• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.10
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• pp.1962-1967
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• 2009

This paper deals with a design of a platform to simulate PRT vehicle operational control algorithms using on-board embedded process board. The configuration of the platform is composed of the central control module, the station control module, man-machine interface and monitoring module. Since PRT system needs inherently very reliable vehicle operational control algorithm in order to avoid the impact between vehicles, it is very important to construct a simulation platform to test a designed vehicle operational control algorithm during the development process For the test of the proposed platform a path of the each moving vehicle is predefined in the central control system before the dispatch order is given to the vehicle. The simulation results show the effectiveness of the proposed simulation platform for test and evaluation of the PRT operational control algorithms.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10b
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• pp.1611-1616
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• 1991

A high power stewart platform is designed and manufactured to simulate the 6 degrees of freedom motion of moving vehicle. This paper describes the design of such a motion system including kinematic and kinetic analysis, real time servo control mechanical and hydraulic system configuration, and techniques of regeneration of test records. Discussions are also presented for an algorithm called remote parameter control, which has been developed to compensate the dynamic delay of the electro-hydraulic servo actuators and the nonlinearities of stewart platform.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.83.2-83
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• 2001

This paper presents a new formulation approach to reduce computational burden of the direct kinematics of 6-dof haptic devices with three sets of a parallel-serial linkage. Their direct kinematics has been formulated through employing the Denavit-Hartenberg notation, which results in complicated formulation procedures and heavy computational burden. For reducing these problems, this paper reconfigures the haptic devices into an equivalent kinematic model of the 3-6 Stewart-Gough Platform that has three connecting joints on the moving platform. Moreover, the direct kinematics of the 3-6 Platform can be effectively formulated by using the proposed Tetrahedron Approach.

• The Journal of Korea Robotics Society
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• v.15 no.3
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• pp.221-232
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• 2020

In a four-wheel independent drive platform, four wheels and motors are connected directly, and the rotation of the motors generates the power of the platform. It uses a skid steering system that steers based on the difference in rotational power between wheel motors. The platform can control the speed of each wheel individually and has excellent mobility on dirt roads. However, the difficulty of the straight-running is caused due to torque distribution variation in each wheel's motor, and the direction of rotation of the wheel, and moving direction of the platform, and the difference of the platform's target direction. This paper describes an algorithm to detect the slip generated on each wheel when a four-wheel independent drive platform is traveling in a harsh environment. When the slip is detected, a compensation control algorithm is activated to compensate the torque of the motor mounted on the platform to improve the trajectory tracking performance of the platform. The four-wheel independent drive platform developed for this study verified the algorithm. The wheel slip detection and the compensation control algorithm of the platform are expected to improve the stability of trajectory tracking.

• Journal of the Korean Society of Industry Convergence
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• v.22 no.3
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• pp.315-324
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• 2019

This paper present a novel 6-axis robotic base platform with force/moment sensing. The robotic base platform is made up of six loadcells connecting the moving plate to the fixed plate by spherical joints at the both ends of loadcells. The statics relation is derived, the robotic base platform prototype and the loadcell measurement system are developed. The force/moment calibrations in joint and Cartesian spaces are performed. The algorithm to detect external force applied at a working robot is derived, and using a 6-DOF robot mounted on the robotic base platform, force/moment measurement experiments have been performed.

• The KIPS Transactions:PartD
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• v.11D no.6
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• pp.1247-1258
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• 2004

The LBS(Location-Based Service), which is based on individual's mobility, is required increasingly as mobile telecommunication and various infrastructures have developed rapidly. The technologies for LBS are location determination technology, service platform technology, contents provider technology and moving object database technology generally. Among these, service platform must be interoperable with location gate-way server and provide common function of billing, authentification, protect location information, privacy control, location trigger and intelligent acquisition and so on. The TTA(Telecommunications Technology Association) published specification that defines a standard protocol for safe and simple interface between LBS client and LBS platform and the OpenLS(Open Location Service) in OGC (Open GIS Consortium) released implementation specifications for providing Location based core services. In this paper, we implemented service platform for LBS which is able to interoperable with location gateway server and contents provider and is caracterized as follows. First, it could require and response location information from different types of location gateway server with same interface. Second, it complies with the standard interfaces with OpenLS 4 contents providers for core LBS. Third, it could provide location of wired phone as well as wireless mobile terminal compling with the standard protocol. Last, it could provide trajectorH information based past location as well as current location, because it is able to interoperable with moving object DBMS. This paper contributes to the construction and practical use of LBS by providing the method of implementation of service platform for LBS.

• Spatial Information Research
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• v.20 no.4
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• pp.37-45
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• 2012

Moving forward on smart society, change of the way to solve the spatial issue used in information society is required. In order to be competitive and sustainable spatial information service, existing "spatial information open platform" strategy needs to be transformed into "spatial information social platform". The requirement for the spatial information open platform to be socialized and evolved into the spatial information social platform is investigated with respect to the characteristics of social platform P. Savalle(2010) suggested. Based on the investigation, the definition of spatial information social platform is formulated. Several roles of the government as a platformer to create and manage the spatial information social platform are suggested.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.2
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• pp.156-163
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• 2002

This paper presents a new formulation to simplify the three resulting constraint equations of the direct kinematics of the 3-6 (Stewart-Gough) Platform. The conventional direct kinematics of the 3-6 Platform has been formulated through complicated steps with trigonometric functions in three angle variables and thus results in the computational burden. In order to reduce the formulation complexity, we replace an angle variable into a length one and express three connecting joints on the moving platform in the same frame. The proposed formulation yields considerable abbreviation of the number of the calculation terms involved in the direct kinematics. It is verified through a series of simulation results.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2012.05a
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• pp.213-215
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• 2012

The current Navigation System for the Visually Impaired Person has a short and limited communication distance and can't receive enough information from Visually Impaired Person to assist directly. In addition, because the path is dangerous and incomplete for the Visually Impaired Person, moving with White Stick is still inconvenient and dangerous. To solve this problem we implement communication that can send and receive video, voice, location information between the Visually Impaired Person's Android platform and assistant's PC.

• 한국전산유체공학회:학술대회논문집
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• 2008.03a
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• pp.283-289
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• 2008

The pressure-transient on platform screen doors in side platforms caused by passing trains with various operating conditions have been investigated numerically. The transient compressible three-dimensional flow simulations are performed with actual operating conditions of two trains by adopting moving mesh technique. To achieve more realistic results, the detailed shape of train and the subway station including tunnels connecting the adjacent stations are represented in the computational domain. Numerical analyses are carried out for cases considering arriving/passing/departing train with or without train stopped on the opposite track, and both trains on the move in opposite direction. From the numerical results, the maximum pressure on the platform screen doors, which is predicted in the case of two passing trains, satisfied the design standards for similar stations.