition, choosing the kernel uses RBF(Radial Basis Function) kernel which is the most generalized. This paper proposes SVR based algorithm to compensate for the above demerits of ultrasonic sensor through the experimentation under three different environments.

• Journal of the Korea Institute of Military Science and Technology
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• v.19 no.5
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• pp.645-653
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• 2016

The terrestrial wireless backbone network and satellite communications system have been independently developed depending on their own purposes and operational concepts, which results in different characteristics in terms of network architecture and routing protocol operation. In this paper, we propose a method for structurally integrating them in consideration of routing mechanism in an autonomous system. Our approach is that the routers of satellite network operate the OSPF in PTP mode on their interfaces connected to the routers of terrestrial wireless backbone network with grid connectivity, whereas the OSPF in satellite network whose topology is of hub-spoke type runs in NBMA mode. We perform some simulations to verify that the satellite communications system can be integrated and interwork with the terrestrial wireless backbone network by our proposed approach. From simulation results, it is also found that the increases of network convergence time and routing overhead are acceptable.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.39C no.11
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• pp.1177-1184
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• 2014

An wired ship area network has functionality of remote control and autonomous management of various sensors and instruments embedded or boarded in a ship. For such environment, the DiffServ (Differentiated Services) realizes that the high-speed real-time flow with the higher priority has the guaranteed minimum data rate and is delivered faster. As a result of this DiffServ effect, the intelligent Ship Area Networks can be implemented. In this paper, an packet drop technique is proposed to outperform the previous RIO (RED In and Out) drop mechanism for DiffServ in ship area networks. the proposed packet drop technique does not manage the individual flows and divides them into several flow groups according to a criterion. And it guarantees the fairness between individual flows in the same QoS class through the group-based control. In simulation results of the proposed packet drop technique, the link utilization decreases than RIO. But it guarantees more data rates to DiffServ flows passing multiple bottleneck links.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2003.05a
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• pp.149-156
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• 2003

This paper presents an underwater hybrid navigation system for a semi-autonomous underwater vehicle (SAUV). The navigation system consists of an inertial measurement unit (IMU), an ultra-short baseline (USBL) acoustic navigation sensor and a doppler velocity log (DVL) accompanying a magnetic compass. The errors of inertial measurement units increase with time due to the bias errors of gyros and accelerometers. A navigational system model is derived to include the error model of the USBL acoustic navigation sensor and the scale effect and bias errors of the DVL, of which the state equation composed of the navigation states and sensor parameters is 25 in the order. The conventional extended Kalman filter was used to propagate the error covariance, update the measurement errors and correct the state equation when the measurements are available. Simulation was performed with the 6-d.o.f. equations of motion of SAUV in a lawn-mowing survey mode. The hybrid underwater navigation system shows good tracking performance by updating the error covariance and correcting the system's states with the measurement errors from a DVL, a magnetic compass and a depth senor. The error of the estimated position still slowly drifts in horizontal plane about 3.5m for 500 seconds, which could be eliminated with the help of additional USBL information.

• Journal of the Korean Institute of Intelligent Systems
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• v.18 no.4
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• pp.482-487
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• 2008

In case of flooding, the underwater flight vehicle (UFV) executes the blowing by blowing ballast tanks off using high pressure air (HPA), while it also uses control planes and a propulsion unit to reduce the overshoot depth caused by a flooding and blowing sequence. However, the conventional whole HPA blow-off method lets the body on the surface after blowing despite slight flooding. This results in the unnecessary mission failure or body exposure. Therefore, it is necessary to keep the body at the near surface by the blowing control while reducing the overshoot depth. To solve this problem, an adaptive blowing control algorithm, which is based on the decomposition method expanding the expert knowledge in depth control and the adaptive method using fuzzy basis function expansion (FBFE), is proposed. To verify the performance of the proposed algorithm, the blowing control of UFV is performed. Simulation results show that the proposed algorithm effectively solves the problems in the UFV blowing control system online.

