• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.4
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• pp.1786-1795
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• 2011

The trajectory control for omni-directional mobile robot is not easy. Especially, the tracking control which system uncertainty problem is included is much more difficult. This paper develops trajectory controller of 3-wheels omni-directional mobile robot using fuzzy multi-layered algorithm. The fuzzy control method is able to solve the problems of classical adaptive controller and conventional fuzzy adaptive controllers. It explains the architecture of a fuzzy adaptive controller using the robust property of a fuzzy controller. The basic idea of new adaptive control scheme is that an adaptive controller can be constructed with parallel combination of robust controllers. This new adaptive controller uses a fuzzy multi-layered architecture which has several independent fuzzy controllers in parallel, each with different robust stability area. Out of several independent fuzzy controllers, the most suited one is selected by a system identifier which observes variations in the controlled system parameter. This paper proposes a design procedure which can be carried out mathematically and systematically from the model of a controlled system; related mathematical theorems and their proofs are also given. Finally, the good performance of the developed mobile robot is confirmed through live tests of path control task.

• Transactions on Electrical and Electronic Materials
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• v.18 no.3
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• pp.169-175
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• 2017

A safe and reliable protection system in distribution networks, specifically, those hosting distribution generation units, needs a robust over-current protection scheme. To avoid unintentional DG disconnection during fault conditions, a protection system should operate quickly and selectively. Therefore, to achieve this aim, satisfying coordination constraints are important for any protection scheme in distribution networks; these pose a challenging task in interconnected and large-scale networks. In this paper, a new coordination strategy, based on the same non-standard time-current curve for all relays, in order to find optimal coordination of directional over-current relays, is proposed. The main aim is to reduce violations, especially miscoordination between pair relays. Besides this, the overall time of operation of relays during primary and backup operations should be minimized concurrently. This work is being tackled based on genetic algorithms and motivated by the heuristic algorithm. For the numerical analysis, to show the superiority of this coordination strategy, the IEEE 30-bus test system, with a mesh structure and supplemented with distributed generation, is put under extensive simulations, and the obtained results are discussed in depth.

• International journal of advanced smart convergence
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• v.5 no.4
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• pp.21-25
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• 2016

Recent development in multi-channel surround is emerging in various formats to provide better stereoscopic and sound effects to consumers in recent broadcasting. The ability sound localize the sound sources in space is most considerable design factor on multi-channel surround system for human earing perception model. However, this paper propose the change of the sound localization according to the spacing of the speakers, which is not covered in the existing research focus on sound system design. Presently the sound system uses the position and number of the speakers to localize the sound. In the multi-channel surround environment, the proposed design uses the sound localization is caused by the directional characteristics of the speaker, the distance between the speakers and the distance between the listener and the speaker according to the directivity is required. The proposed design is simulated using virtual measurement with MATLAB simulation environment and performances are measured.

• Proceedings of the KSRS Conference
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• v.2
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• pp.680-683
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• 2006

A one-dimensional planar model is considered of the atmosphere with multi-layer clouds illuminated by a mono-directional parallel flux of solar radiation. A new approach is proposed to radiation transfer modeling and daylight background formation for the atmosphere with such clouds that is represented as a heterogeneous multi-layer system each layer of which is described by different optical characteristics. The influence functions of each layer are determined by solutions of the radiation transfer boundary problem with an external monodirectional wide flux while the contribution of multiple scattering and absorption in the layer is taking into account.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.1503-1507
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• 2003

A general vibration phenomenon of a rigid-body supported by springs can be viewed as a small repetitive screw displacement. From this view, a multi-directional vibration absorber can be designed by use of screw theory and transfer matrix method. In this paper, the basic equations of motion for a multi-body system have been expressed in terms of screws using transfer matrix method and a simple approach to the design of a multi-degrees-of-freedom absorber has been presented. In order to illustrate the methodology, an example for the design of a 2-DOF active absorber which is capable of absorbing vibration of a rigid body excited by 3-DOF external force has been presented.

