• IEMEK Journal of Embedded Systems and Applications
• /
• v.8 no.5
• /
• pp.249-254
• /
• 2013

In this paper we propose nonlinear control system for automatic unmanned vehicle using a RC (Radio Controlled) car which is usually controlled by a remote controller. In the proposed system, a RC car is dissembled and reassembled with several parts enabling it to be controlled by an android mobile platform with Bluetooth communication. In our system, an android mobile smartphone is mounted on the RC car and plays an important role as an eye of the car. The proposed system automatically controls the RC car to follow a lane that we draw on the floor of our laboratory. Also, the proposed RC car system can also be controlled manually using the accelerometer sensor of a smartphone through a Bluetooth module. Our proposed system that has both manual mode and automatic mode consists of several components; a microprocessor unit, a Bluetooth serial interface module, a smartphone, a dual motor controller and a RC toy car. We are now in the development of a group driving system in which one car follows the front car that tracks a lane automatically.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.58 no.9
• /
• pp.1802-1808
• /
• 2009

A fault detection observer with finite time convergence characteristics(FT_FDO) is proposed and applied to a fault detection isolation system for a dynamic control system. The FT_FDO is a kind of dual state-observer scheme that provides with the state estimates insensitive to a specified fault and the corresponding fault estimate. The state estimates are processed to get the residual that will be logically compared with other residuals to detect and isolate the fault of interest, and the fault estimate may be used for fault compensation. The FDIS employing the FT_FDOs can be considered to be a multiple observer schemes(MOS) in which FT_FDOs are parallelly driven to generate a set of residuals to be compared each other. Due to the finite time convergence characteristics of the FT_FDO, the predetermined detection delay can be considered in the design stage of FDIS so that any fault of interest can be detected and identified in that time. It evidently resolves a well known difficulty of threshold selection owing to the transient responses of the fault detection observers(FDO) employed in FDIS. An FDIS is constructed for instruments(2-sensor, 1-actuator) in an inverted pendulum control system, and simulations are performed to show the performance of the FDIS and fault tolerant control system.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.41 no.2
• /
• pp.198-205
• /
• 2016

In the contemporary world, the breakthrough of the ultra-modern technologies has been blessed with the camera. This device has become omnipresent either integrated on with other devices such as smartphones, notebooks, laptops, handheld devices and so on. In addition, digital signage, display and monitors have also become very widespread around us everywhere. These types of scenarios have made imaginable to imagine about the consuming of the unused resources. The dual use of displayed contents can make it possible to use it as an advertisement as well as a transmitter for camera based communication. In this study, a digital watermarking algorithm based communication method has been analyzed. We have introduced Binary Pattern (BP) based a new message extracting algorithm to extract message in an efficient way from the watermarked image compared to other algorithms. Besides, the previous works using camera and display have been illustrated using comparative analysis. This paper has demonstrated an advantageous overview using the experimental results which reveals that the proposed methodology significantly reduces the complexity while augmenting the advantages of the proposed scheme. Moreover, the simulation results have shown the advantages of the proposed scheme over the other schemes.

• Proceedings of the KIPE Conference
• /
• 2008.10a
• /
• pp.199-201
• /
• 2008

In this paper proposed the solar tracking system to use direct fuzzy control order to increase an output of the PV (Photovoltaic) array. The solar tracking system operated two DC motors driving by signal of photo sensor. The control of dual axes is not an easy task due to nonlinear dynamics and unavailability of the parameters. Recently, artificial intelligent control of the fuzzy control, neural-network and genetic algorithm etc. have been studied. The fuzzy control made a nonlinear dynamics to well perform and had a robust and highly efficient characteristic about a parameter variable as well as a nonlinear characteristic. Hence the fuzzy control was used to perform the tracking system after comparing with error values of setting-up, nonlinear altitude and azimuth. In this paper designed a DFC(Direct Fuzzy Control)controller for improving output of PV array and evaluated comparison with efficient of conventional PI controller. The data which were obtained by experiment were able to show a validity of the proposed controller.

