• The Journal of Korea Robotics Society
• /
• v.6 no.2
• /
• pp.97-107
• /
• 2011

This paper describes efficient flight control algorithms for building a reconfigurable ad-hoc wireless sensor networks between nodes on the ground and airborne nodes mounted on autonomous vehicles to increase the operational range of an aerial robot or the communication connectivity. Two autonomous flight control algorithms based on adaptive gradient climbing approach are developed to steer the aerial vehicles to reach optimal locations for the maximum communication throughputs in the airborne sensor networks. The first autonomous vehicle control algorithm is presented for seeking the source of a scalar signal by directly using the extremum-seeking based forward surge control approach with no position information of the aerial vehicle. The second flight control algorithm is developed with the angular rate command by integrating an adaptive gradient climbing technique which uses an on-line gradient estimator to identify the derivative of a performance cost function. They incorporate the network performance into the feedback path to mitigate interference and noise. A communication propagation model is used to predict the link quality of the communication connectivity between distributed nodes. Simulation study is conducted to evaluate the effectiveness of the proposed reconfigurable airborne wireless networking control algorithms.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.7 no.4
• /
• pp.789-796
• /
• 2012

To find the module sequence that makes correction rate optimal is the goal of this paper. The Hill-climbing algorithm was used in the experiment to analyze the performance of Korean Spelling Corrector. Given the wrong eojul set, We found the module sequence that shows correction rate of 96.41%. Because of the quite high correction rate, Hill-climbing is a practical method for our Spelling Corrector.

• Journal of the Korean Society for Precision Engineering
• /
• v.30 no.1
• /
• pp.32-38
• /
• 2013

Small mobile robots which use round wheels are suitable for driving on a flat surface, but it cannot climb the obstacle whose height is greater than the radius of wheels. As an alternative, legged-wheels have been proposed by many researchers due to its better climbing performance. However, driving and climbing performances have a trade-off relationship so that their driving performance should be sacrificed. In this study, in order to achieve both driving and climbing performances, a new transformable wheel was developed. The developed transformable wheel can have a round shape on a flat surface and change its shape into legged-wheel when it makes a contact with an obstacle. For design of the transformable wheel, the performance of legged-wheel was analyzed with respect to the number and curvature of the leg, and then the new transformable wheel was designed based on the analysis. Contrary to the existing transformable wheels that contain additional actuators for the transformation, the developed transformable wheel can be unfolded without any additional actuator. In this study, in order to validate the transformable wheel, a simple robot platform was fabricated. Consequently, it climbed the obstacle whose height is 2.6 times greater than the wheel radius.

• Transactions of the Korean Society of Automotive Engineers
• /
• v.23 no.5
• /
• pp.478-485
• /
• 2015

Availability of the climbing angle information is crucial for the intelligent vehicle system. However, the climbing angle information can't be measured with the sensor mounted on the vehicle. In this paper, climbing angle estimation system is proposed. First, longitudinal acceleration obtained from gyro-sensor is compared with the actual longitudinal acceleration of the vehicle. If the vehicle is in yawing motion, actual longitudinal acceleration can't be approximated from time derivative of wheel speed, because lateral velocity and yaw rate affect actual longitudinal acceleration. Wheel speed and yaw rate can be obtained from the sensors mounted on the vehicle, but lateral velocity can't be measured from the sensor. Therefore, lateral velocity is estimated using unknown input observer with nonlinear tire model. Simulation results show that the compensated results using lateral velocity and yaw rate show better performance than uncompensated results.

• Journal of IKEEE
• /
• v.25 no.2
• /
• pp.362-370
• /
• 2021

In this paper, we propose the Autonomous Stair-climbing system based on data from ToF sensors and IMU in developing stair-climbing robots to passive wheelchair users. Autonomous stair-climbing system are controlled by separating the timing of landing gear operation by location and utilizing state machines. To prove the theory, we construct and experiment with standard model stairs. Through an experiment to get the Attack angle, the average error of operating landing gear was 2.19% and the average error of the Attack angle was 2.78%, and the step division and status transition of the autonomous stair-climbing system were verified. As a result, the performance of the proposed techniques will reduce constraints of transportation handicapped.

