• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.182-182
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• 2000

This paper proposes a self tuning fuzzy inference method by the genetic algorithm in the fuzzy-sliding mode control for a robot. Using this method, the number of inference rules and the shape of membership functions are optimized without an expert in robotics. The fuzzy outputs of the consequent part are updated by the gradient descent method. And, it is guaranteed that the selected solution become the global optimal solution by optimizing the Akaike's information criterion. The trajectory trucking experiment of the polishing robot system shows that the optimal fuzzy inference rules are automatically selected by the genetic algorithm and the proposed fuzzy-sliding model controller provides reliable tracking performance during the polishing process.

• Proceedings of the Korean Society of Computer Information Conference
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• 2012.01a
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• pp.227-228
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• 2012

실외에서의 위치추적은 GPS(Global Positioning System) 등의 다양한 방법이 활용가능하다. 하지만 실내에서는 사용이 어려워 비전, RFID 및 Zigbee 등을 활용한 다양한 연구가 진행되고 있다. 본 연구에서는 비교적 비용 효과적으로 구축이 가능한 수동형 RFID 태그를 기반 이동형 로봇의 위치 추적 알고리즘을 제안하도록 한다. 총 7 종의 태그에 대하여 각 태그가 가지고 있는 특성을 실험을 통하여 분석하고 분석한 결과에 따라 태그를 배치하여 효과적으로 로봇의 이동에 따른 위치 추적 및 이동방향 예측방법을 기술한다. 제안하는 방법을 실험실 환경에서 레고 마인드스톰을 활용하여 그 효용성을 나타내도록 한다.

• Journal of the Korea Institute of Military Science and Technology
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• v.13 no.1
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• pp.133-139
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• 2010

GNSS receiver which uses the weak satellite signal is very vulnerable to the intentional jamming or non-intentional electromagnetic interference. It is a very simple method among the use method of GNSS receiver to vary tracking loop bandwidth of satellite signal appropriately as the jamming signal level. In this paper, this anti-jamming performance is experimented and analyzed in the laboratory and the anechoic chamber by the GNSS simulator to generate the satellite signal and the jamming signal generator to generate the jamming signal.

• Journal of Power Electronics
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• v.11 no.6
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• pp.819-823
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• 2011

This paper presents a fuzzy PD speed control scheme for the robust speed tracking of a permanent magnet synchronous motor (PMSM). Motivated by the common control engineering knowledge that transient performance can be improved if the P gain is big and the D gain is small in the beginning, a linearizing control scheme with a fuzzy PD controller is proposed. The global system stability is analyzed and the proposed control algorithm is implemented using a TMS320F28335 DSP. Simulation and experimental results are given to verify the effectiveness of the proposed method.

• Proceedings of the Korean Society of Computer Information Conference
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• 2014.07a
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• pp.357-360
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• 2014

화재 현장에 투입된 소방대원들은 각종 위험한 환경에 장시간 노출된 상태로 활동을 하고 있으며 또한 열과 연기 등으로 인하여 시야 확보가 매우 어렵고 장시간 화재 진압 및 구조 활동으로 인하여 급격한 체력 저하로 야기되는 소방대원의 인명 피해가 발생되고 있다. 그러므로 본 논문에서는 이러한 인명 피해를 막기 위하여 투입된 소방대원의 위치 추적 및 상태 등을 확인하여 만약에 고립된 소방대원이 있을 경우 안전하게 탈출 할 수 있는 실내 측위 및 추적 기술에 대하여 연구한다.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.5
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• pp.480-487
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• 2009

Autonomous Lane detection with vision is a difficult problem because of various road conditions, such as shadowy road surface, various light conditions, and the signs on the road. In this paper we propose a robust lane detection algorithm to overcome shadowy road problem using a statistical method. The algorithm is applied to the vision-based mobile robot system and the robot followed the lane with the lane following controller. In parallel with the lane following controller, the global position of the robot is estimated by the developed localization method to specify the locations where the lane is discontinued. The results of experiments, done in the region where the GPS measurement is unreliable, show good performance to detect and to follow the lane in complex conditions with shades, water marks, and so on.

• Proceedings of the KIPE Conference
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• 2010.11a
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• pp.74-75
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• 2010

As global warming due to burning fossil fuels and natural resource depletion issues have emerged, the development of renewable energy sources such as photovoltaics (PV) has been brought to recent interest. Amongst the vast efforts to harvest and convert solar energy into electricity, the module integrated converters (MIC) has become a worthy topic of research for grid-connected photovoltaic systems. Due to the required high-boosting qualities, only a restricted amount of DC/DC converter topologies can be applied to MICs. This paper investigates the possibility of a tapped-inductor boost converter as a candidate for PV MICs. A dual-inductor interleaving scheme operating slightly above the boundary of the two conduction modes (BCM) is suggested for reduction of input current ripple and minimization of component stress. A digital controller is used for implementation, assuring maximum power tracking and transfer while providing sufficient computational space for other grid connectivity applications, etc. For verification, a 200W converter is designed and simulated via computer software including component losses. High efficiency over a wide power range proves the feasibility of the proposed PV MIC system.

• Journal of Positioning, Navigation, and Timing
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• v.10 no.2
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• pp.91-102
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• 2021

In this paper, a fully reconfigurable Software Defined Radio (SDR) for multi-constellation and multi-frequency Global Navigation Satellite System (GNSS) receivers is presented. The reconfigurability with respect to the data structure, variability of signal and receiver parameters, and receiver's internal functionality is presented. The configuration file, that is modified to lead to an entirely different operation of the SDR in response to specific target signal scenarios, directly determines the operating characteristics of the SDR. In this manner, receiver designers can effectively reduce the effort to develop many different combinations of multi-constellation and/or multi-frequency GNSS receivers. Finally, the implementation of the presented fully reconfigurable SDR is included with the experimental processing results such as acquisition, tracking, navigation for the received signals in the realistic fields.

• Journal of Positioning, Navigation, and Timing
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• v.12 no.3
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• pp.295-306
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• 2023

This paper presents a multi-frequency and multi-constellation Global Navigation Satellite System (GNSS) signal generator that simulates intermediate frequency level digital signal samples for testing GNSS receivers. GNSS signal generators are ideally suited for testing the performance of GNSS receivers and algorithms under development in the laboratory for specific user locations and environments. The proposed GNSS signal generator features a fully-reconfigurable structure with the ability to adjust signal parameters, which is beneficial to generate desired signal characteristics for multiple scenarios including multi-constellation and frequencies. Successful signal acquisition, tracking, and navigation are demonstrated on a verified Software Defined Radio (SDR) in this study. This work has implications for future studies and advances the research and development of new GNSS signals.