• Journal of Sensor Science and Technology
• /
• v.28 no.4
• /
• pp.251-255
• /
• 2019

We propose a two-step lithography process to minimize edge-bead issues caused by thick photoresist (PR) coating. In the conventional PR process, the edge bead can be efficiently removed by applying an edge-bead removal (EBR) process while rotating the silicon wafer at a high speed. However, applying conventional EBR to the production of desired PR mold with unique negative patterns cannot be used because a lower rpm of spin coating and a lower temperature in the soft bake process are required. To overcome this problem, a two-step lithography process was developed in this study and applied to the fabrication of a polydimethylsiloxane (PDMS) film having super-hydrophobic characteristics. Following UV exposure with a first photomask, the exposed part of the silicon wafer was selectively removed by applying a PR developer while rotating at a low rpm. Then, unique PR mold structures were prepared by employing an additional under-exposure process with a second mask, and the mold patterns were transferred to the PDMS. Results showed that the fabricated PDMS film based on the two-step lithography process reduced the height difference from 23% to 5%. In addition, the water contact angle was greatly improved by spraying of hydrophobic nanosilica on the dual-scaled PDMS surface.

• Journal of IKEEE
• /
• v.25 no.4
• /
• pp.782-785
• /
• 2021

In this paper, we propose a personalized cooling management system with thermal imaging camera. The proposed equipment uses a thermal imaging camera to control the amount of cold air and the system according to the difference between the user's skin temperature before and after the procedure. When the skin temperature is abnormally low, the cold air supply is cut off to prevent the possibility of a safety accident. It is economical by replacing the skin temperature sensor with a thermal imaging camera temperature measurement, and it can be visualized because the temperature can be checked with the thermal image. In addition, the proposed equipment improves the sensitivity of the sensor that measures the distance to the skin by calculating the focal length by using a dual laser pointer for the safety of a personalized cooling management system to which a thermal imaging camera is applied. In order to evaluate the performance of the proposed equipment, it was tested in an externally accredited testing institute. The first measured temperature range was -100℃~-160℃, indicating a wider temperature range than -150~-160℃(cryo generation/USA), which is the highest level currently used in the field. In addition, the error was measured to be ±3.2%~±3.5%, which showed better results than ±5%(CRYOTOP/China), which is the highest level currently used in the field. The second measured distance accuracy was measured as below ±4.0%, which was superior to ±5%(CRYOTOP/China), which is the highest level currently used in the field. Third, the nitrogen consumption was confirmed to be less than 0.15 L/min at the maximum, which was superior to the highest level of 6 L/min(POLAR BEAR/USA) currently used in the field. Therefore, it was determined that the performance of the personalized cooling management system applied with the thermal imaging camera proposed in this paper was excellent.

• International Journal of Highway Engineering
• /
• v.11 no.4
• /
• pp.69-78
• /
• 2009

Korea has achieved significant economic growth with building the Gyeongbu Expressway. As the number of new road construction projects has decreased, it becomes more important to maintain optimal status of the current road networks. One of the best ways to accomplish it is weight enforcement as active control measure of traffic load. This study is to develop High-speed Weigh-in-motion System in order to enhance efficiency of weight enforcement, and to analyze patterns of overloaded trucks on highways through the system. Furthermore, it is to review possibilities of developing overweight control system with application of the HS-WIM system. The HS-WIM system developed by this study consists of two sets of an axle load sensor, a loop sensor and a wandering sensor on each lane. A wandering sensor detects whether a travelling vehicle is off the lane or not with the function of checking the location of tire imprint. The sensor of the WIM system has better function of classifying types of vehicles than other existing systems by detecting wheel distance and tire type such as single or dual tire. As a result, its measurement errors regarding 12 types of vehicle classification are very low, which is an advantage of the sensor. The verification tests of the system under all conditions showed that the mean measurement errors of axle weight and gross axle weight were within 15 percent and 7 percent respectively. According to the WIM rate standard of the COST-323, the WIM system of this study is ranked at B(10). It means the system is appropriate for the purpose of design, maintenance and valuation of road infrastructure. The WIM system in testing a 5-axle cargo truck, the most frequently overloaded vehicle among 12 types of vehicles, is ranked at A(5) which means the system is available to control overloaded vehicles. In this case, the measurement errors of axle load and gross axle load were within 8 percent and 5 percent respectively. Weight analysis of all types of vehicles on highways showed that the most frequently overloaded vehicles were type 5, 6, 7 and 12 among 12 vehicle types. As a result, it is necessary to use more effective overweight enforcement system for vehicles which are seriously overloaded due to their lift axles. Traffic volume data depending upon vehicle types is basic information for road design and construction, maintenance, analysis of traffic flow, road policies as well as research.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.37C no.9
• /
• pp.802-810
• /
• 2012