• International journal of advanced smart convergence
• /
• v.11 no.3
• /
• pp.222-228
• /
• 2022

As a means to cope with the climate change crisis caused by global warming, automobile manufacturers continue to make efforts to use the driving energy of vehicles as electricity. As a result, parts industry such as battery, motor, and controller are attracting attention. China is often seen in large cities, with electric vehicles such as electric bicycles, electric motorcycles, and small electric vehicles popularized and commercialized, mainly in large cities. However, small electric vehicles are not popular in Korea, which is why the country's topography is high in hills. In order to drive the hilly domestic roads, power performance including vehicle climbing ability should be improved. In order to improve the power performance and the climbing capacity of small electric vehicles, the capacity of the motor should be increased. However, when the performance of the motor is improved, the weight of the motor becomes heavy and the price competitiveness is likely to decrease. In addition, in order to operate a high-performance motor, the power consumption of the battery is rapidly increased, so various problems must be solved. In order to commercialize a small electric vehicle for one or two people who do not emit harmful exhaust gas to the human body in a hilly domestic terrain, it is effective to have a separate transmission system. In this study, we were conducted dynamometer test to produce a continuously variable transmission(CVT) system prototype using a spring that can be applied to a small electric vehicle and to install a CVT system prototype manufactured in a small electric vehicle. The dynamometer test results showed that the maximum speed performance, acceleration performance, and climbing performance were improved.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.24 no.8 s.179
• /
• pp.2065-2073
• /
• 2000

In this paper, we present a wall climbing robot whose gate pattern takes after those of specialized climbing animals such as spiders. Characteristic features of the biological locomotion are partly realized in the design of the mechanism. The robot has two legs and a trunk. Each one-dof leg with suction pads is driven by a motor which employs a closed loop linkage mechanism, and the trunk with suction pads steers the whole body of the robot using a motor. By generating adequate trajectories of the leg and simultaneously alternating the suction pattern between the legs and the trunk, we can achieve the spider like motion. The proposed idea is implemented in a robot and some tests are performed to evaluate its performance.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.22 no.4
• /
• pp.467-474
• /
• 2019

Recently, optical phased array(OPA) based laser detection and ranging(LADAR) has gained great interest to replace the traditional mechanical light detection and ranging technique(LiDAR). In OPA-based LADAR, it is well known that phases of laser pulses traveling through each of channels should be the same to obtain a narrow free-space single beam without noise-like ripples in the far field. However, it is difficult to provide such ideal condition due to the fabrication errors. To tackle this problem, any algorithms should be necessary to compensate the initial random phases of each channel in OPA antenna. In this paper, we propose a hill-climbing based phase calibration algorithm and evaluate the performance of the proposed algorithm.

• Journal of information and communication convergence engineering
• /
• v.16 no.4
• /
• pp.264-270
• /
• 2018

In our research study, we aim at optimizing multiple load in cloud, effective resource allocation and lesser response time for the job assigned. Using Hadoop on datacenter is the best and most efficient analytical service for any corporates. To provide effective and reliable performance analytical computing interface to the client, various cloud service providers host Hadoop clusters. The previous works done by many scholars were aimed at execution of workflows on Hadoop platform which also minimizes the cost of virtual machines and other computing resources. Earlier stochastic hill climbing technique was applied for single parameter and now we are working to optimize multiple parameters in the cloud data centers with proposed heuristic hill climbing. As many users try to priorities their job simultaneously in the cluster, resource optimized workflow scheduling technique should be very reliable to complete the task assigned before the deadlines and also to optimize the usage of the resources in cloud.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.18 no.8
• /
• pp.344-349
• /
• 2017

Wall-climbing robots have been developed for various purposes, such as cleaning skyscraper windows, maintaining large structures, and welding vessels. Conventional wall-climbing robots use movement systems based on wheels or legs. However, wheeled robots suffer from slipping effects, while legged systems require many actuators and control systems for the complex linkage structure, which also increases the weight of the robot. To overcome these disadvantages, we propose a new wall-climbing robot that walks based on gorilla locomotion. The proposed robot consists of a DC drive motor, a vacuum pump for adsorption, and a micro controller for controlling the system. The performance of the robot was experimentally verified on vertical and horizontal flat surfaces. The robot could be used for various functions in industrial sites or disaster areas.