• 한국항행학회논문지
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• 제11권4호
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• pp.359-370
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• 2007

무인 자동차 시스템에 있어 차선추적과 물체회피 기술은 중요한 핵심기술 이다. 본 논문에서는 차량제어와 모델링, 센서 실험을 통하여 차선추적 및 물체회피 방법을 제안하고자 한다. 첫 번째 물체회피는 가/감속을 위한 종 방향 제어와 조향제어에 의한 횡 방향 제어 두 개의 부분으로 구성되어 진다. 각각의 시스템은 무인자동차의 제어를 위하여 차량의 위치, 주변환경 인식, 상황에 따른 빠른 처리를 요구한다. 차량의 제어 전략이 작동되는 동안 도로에서의 물체인식과 회피는 차량의 속도에 달려 있다. 두 번째 영상시스템을 통한 차선추석방법을 설명한다. 이 또한 두 부분으로 구성된다. 첫 번째 횡/종 제어를 위한 로도 모델이 포함된다. 두 번째 차선추적방법, 영상처리 알고리즘, 필터링 방법 및 영상처리 방법을 다룰 것이다. 마지막으로 본 논문에서는 실차실험을 통한 차선추적 및 물체회피 차량제어 및 모델링 방법을 제안한다.

• Journal of Korean Society for Atmospheric Environment
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• 제24권E1호
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• pp.1-11
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• 2008

Mercury (Hg), which is mainly emitted from coal-fired power plants, remains one of the most toxic compounds to both humans and ecosystems. Hg pollution is not a local or regional issue, but a global issue. Hg compounds emitted from anthropogenic sources such as coal-fired power plants, incinerators, and boilers, can be transported over long distances. Since the last decade, many European countries, Canada, and especially the United States, have focused on technology to control Hg emissions. Korea has also recently showed an interest in managing Hg pollution from various combustion sources. Previous studies indicate that coal-fired power plants are one of the major sources of Hg in Korea. However, lack of Hg emission data and feasible emission controls have been major obstacles in Hg study. In order to achieve effective Hg control, understanding the characteristics of current Hg sampling methods and control technologies is essential. There is no one proven technology that fits all Hg emission sources, because Hg emission and control efficiency depend on fuel type, configuration of air pollution control devices, flue gas composition, among others. Therefore, a broad knowledge of Hg sampling and control technologies is necessary to select the most suitable method for each Hg-emitting source. In this paper, various Hg sampling methods, including wet chemistry, dry sorbents trap, field, and laboratory demonstrated control technologies, and international regulations, are introduced, with a focus on coal-fired power plants.

• 로봇학회논문지
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• 제3권4호
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• pp.331-337
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• 2008

The field of robots is being widely accepted as a new technology today. Many robots are produced continuously to impart amusement to people. Especially the robot which operates with a wheelbarrow was enough of a work of art to arouse excitement in the audiences. All the wheelbarrow robots share the same technology in that the direction of roll and pitch are acting as balance controllers, allowing the robots to maintain balance for a long period by continuously moving forward and backward. However one disadvantage of this technology is that they cannot avoid obstacles in their way. Therefore movement in sideways is a necessity. For the control of rotation of yawing direction, the angle and direction of rotation are adjusted according to the velocity and torque of rotation of a motor. Therefore this study aimed to inquire into controlling yawing direction, which is responsible for rotation of a robot. This was followed by creating a simulation of a wheelbarrow robot and equipping the robot with a yawing direction controlling device in the center of the body so as to allow sideway movements.

• 한국전산유체공학회지
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• 제21권2호
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• pp.32-39
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• 2016

The Gradient Biome is a unique and large greenhouse(length 200 m, width 50 m, height:40 m) in which the elements of the weather, such as temperature and humidity, are controlled and reproduced in such a way as to create a continuous gradient from the tropical to frigid zones along specified longitudinal or transvers lines on the earth. One of the main purposes of the Gradient Biome is to observe the possible responses of the ecosystems (mainly plants), which are to be corresponding to each test climate and be introduced in the Biome, to the expected global warming. As one of the expected responses is the shift of the ecosystem(s) toward the region of suitable environment, there should be no artificial obstacles, which can prevent the shift, inside the facility. However, it is important but not so easy to find the ways of how the temperature and humidity in the Biome could be reproduced since the environmental variables tends to be homogeneous. In this paper, numerical simulations were carried out to find the effective control methods for air temperature and humidity inside the real scale Biome. One of the contributed solvers of OpenFOAM, which is an open source physics simulation code, was modified and used for the simulations.