This paper describes RFID(Radio Frequency Identification) based target acquisition and docking system. RFID is non-contact identification system, which can send relatively large amount of information using RF signal. Robot employing RFID reader can identify neighboring tag attached objects without any other sensing or supporting systems such as vision sensor. However, the current RFID does not provide spatial information of the identified object, the target docking problem remains in order to execute a task in a real environment. For the problem, the direction sensing RFID reader is developed using a dual-directional antenna. The dual-directional antenna is an antenna set, which is composed of perpendicularly positioned two identical directional antennas. By comparing the received signal strength in each antenna, the robot can know the DOA (Direction of Arrival) of transmitted RF signal. In practice, the DOA estimation poses a significant technical challenge, since the RF signal is easily distorted by the surrounded environmental conditions. Therefore, the robot loses its way to the target in an electromagnetically disturbed environment. For the problem, the g-filter based error correction algorithm is developed in this paper. The algorithm reduces the error using the difference of variances between current estimated and the previously filtered directions. The simulation and experiment results clearly demonstrate that the robot equipped with the developed system can successfully dock to a target tag in obstacles-cluttered environment.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.31 no.6_1
• /
• pp.455-461
• /
• 2013

Kompsat-3 is an optical high-resolution earth observation satellite launched in May 2012. The AEISS sensor of the Korean satellite provides 0.7m panchromatic and 2.8m multi-spectral images with 16.8km swath width from the sun-synchronous near-circular orbit of 685km altitude. Kompsat-3 is more advanced than Kompsat-2 and the improvements include better agility such as in-track stereo acquisition capability. This study investigated the characteristic of the epipolar curves of in-track Kompsat-3 stereo images. To this end we used the RPCs(Rational Polynomial Coefficients) to derive the epipolar curves over the entire image area and found out that the third order polynomial equation is required to model the curves. In addition, we could observe two different groups of curve patterns due to the dual CCDs of AEISS sensor. From the experiment we concluded that the third order polynomial-based RPCs update is required to minimize the sample direction image distortion. Finally we carried out the experiment on the epipolar resampling and the result showed the third order polynomial image transformation produced less than 0.7 pixels level of y-parallax.

• Journal of Information Technology Applications and Management
• /
• v.28 no.3
• /
• pp.59-75
• /
• 2021

This study aims to establish a foundation for autonomous driving on campus and communication of abundant university information in the HCI environment in a VR environment where college freshmen can freely travel around campus facilities. The purpose of this study is to develop a three-dimensional VR-style campus tour system to establish a media environment to provide abundant university information guidance services to freshmen in non-face-to-face situations. This study designed a three-dimensional virtual reality campus tour system to solve the problem of discontinuity in which VR360 filming space does not lead to space like reality, and to solve many problems of expertise in VR technology by constructing an integrated production environment of tour system. We aim to solve the problem of inefficiency, which requires a large amount of momentum in virtual space, by constructing a GUI that utilizes the motion of the field of view focus. The campus environment was designed as a three-dimensional virtual reality using a three-dimensional graphic design. In non-face-to-face situations, college freshmen freely transformed the HMD VR device, smartphone, FPS operation mode of the gyroscope sensor. The design elements of the three-dimensional virtual reality campus tour system were classified as ①Visualization of factual experiences, ②Continuity of space movement, ③Operation, automatic operation mode, ④Natural landscape animation, ⑤Animation according to wind direction, ⑥Actual space movement mode, ⑦Informatization of spatial understanding, ⑧GUI by experience environment, ⑨Text GUI by building, ⑩VR360, 3D360 Studio Environment, ⑪Three-dimensional virtual space coupling block module, ⑫3D360-3D Virtual Space Transmedia Zone, ⑬Transformable GUI(VR Device Dual Viewer-Gyro Sensor Full Viewer-FPS Operation Viewer) and an integrated production environment was established with each element. It is launched online (http://vautu.com/u1) by constructing a GUI for free driving mode and college information screens to adapt to college life for freshmen, and designing an environment that can be used simultaneously by current media such as PCs, Android, and iPads. Therefore, it conducted user research, held a development presentation, a forum on excellence in university innovation support projects, and applied it as a system on the website of a particular university. College freshmen will be able to experience university information directly from the web and app to the virtual reality campus environment.