• International Journal of Advanced Culture Technology
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• 제7권4호
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• pp.313-320
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• 2019

Nowadays, as the availability of tiny, low-cost microcomputer increases at a high level, mobile robots are experiencing remarkable enhancements in hardware design, software performance, and connectivity advancements. In order to control Turtlebot 2, several algorithms have been developed using the Robot Operating System(ROS). However, ROS requires to be run on a high-cost computer which increases the hardware cost and the power consumption to the robot. Therefore, design an algorithm based on low-cost hardware is the most innovative way to reduce the unnecessary costs of the hardware, to increase the performance, and to decrease the power consumed by the computer on the robot. In this paper, we present a path-finding algorithm for TurtleBot 2 based on low-cost hardware. We implemented the algorithm using Raspberry pi, Windows 10 IoT core, and RPLIDAR A2. Firstly, we used Raspberry pi as the alternative to the computer employed to handle ROS and to control the robot. Raspberry pi has the advantages of reducing the hardware cost and the energy consumed by the computer on the robot. Secondly, using RPLIDAR A2 and Windows 10 IoT core which is running on Raspberry pi, we implemented the path-finding algorithm which allows TurtleBot 2 to navigate from the starting point to the destination using the map of the area. In addition, we used C# and Universal Windows Platform to implement the proposed algorithm.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2004년도 학술대회 논문집 정보 및 제어부문
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• pp.544-546
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• 2004

This paper designs and evaluates a complementary filter for fusion of inertial sensor signals. Specifically, the designed filter is applied to inverted pendulum control where the pendulum's angle information is obtained from low-cost tilt and gyroscope sensors instead of an optical encoder. The complementary filter under consideration is a conventional one which consists of low- and high-pass filters. However, to improve the performance of the filter on the gyroscope, we use an integrator in the filter's outer loop. Frequency responses are obtained with both tilt and gyroscope sensors. Based on the frequency response results, we determine appropriate parameter values for the filter. The performance of the designed complementary filter is evaluated by applying the filter to inverted pendulum control. Experiments show that the performance of the designed filter is comparable to that of an optical encoder and low-cost inertial sensors can be used for inverted pendulum control with the heir of sensor fusion.

• International Journal of Aeronautical and Space Sciences
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• 제17권2호
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• pp.222-231
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• 2016

This paper proposes a new method achieving computationally efficient attitude reference system for low cost strapdown sensors and microprocessor platform. The main idea in this method is to define and compare velocity differential vectors, geometrically computed from INS and GPS data with different update rate, for generating attitude error measurements which is further used for filter construction. A quaternion based Kalman filter configuration is applied for the attitude estimation with the adapted measurement model of differential vector comparison. Linearized model for Extended Kalman Filter and low pass filtered characteristics of measurement greatly extend the affordability of the proposed algorithm to the field of simple low cost embedded systems. For performance verification, experiment are done employing a practical low cost MEMS IMU and GPS receiver specification. Performance comparison with a high grade navigation system demonstrated good estimation result.

• 전기학회논문지
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• 제63권9호
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• pp.1259-1265
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• 2014

In this paper, the real-time attitude determination based Matlab using low-cost receivers was designed and evaluated. The GNSS attitude determination system was implemented to operation in real-time by TimerCallback in MATLAB. The TTM(Transmission Time Misalignment) of U-blox receiver was confirmed through zero baseline tests and this problem was revised. The computed attitude by the high-cost NovAtel receiver was compared to the computed attitude by the low-cost U-blox receiver. As a result of this, the performance of attitude determination systems by low-cost receiver was confirmed. To determine baseline, LAMBDA and BC-LAMBDA for integer ambiguities search methods were used. To confirm suitable integer ambiguity search method in real-time attitude determination algorithm, determined baselines by two methods were compared, and it was confirmed that BC-LAMBDA is more suitable. As a result of this, the operation of real-time attitude determination system was confirmed using 3 low-cost receivers.

• 한국정보디스플레이학회:학술대회논문집
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• 한국정보디스플레이학회 2009년도 9th International Meeting on Information Display
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• pp.1168-1171
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• 2009

We propose a low cost, high performance, effective overdrive implementation method for liquid crystal display systems. The technique can calculate all overdrive values using higher order approximation algorithm by only three measurements. We find that our technique can be applied regardless of LCD panels. Due to its simplicity, we can also tune motion performance of the LCD systems without measurements.