• Journal of Electrical Engineering and Technology
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• v.13 no.5
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• pp.1778-1790
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• 2018

Based on the requirements and characteristics of multi-zone autonomous decision-making in modern power system, fully distributed computing methods are needed to optimize the economic dispatch (ED) problem coordination of multi-regional power system on the basis of constructing decomposition and interaction mechanism. In this paper, four fully distributed methods based on alternating direction method of multipliers (ADMM) are used for solving the ED problem in distributed manner. By duplicating variables, the 2-block classical ADMM can be directly used to solve ED problem fully distributed. The second method is employing ADMM to solve the dual problem of ED in fully distributed manner. N-block methods based on ADMM including Alternating Direction Method with Gaussian back substitution (ADM_G) and Exchange ADMM (E_ADMM) are employed also. These two methods all can solve ED problem in distributed manner. However, the former one cannot be carried out in parallel. In this paper, four fully distributed methods solve the ED problem in distributed collaborative manner. And we also discussed the difference of four algorithms from the aspects of algorithm convergence, calculation speed and parameter change. Some simulation results are reported to test the performance of these distributed algorithms in serial and parallel.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.28 no.3B
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• pp.224-236
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• 2003

MANET(Mobile Ad hoc networks) is a mobile, multi-hop, and wireless network which is bandwidth constrained, energy constrained, resource constrained, autonomous, and self operating systems with dynamic topology. These constraints make the routing between communicating nodes in ad hoc networks difficult. In this paper we survey several routing protocol for mobile ad hoc networks. Especially, we focus on Zone Routing Protocol, hybrid routing framework suitable for a wide of mobile ad hoc networks and analyze performance of ZRP. In the case of ZRP protocol, it is essential that the use of optimal zone radius for efficient use. Otherwise it was proved through an simulation that performance of whole network is rapidly decrease with greatly increasing overhead of ZRP traffic that need for transmission of packet by IARP or IERP traffic. Also we suggest the process of finding QoS path that use in-band signal for QoS routing in ad hoc network. This method guarantees route that make real time multimedia service for QoS enabled path.

• Journal of Power Electronics
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• v.15 no.4
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• pp.1105-1118
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• 2015

Battery energy storage devices (ESDs) have become more and more commonplace to maintain the stability of islanded power systems. Considering the limitation in inverter capacity and the requirement of flexibility in the ESD, the droop control was implemented in paralleled ESDs for higher capacity and autonomous operation. Under the conventional droop control, state-of-charge (SoC) errors between paralleled ESDs is inevitable in the discharging operation. Thus, some ESDs cease operation earlier than expected. This paper proposes an adaptive accelerating parameter to improve the performance of the SoC error eliminating droop controller under the constraints of a microgrid. The SoC of a battery ESD is employed in the active power droop coefficient, which could eliminate the SoC error during the discharging process. In addition, to expedite the process of SoC error elimination, an adaptive accelerating parameter is dedicated to weaken the adverse effect of the constraints due to the requirement of the system running. Moreover, the stability and feasibility of the proposed control strategy are confirmed by small-signal analysis. The effectiveness of the control scheme is validated by simulation and experiment results.

• Journal of the Korean Institute of Intelligent Systems
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• v.16 no.5
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• pp.544-549
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• 2006

This research is to introduce about Judgment System for Intelligent Movement(JSIM) that can perform assistance work of human brain. JSIM can order autonomous command and also it can be directly controlled by user. This research assumes that control object is limited to Mobile Robot(MR) Mobile robot offers image and ultrasonic sensor information to user carrying JSIM and it performs guide to user. JSIM having PDA and Sensor-box controls velocity and direction of the mobile robot by soft-computing method that inputs user's command and information that is obtained to mobile robot. Also it controls mobile robot to achieve various movement. This paper introduces wearable JSIM that communicates with around devices and that can do intelligent judgment. To verify the possibility of the proposed system, in real environment, the simulation of control and application problem lot mobile robot will be introduced. Intelligent algorithm in the proposed system is generated by mixed hierarchical fuzzy and neural network.

• Journal of the Korean Institute of Intelligent Systems
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• v.19 no.5
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• pp.699-705
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• 2009

This paper is represented to research of driving control for the forklift AGV. The related works that were studied about AGV as heavy equipment used two methods which are magnet-gyro and wire guidance for localization. However, they have weaknesses that are high cost, difficult maintenance according to change of environment. In this paper, we develop localization system through sensor fusion with laser navigation system and encoder, gyro for robustness. Also we design driving controller using fuzzy and proportional control. It considers distance and angle difference between forklift AGV and pallet for engaging work. To analyze performance of the proposed control system, we experiment in same working condition over 10 times. In the results, the average error was presented with 54.16mm between simulation of control navigation and real control navigation. Consequently, experimental result shows that the performance of proposed control system is effective.