• Proceedings of the KIEE Conference
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• 2006.04a
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• pp.339-341
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• 2006

This paper proposes a method of container position measurement using automatic landing system that is estimated by a laser range finder. In the most of container position measurement methods, CCD cameras or laser scanners have been used to get the source data. However those sensors are not only weak for disturbances, for examples, the light, fog, and rain, but also the system cost is high. When the spreader arrives the goal position, it is still swung by inertia or by wind effect. In this paper, the spreader swung data have been used to find the container position. The laser range finder is equipped in the front side of spreader. It can measure distance and relative position between spreader and container. This laser range finder can be rotated as desired by a motor. And a tilt sensor is equipped on the spreader to measure spreader sway. We estimate the relative position information between the spreader and a container using the laser range finder and tilt sensor through the geometrical analysis.

• Journal of the Korean Society of Industry Convergence
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• v.4 no.3
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• pp.339-347
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• 2001

Automatic automobile has been studied as the alternative energy system and the production flow automation device recently. But this is dependent on the import production, and its position cannot be controlled free from the fixed path. It is difficult to control the automobile position because of the eccentricity of inertia monent, slip and roughness between wheel and road surface. This problems is solved for the controller to be feedbacked the data of the multi-sensor system consisting of the rotary encoder and electronic compass. The proportional Integrated controller in the modified Ziegler-Nichols method is made up with Hitachi 7034 microprocessor. To the real time control the mechanical, electrical and electronic hardware and software device is produced by myself. The RF data of automobile speed and position is supplied to the remote PC to be displayed the automobile condition. By the experinent of the forward, spin, point path planning, it is known for autombile.

• Journal of Aerospace System Engineering
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• v.4 no.4
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• pp.18-27
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• 2010

Quadrotor is an aircraft which is possible in Vertical Take-off and Landing(VTOL). This aircraft can not only be created as an Unmanned Aerial Vehicle(UAV), but also can be easily used in various fields because of its simplicity of construction. This study is mainly conducted with two main purposes. The first goal is designing the quadrotor focusing on the lightweight and protecting the airframe. The second purpose is stabilizing the quadrotor's attitude by using the PID controller. MATLAB simulation is performed for obtaining PID gain based on equations of motion. We used the compensation filter technique for the calibration of sensor data. PID gain has been drawn out based on the MATLAB simulation. The efficiency of the attitude control is improved by calibration of sensor data.

• The Transactions of the Korean Institute of Power Electronics
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• v.14 no.2
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• pp.150-159
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• 2009

Generally, the operating efficiency of the washing machine is mostly affected by the washing time. The washing time is determined by the amount and the type of the laundry. Although the type of the laundry is easily inputted by the user, but the amount of the laundry is difficult to do. For this reason, the specific process is existed for the estimation of the laundry and the time of the washing mode is determined by the estimated laundry. Therefore, this paper proposes the washing load estimation algorithm by the inertia estimator. The proposed algorithm is implemented on the PMSM drive using the low cost position sensor for practical washing machine application. The proposed algorithm is verified by the drum washing machine for the practical load condition test.

• Proceedings of the IEEK Conference
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• 1998.06a
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• pp.955-957
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• 1998

Switched reluctance motor(SRM) has the advantages of simple structure, low rotor inertia, and high poer rate per unit volume. However, position sensor isessential in SRM in order to synchronize the phase excitation to the rotor position. The position sensors increase the cost of drive system, and tend to reduce system reliability. This paper investigtes the speed control of sensorless SRM. The proposed system consists of position detection circuit, dwell angle controller, digital logic commutator, PI speed controller and 4-phase inverter. The performances in the proposed system are verified through the experiment.

• Proceedings of the IEEK Conference
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• 2000.06e
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• pp.222-224
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• 2000

This Paper investigates the speed control of Switched reluctance motor(SRM) using one chip microcomputer The SRM has the advantages of simple structure low rotor inertia. and high efficiency. The Position sensor is essential in SRM in order to synchronize the Phase excitation to the rotor position. The proposed system consists of phase locked loop controller, switching angle controller and inverter. The Performances in the Proposed system are verified through the experiment.

• Journal of the Korean Institute of Navigation
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• v.18 no.4
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• pp.171-178
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• 1994

Fiber optic gyroscopes must be a promising technology that can replace conventional mechanical ones based on the principle of inertia of spinning masses. The advantages of fiber optic gyroscopes over mechanical ones include low cost, light weight, compact size and fast turn-on time. We will apply them to fiber optic gyrocompass for ships. Fiber optic gyrocompass for ships requires the north-seeking accuracy of $15^{\circ}$/hr, earth rotation rate, or better. This article introduces the fiber optic gyroscope as rotation sensor in the fiber optic gyrocompass system for ships that is planed to develop in our laboratory.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.694-699
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• 2005

This paper deals with a control technique of eliminating the transient vibration of a geared mechanical system. This technique is based on a model-based control with a rotational speed sensor in order to establish the damping effect at the driven machine part. A rotational speed sensor is installed in a driven gear, namely a bull gear. A control model is composed of a reduced-order mechanical part expressed as a transfer function between the rotational speed of the motor and that of the bull gear. This control model estimates a load speed after the rotational speed of the bull gear is acted on the transfer function. The difference between the estimated load speed and the motor speed is calculated dynamically and it is added to the velocity command to suppress the transient vibration generated at the load. This control technique is applied to a dies driving spindle of a form rolling machine. In this paper, the performance of this control method is examined by simulations. The settling time of the residual vibration generated at the loading inertia can be shortened down to about 1/2 of the uncompensated vibration level.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.8
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• pp.800-808
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• 2008

This paper presents a localization algorithm of the outdoor wheeled mobile robot using the sensor fusion method based on indirect Kalman filter(IKF). The wheeled mobile robot considered with in this paper is approximated to the two wheeled mobile robot. The mobile robot has the IMU and encoder sensor for inertia positioning system and GPS. Because the IMU and encoder sensor have bias errors, divergence of the estimated position from the measured data can occur when the mobile robot moves for a long time. Because of many natural and artificial conditions (i.e. atmosphere or GPS body itself), GPS has the maximum error about $10{\sim}20m$ when the mobile robot moves for a short time. Thus, the fusion algorithm of IMU, encoder sensor and GPS is needed. For the sensor fusion algorithm, we use IKF that estimates the errors of the position of the mobile robot. IKF proposed in this paper can be used other autonomous agents (i.e. UAV, UGV) because IKF in this paper use the position errors of the mobile robot. We can show the stability of the proposed sensor fusion method, using the fact that the covariance of error state of the IKF is bounded. To evaluate the performance of proposed algorithm, simulation and experimental results of IKF for the position(x-axis position, y-axis position, and yaw angle) of the outdoor wheeled mobile robot are presented.

• Journal of Biomedical Engineering Research
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• v.26 no.6
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• pp.351-356
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• 2005

Respiration measurement method using an ultrasound sensor is influenced very little by an error of inertia and pressure. This device measures the amount and flow of respiration using a delivery speed difference of the ultrasound waves that are a return format by the pneumatic stream that is a flogging of ultrasound waves during transmission and receipt as having used a characteristic of ultrasound waves. This paper examines improving the sensor's sensitivity during transmission and receipt of the signal. Because the measurement must be performed on patients, clinicians need to be sure that it is accurately measuring even very weak breathing.