• 재활복지공학회논문지
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• 제5권1호
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• pp.103-110
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• 2011

본 논문에서는 지능형 휠체어를 위한 시선 인식 인터페이스에 대해 제안한다. 시선 인식 인터페이스는 조이스틱을 움직이기 힘든 중증 장애인을 위해 시선 인식 및 추적을 이용하여 전동휠체어를 움직일 수 있게 하는 사용자 인터페이스이다. 지능형 휠체어는 시선인식 및 추적 모듈, 사용자 인터페이스, 장애물 회피 모듈, 모터 제어 모듈, 초음파 센서 모듈로 구성된다. 시선인식 및 추적 모듈은 적외선 카메라와 두개의 광원으로 사용자 눈의 각막 표면에 두 개의 반사점을 생성하고, 중심점을 구한 뒤, 동공의 중심점과 두 반사점의 중심을 이용하여 시선을 인식하고 추적 한다. 제안된 방법의 시선 인식 인터페이스는 실험을 통해 시선을 이용하여 지능형 휠체어에 명령을 하달하고 지능형 휠체어가 임의로 설치된 장애물을 감지하고 정확하게 장애물을 회피 할 수 있음을 보였다.

• 한국정보통신설비학회:학술대회논문집
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• 한국정보통신설비학회 2009년도 정보통신설비 학술대회
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• pp.68-71
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• 2009

All-IP network requires change of the existing IP network engineering methods as the convergence service market between communication and broadcasting industries using IP network is growing rapidly. Especially the video services like IPTV require more strict transmission quality and higher bandwidth than the existing data services. So it is difficult to design All-IP network by the over-provisioning method which used to be used for the existing IP network design. It also requires a heavy investment which becomes one of big obstacles to the IPTV service expansion. In order to reduce the investment costs, it is required to design an optimized network by maximizing the utilization of the network resources and at the same time maintaining the customer satisfaction in terms of service quality. In this paper, we first analyze the effects of IPTV traffic on the existing internet. Then we compare two traffic engineering technologies, which are dimensioning without admission control and dimensioning with admission control, on the All-IP network design by simulation. Finally, we suggest cost effectiveness of traffic engineering technologies for designing the All-IP network.

• 제어로봇시스템학회논문지
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• 제16권8호
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• pp.799-803
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• 2010

Recently, there is a rising interest on studying bio-inspired robotic fish because of real fish's great maneuverability and high energy efficiency. However, the researches about the robotic fish have not been done so much and there are still lots of problems to use them in the real environment such as in the river. This paper describes a bio-inspired robotic fish 'Ichthus' which is developed in KITECH and has 3 DOF propulsive mechanism. We develop the dynamic motion equation of 'Ichthus' in the underwater environment and analyze response characteristics of 'Ichthus' according to the input parameters of tail fin's amplitude and oscillation frequency. Then we propose control parameters at the various velocities. These parameters are useful to increase energy efficiency and it can be used when the fish robot moves in the real environment, for example, we can propose proper amplitude and oscillation frequency when the fish robot passes through the narrow space between obstacles.

• 제어로봇시스템학회논문지
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• 제13권2호
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• pp.114-120
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• 2007

This paper introduces a mobile robotic system being developed for urban search and rescue. In order to search human victims in narrow spaces, we developed two types of serially linked mobile robots, named KAEROT-Centipede and KAEROT-SnakeTV1, that can climb over large vertical steps or travel inside narrow vertical pipes. To send such mobile robots to the disaster areas coping with large obstacles, we also developed a assistant mobile robot, named KAEROT-QuadTrack, that has 4 articulated track modules. This paper describes the mechanical structure and control architecture of the serially linked mobile robots and the supporting configuration for torque reduction of the assistant mobile robot during spinning motion that usually requires large driving torque. The experimental results show that such robotic systems have good mobility over the various terrains in disaster areas.

• 제어로봇시스템학회논문지
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• 제12권10호
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• pp.955-961
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• 2006

The global ultrasonic system for the self-localization of a mobile robot consists of several ultrasonic transmitters fixed at some reference positions in the global coordinates of robot environment. By activating the ultrasonic transmitters, the mobile robot is able to get the distance to the ultrasonic transmitters and compute its own position in the global coordinate. Due to the limitation on the ultrasonic signal strength and beam width as well as the environmental obstacles however, the ultrasonic signals from some generator may not be transmitted to the robot. Thus, instead of activating the all ultrasonic transmitters, it is necessary to select some ultrasonic generators to activate based on the current robot position. In this paper, we propose a selective activation algorithm for self-localization with the global ultrasonic system. The selective activation algorithm gets the meaningful ultrasonic data at every sampling instants, which results in the faster and more accurate response of the self-localization than the conventional sequential activation. Through the self-localization and path following control, we verify the effectiveness of the proposed selective activation algorithm.

• 한국군사과학기술학회지
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• 제15권5호
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• pp.635-642
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• 2012

The Packet radio C2OTM(Command and Control On The Move) for Command, Control and situational awareness in communication environment of current Combat Net Radio Network is required in a relay transmission techniques. This is to assure the reliability of information transfer, and extend Wireless Coverage and overcome Communication obstacles of mountainous terrain. For the reliability of information transmission in tactical environment, Ad hoc Networking is necessary considering communication environment and an appropriate application of error correction. In this study, We propose a on-demand SDR algorithm that is currently being applied the FEC, Golay, Repetition Code. This enhanced relay transfer uses Ack Reply in tactical operating environment of MIL-STD-188-220 Protocol.