• ETRI Journal
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• 제25권2호
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• pp.65-72
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• 2003

To achieve cost and size reductions, we developed a low cost manufacturing technology for RF substrates and a high performance passive process technology for RF integrated passive devices (IPDs). The fabricated substrate is a conventional 6" Si wafer with a 25${\mu}m$ thick $SiO_2$ surface. This substrate showed a very good insertion loss of 0.03 dB/mm at 4 GHz, including the conductive metal loss, with a 50 ${\Omega}$ coplanar transmission line (W=50${\mu}m$, G=20${\mu}m$). Using benzo cyclo butene (BCB) interlayers and a 10 ${\mu}m$ Cu plating process, we made high Q rectangular and circular spiral inductors on Si that had record maximum quality factors of more than 100. The fabricated inductor library showed a maximum quality factor range of 30-120, depending on geometrical parameters and inductance values of 0.35-35 nH. We also fabricated small RF IPDs on a thick oxide Si substrate for use in handheld phone applications, such as antenna switch modules or front end modules, and high-speed wireless LAN applications. The chip sizes of the wafer-level-packaged RF IPDs and wire-bondable RF IPDs were 1.0-1.5$mm^2$ and 0.8-1.0$mm^2$, respectively. They showed very good insertion loss and RF performances. These substrate and passive process technologies will be widely utilized in hand-held RF modules and systems requiring low cost solutions and strict volumetric efficiencies.

• 전력전자학회논문지
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• 제14권1호
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• pp.23-30
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• 2009

본 논문에서는 LCD TV의 인치에 따라 다르게 적용되는 기존의 PID(Power-Integrated Drive)시스템과 PSD(Power-Separated Drive)시스템을 검토하여, 두 시스템의 장점만을 모아 LCD TV 전원 시스템의 표준화가 가능한 새로운 방식의 구동 전원 통합 시스템을 제안한다. 제안 시스템은 가격 및 효율이 우수한 2단 구성으로 이루어져 있고, 안전규격을 만족하기 위하여 1:1 트랜스포머를 사용하였다. 인버터 부의 최적 동작을 위해 인버터 구동신호의 주파수와 시비율을 고정하고 펄스 개수를 제어하는 Pulse Count Modulation(PCM)방식을 채용 하였다. 제안 시스템의 인버터 단은 전 부하 범위에서 영전압 스위칭이 가능하여 스위치의 발열이 우수하고, 별도의 전류 평형 트랜스포머가 필요치 않으므로 Balance Coil의 삭제가 가능하다. 이로 인해 신뢰성이 높은 제품 구성이 가능하고, PCB Size 축소 및 제작 원가가 낮아지는 장점을 갖는다. 최종적으로 제안 시스템을 기존 시스템과 비교 및 실험적 검증을 통하여 제안 시스템의 우수성을 확인한다.

• 대한전기학회논문지:전기기기및에너지변환시스템부문B
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• 제53권1호
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• pp.24-29
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• 2004

A new low cost hybrid active filter for thyristor-controlled rectifier load is presented to overcome the high cost problem of the active or the other hybrid active filters. The proposed hybrid active filter which consists of tuned (5th and 7th harmonics) LC passive filters, power factor improvement(PFI) capacitor bank, and active filter compensates power factor as well as harmonic currents. Since most of harmonic currents are filtered by the passive filter and most of reactive power is compensated by the PFI capacitor bank, the power rating of active filter can be minimized, resulting in cost minimization of the proposed hybrid active filter. A 300kVA hybrid active filter system is implemented and tested using 1MVA thyristor rectifier load to verify the operation and performance.

• Journal of Preventive Medicine and Public Health
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• 제43권6호
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• pp.523-534
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• 2010

Objectives: We assessed impact of performance reporting information about the readmission rate, length of stay and cost of hip hemiarthroplasty. Methods: The data are from a nationwide claims database, National Quality Improvement Project database, of Health Insurance Review & Assessment Service in Korea. From January 2006 to April 2008, we received information of length of stay, readmission within 30 days, cost of 22 851 hip hemiarthroplasty episodes. Each episodes has retained the diagnoses of comorbidities and demographics. We used time-series analysis to assess the shifting of patients selections, between high volume (over 16 operations in a year) and low volume institutions, after performance reporting (December 2007). The changes of quality (readmission, length of stay) and cost were evaluated by multilevel analysis with adjustment of patient's factors and institutional factors after performance reporting. Results: As compared with the before performance reporting, the proportion of patients who choose the high volume institution, increased 3.45% and the trends continued 4 months at marginal significance (p = 0.059). After performance reporting, national average readmission rate, length of stay were decreased by 0.49 OR (95% CI=0.25 - 0.95) and 10% (${\beta}$=-0.102, p<0.01) and cost was not changed (${\beta}$=-0.01, p=0.27). The high volume institutions were more decreased than low volume in length of stay. Conclusions: After performance reporting, readmission rate, length of stay were decreased and the patient selections were marginally shifted from low volume institutions to high volume institutions.

• 한국정밀공학회지
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• 제32권10호
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• pp.917-923
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• 2015

3D Printing has a great advantage for its capabilities in manufacturing complicated structures in a reasonable manufacturing time, and thus is widely used in various fields. Due to the high cost of the equipment and material, a fairly acceptable equipment, the Projection Stereolithography Apparatus (PSLA), has been developed, using the projection pattern approach for the purpose of quick manufacturing. We evaluated its surface quality, as compared with that of other systems. The result is the development of a high-performance, low-cost 3D Printer and its operating software, using LCD and UV LED. Working materials for an optimal manufacturing are suggested in the research, along with some suggestions of basic approaches for enhancing the accuracy and quality of the manufactured structures.