• International Journal of Internet, Broadcasting and Communication
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• v.10 no.4
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• pp.70-74
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• 2018

In order to ensure the flow of goods available and more flexible, reduce labor costs, many factories and industrial zones around the world are gradually moving to use automated solutions. One of them is to use Automated guided vehicles (AGV). Currently, there are a line tracing method as an AGV operating method, and a method of estimating the current position of the AGV and matching with a factory map and knowing the moving direction of the AGV. In this paper, we propose ceiling Light and guided line based moving direction estimation algorithm using multi-camera on the AGV in smart factory that can operate stable AGV by compensating the disadvantages of existing AGV operation method. The proposed algorithm is able to estimate its position and direction using a general - purpose camera instead of a sensor. Based on this, it can correct its movement error and estimate its own movement path.

• The Transactions of the Korea Information Processing Society
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• v.3 no.1
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• pp.43-54
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• 1996

This paper presents new heuristic search algorithms for searching rectilinear r(L1), link metric, and combined shortest paths in the presence of orthogonal obstacles. The GMD(GuidedMinimum Detour) algorithm combines the best features of maze-running algorithms and line-search algorithms. The SGMD(Line-by-Line GuidedMinimum Detour)algorithm is a modiffication of the GMD algorithm that improves efficiency using line-by-line extensions. Our GMD and LGMD algorithms always find a rectilinear shortest path using the guided A search method without constructing a connection graph that contains a shortest path. The GMD and the LGMD algorithms can be implemented in O(m＋eloge＋NlogN) and O(eloge＋NlogN) time, respectively, and O(e＋N) space, where m is the total number of searched nodes, is the number of boundary sides of obstacles, and N is the total number of searched line segment. Based on the LGMD algorithm, we consider not only the problems of finding a link metric shortest path in terms of the number of bends, but also the combined L1 metric and Link Metric shortest path in terms of the length and the number of bands.

• Journal of the Korean Society for Nondestructive Testing
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• v.24 no.4
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• pp.331-340
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• 2004

Deployment of an advanced on-line monitoring of the component integrity offers a prospect of improved performance, enhanced safety, and reduced overall cost for nuclear power plants. Ultrasonic guided waves have been known as one of the promising techniques that could be utilized for on-line monitoring. The present work is aimed at developing a new method for on-line monitoring of the pipes during the operation period of nuclear power plants. For this purpose, the steam generator (S/G) tube was selected as an object of tile experiment. Dispersion corves and the incident angles corresponding to the specific modes were calculated for the S/G tube. The modes of guided waves were identified by the time-frequency diagrams obtained by the short time Fourier transform. It was experimentally confirmed that there was no mode conversion when the ultrasonic guided waves passed over the curved region of the S/G tube. An optimum mode of guided wave for the S/G tube was suggested and verified by the experiment.

• Journal of the Korean Society for Nondestructive Testing
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• v.29 no.6
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• pp.525-533
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• 2009

Emphasis in the paper is placed on describing guided wave successes and challenges for applications in aircraft and composite materials inspection. Guided wave imaging methods discussed includes line of sight, tomography, guided wave C-scan, phased array, and ultrasonic vibration methods. Applications outlined encircles lap splice, bonded repair patch, fuselage corrosion, water loaded structures, delamination, and ice detection and de-icing of various structures.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.50 no.7
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• pp.313-317
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• 2001

This paper proposed a fuzzy logic cross coupled controller which can enhance the path tracking performance of optically guided AGV(Automated Guided Vehicle). The AGV follows the guide path, it cannot be avoid the deviation from the path due to the inevitable error and the deviation must be corrected. Optically guided AGV used in industrial area is controlled by On-Off controller generally, the experimental AGV has three optical sensors in front body. In this structure, we could not know the leaving distance accurately and steering angle from the guided line, so AGV could not be controlled properly with conventional controller in the case of increasing or decreasing velocity. If we mount additional sensors the AGV, we could know the leaving distance and steering angle from the guided line and proper error compensating methode can be applied. But because cost of sensors are high, the cost of total system is increasing. So, in this paper, to improve the tracking performance of AGV which has the minimum number of sensors and fuzzy logic cross coupled controller is proposed. Some simulations and experimental results are presented to illustrate the performance of the proposed controller.

