• 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.

• The Journal of the Acoustical Society of Korea
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• v.35 no.5
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• pp.403-409
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• 2016

Traditional towed line arrays using omni-directional sensor suffer from the well known port-starboard ambiguity, because the direction of arrival is determined by conic angle. The operational method and structure of the sensor arrays method have been proposed to solve this problem. Recently, a lot of research relating to the acoustic vector sensor are studied. In this paper, we study port-starboard discrimination for roll of acoustic vector sensor array. With one omni-directional sensor and three orthogonally-placed directional sensors, an acoustic vector sensor is able to measure both the acoustic pressure and the three directional velocities at the point of the sensor. The wrong axis due to the roll at directional sensors can degrade performance of beamforming. We investigate port-starboard discrimination for roll of sensor array and confirm the validity of performance of beamforming with compensated the roll.

• Journal of the Korean Society of Marine Environment & Safety
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• v.28 no.5
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• pp.700-711
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• 2022

In this study, deepwater design waves were estimated for 16 wave directions and various return periods based on statistical analysis of extreme waves observed for more than 20 years at three stations (Chilbal-do, Geomun-do, Donghae). These values were compared with design waves estimated based on the omni-directional wave data. The Weibull distribution was used as the probability distribution function whose parameters were determined by the least square method. The Kolmogorov-Smirnov test was applied for the goodness of fit test. Notably, the directional design waves were smaller than the omni-directional design wave for every wave direction. The maximum 50-year wave heights for directional sectors were 7.46 m (NNE), 12.05 m (S), and 9,59 m (SSW) at Chilbal-do, Geomun-do and Donghae whereas those for uni-directional wave data were 7.91 m, 13.82 m and 10.38 m, respectively. This implied possible under-estimation of the deepwater design waves for 16 wave directions being currently used in the design of offshore and coastal structures.

• Proceedings of the IEEK Conference
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• 2007.07a
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• pp.113-114
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• 2007

무선 Ad Hoc 네트워크 환경에서 기존 IEEE 802.11 MAC 프로토콜에서 Omni-Directional 안테나를 이용하여 방식으로부터 자원의 활용을 늘이기 위해서 Directional 안테나를 이용한다. Directional 안테나의 사용으로 기존 802.11 MAC 프로토콜에 비해 Spatial reuse가 증가하고, 안테나의 높은 이득과 간섭의 감소, 그리고 전송범위의 증가의 장점을 갖는다. 그러나, Directional 안테나를 이용함으로서 New Hidden Problem, Deafness, 그리고 Capture 등과 같은 문제점이 발생하였다. 본 논문에서는 이러한 문제점들을 파악하고, 이를 해결하는 방안들을 분석하고 각 해결방안들에 대한 성능을 비교평가한다.

• Journal of KIISE:Information Networking
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• v.33 no.1
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• pp.16-27
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• 2006

The wireless transmission medium inherently broadcasts a signal to all neighbor nodes in the transmission range. Existing asynchronous MAC protocols do not provide a concrete solution for reliable broadcast in link layer. This mainly comes from that an omni-directional broadcasting causes to reduce the network performance due to the explosive collisions and contentions. This paper proposes a reliable broadcast protocol in link taller based on directional antennas, named MDB(MAC protocol for Directional Broadcasting). This protocol makes use of DAST(Directional Antennas Statement Table) information and D-MACA(Directional Multiple Access and Collision Avoidance) scheme through 4-way handshake to resolve the many collision problem wit]1 omni-directional antenna. To analyze its performance, MDB protocol is compared with IEEE 802.11 DCF protocol [9] and the protocol 2 of reference [3], in terms of the success rate of broadcast and the collision rate. As a result of performance analysis through simulation, it was confirmed that the collision rate of the MDB protocol is lower than those of IEEE 802.11 and the protocol 2 of reference [3], and that the completion rate of broadcast of MDB protocol is higher than those of IEEE 802.11 and the protocol 2 of reference [3].

• Journal of Digital Convergence
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• v.11 no.11
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• pp.85-94
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• 2013

This paper presents a novel mobile measurement system with multi antennas which enable mobile measurement as well as fixed measurement with telescope mast. Proposed system installed 4 omni directional antennas for the space diversity process and one directional log periodic antenna for the simultaneous conventional fixed measurement. Whole antenna systems are connected to the custom DTV channel analyzers with Ethernet networks respectively and processed by the main controller to calculate real time average receive levels. To prove the performance of proposed system, the typical receive models are categorized as 3 area types - open area, building area and house area, and then intensive field tests were performed through mobile and fixed measurement phases. With these measurement data, the relationships between mobile and fixed measurement are analyzed, and the concept of compensation factor is proposed to assume the average receive level of signal. The field test is fulfilled as a co-work with public broadcasters and the proposed system is applied to the intensive coverage measurement projects for metropolitan areas by the korean government agencies.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2012.10a
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• pp.294-295
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• 2012

• Proceedings of the Korean Vacuum Society Conference
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• 2005.08a
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• pp.40-40
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• 2005

• The Journal of Korean Institute of Communications and Information Sciences
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• v.38C no.11
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• pp.1074-1077
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• 2013

This paper analyzes the benefit of using directional antennas against eavesdropping attack in millimeter wave (mmWave)-based networks. All devices are equipped with a directional antenna or an omni-directional antenna in a single-hop communications. The probability of a device being detected by an eavesdropper is analyzed based on the exposure region of a device. The relative detection rate is introduced to represent the benefit of using directional antenna. Numerical results show that there exists an optimal number of devices that maximizes the detection probability and it varies according to the parameters such as antenna beamwidth. It shows that the use of directional antenna enables to protect the devices from the detection by an eavesdropper for almost the whole situation in mmWave band communication.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.4
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• pp.454-461
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• 1999

A concrete floor trowel machine, developed in the U.S in 1990's, consists of only two rotary trowels, and doesn't need any other mechanism for motion such as wheels. When the machine flattens a concrete floor with its rotary trowels, the machine can move in any direction by utilizing the unbalanced friction forces occurring between the rotary wheels and the floor when the trowels are tilted in appropriate directions. In order to automate the trowels machine, this paper proposed the self-propulsive concrete finishing trowel robot which has twin trowels. For the control of the robot, this paper discussed the following. Firstly, the dynamics model of the driving frictional force applied on each trowel from the floor is derived. Secondly, the relationship between the driving force for the robot and the control variable of the robot is derived. Finally, the basic motion of the robot are realized by using the obtained relationship. This paper figures out how the concrete floor finishing robot with tow trowels moves and will contribute to realizing it.