• IEMEK Journal of Embedded Systems and Applications
• /
• v.9 no.2
• /
• pp.67-73
• /
• 2014

When a mobile robot performs in unknown environments, a location identification is an essential task. In this paper, we propose a location identification system that uses a sensor space without additional devices on the robot. Also the sensor space consists of a matrix of CDS sensor; when a robot was positioned on the CDS sensor, we can estimate the coordinate of the location by sensing a light. Based on KS illumination standard, experiments are performed in various environments. By evaluating the experimental results, we can show that the proposed system can be applicable to the location identification system of a moving robot.

• 한국전산유체공학회:학술대회논문집
• /
• 2011.05a
• /
• pp.483-487
• /
• 2011

In the present study, a CFD program based on a finite volume method was developed by using an unstructured polyhedral grid system for the accurate simulation with the complex geometry of computational domain. To simulate the transient flow induced by the moving solid object, the program used a fractional step method and a ALE (Algebric Lagrangian-Eulerian) method. The grid deformation for the moving of solid object were performed with a spring analogy based on the center coordinate of each computational grid. To verify the present program with these methodologies, the numerical results of the flow around the fixed and oscillating circular cylinder were compared with the previous numerical results.

• Transactions of the Korean Society of Mechanical Engineers B
• /
• v.25 no.10
• /
• pp.1337-1345
• /
• 2001

Numerical investigation is made to study the effects of thermosolutal convection on the formation of macrosegregation in a Pb-Sn alloy solidification process in a two dimensional confined rectangluar mold. The basic equations are sovled using the Contrinum Model theory with the SIMPE algorithm during the solidification process. In addition, to track the liquid-solid interface with time variations, the moving boundary condition was adopted and moving irregular interface shapes were treated with the time-dependent, boundary-fitted coordinate system. As the temperature reduces from the liquidus to the solidus, the liquid concentration of Sn, the lighter constituent, increases. Then the buoyancy-driven flow due to temperature and liquid composition gradients occurs in the mushy region and forms the complicated macrosegregation maps. belated to this phenomena, effects on the macrosegregation formation depending on the cooling condition and gravity values are examined.

• Proceedings of the KIEE Conference
• /
• 1988.07a
• /
• pp.905-908
• /
• 1988

In recent, Kalman filter technique has been much used as one of technique for tracking of the moving target. But some problem are still remained to be resolved. For example, when Kalman filter technique is applied to nonlinear system, the technique is nonoptimal estimator. Therefore, extended Kalman filter is proposed to reduce modeling error for nonlinear system. In this study, an extended Kalman filter in Cartesian coordinates is described for moving target, when the radar sensor measures range, azimuth and elevation angle in polar coordinates. And an approximate gain computation algorithm is proposed. In this approach, Kalman gains are computed for three uncoupled filter and multiplied by a Jacobian transformation determined from the measured target position and orientation.

• Proceedings of the KSME Conference
• /
• 2004.04a
• /
• pp.551-556
• /
• 2004

We propose a 2D 'crack' element for the simulation of propagating crack with minimal remeshing. A regular finite element containing the crack tip is replaced with this novel crack element, while the elements which the crack has passed are split into two transition elements. Singular elements can easily be implemented into this crack element to represent the crack-tip singularity without enrichment. Both crack element and transition element proposed in our formulation are mapped from corresponding master elements which are commonly built using the moving least-square (MLS) approximation only in the natural coordinate. In numerical examples, the accuracy of stress intensity factor $K_I$ is demonstrated and the crack propagation in a plate is simulated.

• Proceedings of the KIEE Conference
• /
• 2005.10c
• /
• pp.129-131
• /
• 2005

This paper deals with an electromagnetic analysis and control parameter estimation of a moving-coil linear oscillatory actuator (MCLOA). Analytical solutions for electromagnetic characteristics of the MCLOA are obtained from transfer relations derived in terms of a magnetic vector potential and two-dimensional (2-d) rectangular coordinate systems. And then, on the basis of 2-d analytical solutions, control parameters such as the thrust constant, the back-emf constant and winding inductances are estimated. Finally, analytical results for both electromagnetic characteristics and control parameters of the MCLOA are validated extensively by finite element (FE) analyses. In particular, test results such as static thrust, resistance and inductance measurements are given to confirm the analyses.

• Journal of information and communication convergence engineering
• /
• v.19 no.3
• /
• pp.161-165
• /
• 2021

Since the first commercialization of beacon-based services in 2011, various services have been provided to improve Bluetooth performance, and research has been conducted to accurately recognize user locations using beacons. The various measurement methods of indoor positioning systems (IPS) include methods using receiver signal strength indicator (RSSI) the strength of which varies greatly in accuracy depending on whether there are obstacles such as cement walls or doors. In this paper, we present a method to provide accurate positioning services even in the presence of obstacles in indoor spaces. To this end, we connect the HM-10 module supporting the beacon with Arduino Uno, to place beacons in three directions in real-world indoor space, and derive an optimal trilateration equation. Based on the derivation, we select the optimal expression for calculating the distance between the beacon and the moving station and use it to verify the coordinate determination for the moving station.

• Proceedings of the KIEE Conference
• /
• 2004.11c
• /
• pp.526-528
• /
• 2004

This paper focuses on planning strategies for object interception, especially with minimum time. Herein, the goal is for robot to intercept object with minimum time on a conveyor line that flows to x-axis with respect to world coordinate system. In order to do it, conveyor system needs the algorithms for minimizing time. This objective is achieved by solving about two problems: selection of a minimum-time interception point and planning of an optimal robot trajectory. Herein, the first problem is formulated a minimization of the robot-object interception time.

• 한국전산유체공학회:학술대회논문집
• /
• 2001.10a
• /
• pp.157-163
• /
• 2001

In the present study a mesh generation program is developed for three dimensional flow analyses with complex geometry. By the present program one can define vertices using various coordinate systems and cells for finite volume approach. Rendered display of the generated mesh can be also available in both orthographic and perspective projection modes. Through perspective projection mode, one can check the quality of generated mesh by moving around inside the mesh like a virtual reality. The examples of the program execution is given in the paper.

• 제어로봇시스템학회:학술대회논문집
• /
• 1991.10a
• /
• pp.642-645
• /
• 1991

This paper presents the results of research on hardware and software of the landmark tracking system to the positions of moving robot in real time. The landmark tracking system is composed of CCD camera, landmark, strobo system and image processing board. The algorithm calculates the position and direction by using the coordinate transformation fomula after calculating the centroid and rotation angle of landmark at fixed position using the image data. The experiment is performed with landmark tracking system is loaded on xyz-table. XYZ-table is used for identifying the true position in our experiment. The results shows that this system has high performance with maxima error of .+-.1 pixels.