• Journal of Power System Engineering
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• v.14 no.5
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• pp.36-40
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• 2010

The ultrasonic guided wave propagates along with the given structure's wall direction. Because of this specific character, the ultrasonic guided waves arc used in many other fields. Especially, it can be readily utilized for nondestructive inspection of various structures that are made up of gas pipes, heat exchanger tubes, and thin plates. Further, the guided wave technology can be readily utilized when inspecting pipes or thin plates which pose high risk of the accident but for which the nondestructive inspection itself is impossible because it is difficult to get to them since they are coated or buried underground. In the other hand, conventional ultrasonic testing such as thickness gauging uses bulk waves and only tests the region of structure immediately below the transducer. As a result of the application about inlet and outlet cooling water line using guided wave test, we conformed that the overall corrosions were in the lower side of the 304.8 mm inlet valve and these corrosions were engaged in not locally but through the lower side of the valve line. In the near future, we can expect that the detectable defect size is smaller than before along with the development of the sensing technology.

• Proceedings of the Korea Committee for Ocean Resources and Engineering Conference
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• 2006.11a
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• pp.41-45
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• 2006

The fabrication process of fiber placement system of carbon fiber reinforced plastic (CFRP) requires real time process control and reliable inspection to ensure quality by preventing defects such as delamination and void. Therefore, novel non-contact inspection technique is required during the non-destructive evaluation in a fiber placement system. For the inspection of delamination in CFRP, various methods to receive laser-generated ultrasound were applied by using piezoelectric transducer, air-coupled transducer, wavelet transform and scanning laser ultrasonic technique. Laser-generated ultrasound was received with a conventional piezoelectric sensor in contacting manner. Then signal characteristics due to defects were analyzed to find a factor for detecting defects. Air-coupled transducer was used for reception of laser-generated guided wave using linear slit array in order to generate high frequency guided wave. And line scan technique was used to confirm the capability of on-line application. The high frequency component of laser-generated guided wave received with piezoelectric sensor disappeared after propagating through delamination region. Nevertheless, it was failed to receive high frequency guided wave in using air-coupled transducer. The first peak of the frequency spectrum under 100kHz in the delamination region is higher than in the sound region. By using this feature, the line scanned frequency data were acquired in fully non-contact generation and reception of ultrasound. This method was proved as useful technique for detecting delamination in CFRP.

• Journal of the Korean Society for Precision Engineering
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• v.21 no.10
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• pp.65-77
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• 2004

In this paper, we propose an adaptive mechanism based on immune algorithm and neural network identifier technique. It is also applied fur an autonomous guided vehicle (AGV) system. When the immune algorithm is applied to the PID controller, there exists the case that the plant is damaged due to the abrupt change of PID parameters since the parameters are almost adjusted randomly. To solve this problem, we use the neural network identifier (NNI) technique fur modeling the plant and humoral immune algorithm (HIA) which performs the parameter tuning of the considered model, respectively. After the PID parameters are determined in this off-line manner, these gains are then applied to the plant for the on-line control using an immune adaptive algorithm. Moreover, even though the neural network model may not be accurate enough initially, the weighting parameters are adjusted to be accurate through the on-line fine tuning. Finally, the simulation and experimental result fur the control of steering and speed of AGV system illustrate the validity of the proposed control scheme. These results for the proposed method also show that it has better performance than other conventional controller design methods.

• Proceedings of the Korea Electromagnetic Engineering Society Conference
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• 2003.11a
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• pp.59-63
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• 2003

Modal properties of guided waves along circular dispersive double negative (DNG) index metamaterial rod waveguides are numerically investigated. Identical forms of dispersive dielectric and magnetic material constants are used for simplicity. For degenerated azimuthally symmetric mode, a multimode region, a single mode region, a band gap region and a forbidden region are found which cannot be observed in the case of the conventional dielectric rod waveguide. As the normalized frequency goes down, discrete guided modes are continuously generated, which is a reverse property of conventional dielectric rod waveguide. Also, there are high-frequency cutoffs, which have been generally examined in dispersive circular geometries such as a plasma column or a plasma Goubau line. In the single mode region, both the low- and high-frequency cutoffs are existed where the propagation constants are continued between the guided oscillating and surface modes.

• Proceedings of the KIEE Conference
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• 2003.10a
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• pp.270-272
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• 2003

We have investigated the coupling characteristics of localized modes of line defect i.e., guided modes, in photonic crystals. The parity of the coupled guided modes is not conserved when the distance between the line defects changes. By comparing the coupling characteristics of localized modes without the oscillatory nature such as cavity modes of metallic Fabry-Parot cavities with those of localized modes in photonic crystals, we confirmed that this parity nonconservation is attributed to the oscillatory nature of the evanescent waves of localized modes in photonic crystals.