• Journal of Communications and Networks
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• v.15 no.4
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• pp.370-382
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• 2013

Distributed massive MIMO systems, which have high bandwidth efficiency and can accommodate a tremendous amount of traffic using algorithms such as zero-forcing beam forming (ZFBF), may be deployed in large public venues with the antennas mounted under-floor. In this case the channel gain matrix H can be modeled as a multi-banded matrix, in which off-diagonal entries decay both exponentially due to heavy human penetration loss and polynomially due to free space propagation loss. To enable practical implementation of such systems, we present a multi-banded matrix inversion algorithm that substantially reduces the complexity of ZFBF by keeping the most significant entries in H and the precoding matrix W. We introduce a parameter p to control the sparsity of H and W and thus achieve the tradeoff between the computational complexity and the system throughput. The proposed algorithm includes dense and sparse precoding versions, providing quadratic and linear complexity, respectively, relative to the number of antennas. We present analysis and numerical evaluations to show that the signal-to-interference ratio (SIR) increases linearly with p in dense precoding. In sparse precoding, we demonstrate the necessity of using directional antennas by both analysis and simulations. When the directional antenna gain increases, the resulting SIR increment in sparse precoding increases linearly with p, while the SIR of dense precoding is much less sensitive to changes in p.

• Journal of Satellite, Information and Communications
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• v.12 no.1
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• pp.114-119
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• 2017

In this paper we present the search on HC-06 Bluetooth based driver module for emergency LED Multi-Directional Indicator. Nowadays, a growing trends in which electronic displays such as LED, LCD or plasma monitors are being installed in public places like bars, stores, entertainment areas, restaurants, lobbies, etc. In this paper, the study is curried out on efficiency of HC-06 Bluetooth module based controller driver that relates generally to the field of emergency signage management systems for displaying various indicator contents remotely on electronic displays in public and privates venues. It allows user smart devices interaction remotely with digital signage by providing content for displaying on at least one display in a venue. Depending on the emergency case, HC-06 Bluetooth based driver module proves the high efficiency as well as good performance of processing and communicating remotely the indicator based message that is displayed from a venue management control system by using smart devices. The system combines smart device that linked to HC-06 Bluetooth module with ATmega168/328 embedded micro controller which result by switching the displayer containing the digital signage indicator based message.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.2B
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• pp.170-177
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• 2009

In this paper, we propose the structures of the NBTC (Narrow-Beam Trisector Cell) and the WBTC(Wide-Beam Trisector Cell) in which directional antennas both at the base station and at the relay station are used. We analyze and compare total capacity of the both systems taking the co-channel interference into consideration for two channel models. Through analysis, we find the effect of LOS (Lind of Sight) path to the total capacity of NBTC structure and that of WBTC structure. Our work may be useful as a guideline to control the interference for the next generation mobile communication and WiBro systems using multi-hop relays.

• Proceedings of the KSRS Conference
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• 2004.10a
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• pp.170-173
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• 2004

When the data from the artificial satellite is analyzed, recent years it is perceived to vegetation index using BRF(Bi-directional Reflectance Factor) of the observation target. To make the BRF models, it is important to measure the 3D structure of the observation target actually. In this study, it is proposed to the observation technique by using multi-angle stereo pair image, and shown the observation result in grassland area. Also, our team has been operating the radio controlled helicopter which can fly over the tall forest canopy and it can be equipped the measurement system.

• The Journal of Korea Robotics Society
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• v.17 no.3
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• pp.353-358
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• 2022

Due to the limited field of view of the pinhole camera, there is a lack of stability and accuracy in camera pose estimation applications such as visual SLAM. Nowadays, multiple-camera setups and large field of cameras are used to solve such issues. However, a multiple-camera system increases the computation complexity of the algorithm. Therefore, in multiple camera-assisted visual simultaneous localization and mapping (vSLAM) the multi-view tracking algorithm is proposed that can be used to balance the budget of the features in tracking and local mapping. The proposed algorithm is based on PanoSLAM architecture with a panoramic camera model. To avoid the scale issue 3D LiDAR is fused with omnidirectional camera setup. The depth is directly estimated from 3D LiDAR and the remaining features are triangulated from pose information. To validate the method, we collected a dataset from the outdoor environment and performed extensive experiments. The accuracy was measured by the absolute trajectory error which shows comparable robustness in various environments.