• 제어로봇시스템학회:학술대회논문집
• /
• 1997.10a
• /
• pp.1871-1875
• /
• 1997

Crane operation is manually accomplished by skilled operators. Recently, the concept of automation is widely introduced in shipping and unloading operation using the overhead crane for the enhanced productivity. In this regards, we designed an angle detector and 3D position detectro which are key evices for this operation. As well as an intellignet control algorithm is developed for the implementation of swing free crane. The performance of the presented algorithm is tested for the swing angle and the position of the overheas crand. The control scheme adopts a feedback control of an angular velocity of swing in initial phase and then the fuzzy controller whose rule base is optimized by a genetic algorithm.

• 제어로봇시스템학회:학술대회논문집
• /
• 1996.10b
• /
• pp.1060-1063
• /
• 1996

Remote Cask Grappling and Lid Unbolting Device (RCGLUD) is developed as a dedicated device capable of performing complete procedure of handling nuclear spent fuel transport cask. Since RCGLUD is suspended to an overhead crane, its body should undergo prolonged vibration upon actuation in rotational direction and it becomes difficult to achieve precise grappling of the cask. Therefore, this paper presents an adaptation of input shaping technique to effectively suppress the rotational vibration of RCGLUD and achieve precise positioning in rotational direction. This technique has a practical merit in that it requires only the information on the system natural frequency and the damping ratio. Its performance is verified by both simulation and experimental studies, and revealed that the method is also insensitive to modeling error.

• Proceedings of the IEEK Conference
• /
• 1998.06a
• /
• pp.277-280
• /
• 1998

The paper provides an overview of those requirements. A detailed description is given of the construction of the new channel code, called 24/25 code, that compiles with the given constraints and involves only a minor drawback in terms of the overhead needs. The servo position information is recorded as low frequency componets, pilot tracking tones, which are embedded in the recorded stream of binary digits. Pilot tracking Tones are used to derive head position reference information in camcorders and DVCRs. A simple pilot tone encoder has been designed by using a new approach, "2 path precoder". Owing to this method, the hardware size can be significantly reduced. the correctness of the method has been verified by theoretical analysis and by extensive simulation.imulation.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.25 no.2
• /
• pp.242-249
• /
• 2001

In this study, a methodology of synchronous control has been developed that can is applied to position synchronization of a two-axes driving system such as overhead crane. The synchronous error is caused by model uncertainties and torque load at each axis. To overcome these problems, the synchronous control system has been composed of two disturbance observers to calculate the torque disturbance and one synchronous controller to eliminate synchronous error. By considering model uncertainties of each axis, the synchronous controller has been designed using H(sub)$\infty$ control theory. The effectiveness of the proposed method has been verified through simulation.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
• /
• 2004.11a
• /
• pp.491-495
• /
• 2004

Harbor and bay is essential social overhead capital to our country economy national security. This harbor and bay is ever-present danger of marine accident by massed sea traffic discharge. A nautical mark in sea maintains safety of sea traffic and establishes in sea for increase of efficiency of ship service to prevent this sea accident. In this study, position of light buoy that establish for safety of harbor and bay that decided adjacent district along the coast base point by utilization method of intersection and evaluated and compares with DGPS measurement techniques.

• Journal of Institute of Control, Robotics and Systems
• /
• v.21 no.1
• /
• pp.76-79
• /
• 2015

Visible light communication (VLC) is a short range optical communication technology using light emitting diodes. In this paper, we implement variable pulse position modulation (VPPM) defined in the IEEE 802.15.7 standard with a Cortex-M processor, which is a new modulation scheme for VLC providing a dimming control mechanism for flicker-free optical communication. The synchronization procedure between the transmitter and receiver is not defined clearly in the VPPM standard. In order to synchronize the transmitter and receiver easily, two overhead bits are used including one start bit and one stop bit modulated by on-off keying (OOK). Experimental results under various environmental conditions show that the proposed VPPM can support a seamless 100 Kbps data rate with 10 levels in the dimming control.

• The Transactions of the Korean Institute of Electrical Engineers P
• /
• v.66 no.1
• /
• pp.38-42
• /
• 2017

The wear of the third track power collector is one of the essential check factors for safe train operation. Rapid wear of the current collector accelerates the line of the catenary. In addition, the arc generated when the catenary line is turned off causes a malfunction in the minute portion of the catenary line, thereby shortening the life of the catenary line. In this paper, to analyze the mechanical wear of the current collector during driving according to the environmental factor of the Maglev(magnetic levitation train), it was divided into dry season and wet season. the wear of metallized collector, copper alloy collector and carbon collector were measured and compared with each other. The wear rate was measured according to the position of the wire, the position of the power collector and the position per hour. Microscopic photographs of the cross section and surface of the power collector were measured. The electrical currents of the metallized collector, copper alloy collector and carbon collector were measured.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.13 no.5
• /
• pp.2299-2318
• /
• 2019

Location-aware networks are of great importance for both civil lives and military applications. Methods based on line-of-sight (LOS) measurements suffer sever performance loss in harsh environments such as indoor scenarios, where sensors can receive both LOS and non-line-of-sight (NLOS) measurements. In this paper, we propose a data association (DA) process based on the expectation maximization (EM) algorithm, which enables us to exploit multipath components (MPCs). By setting the mapping relationship between the measurements and scatters as a latent variable, coefficients of the Gaussian mixture model are estimated. Moreover, considering the misalignment of sensor position, we propose a space-alternating generalized expectation maximization (SAGE)-based algorithms to jointly update the target localization and sensor position information. A two dimensional (2-D) circularly symmetric Gaussian distribution is employed to approximate the probability density function of the sensor's position uncertainty via the minimization of the Kullback-Leibler divergence (KLD), which enables us to calculate the expectation step with low computational complexity. Moreover, a distributed implementation is derived based on the average consensus method to improve the scalability of the proposed algorithm. Simulation results demonstrate that the proposed centralized and distributed algorithms can perform close to the Monte Carlo-based method with much lower communication overhead and computational complexity.

• Journal of the Korea Society of Computer and Information
• /
• v.22 no.9
• /
• pp.33-40
• /
• 2017

In this paper, we propose a sink-location management and data-routing scheme to effectively support the mobile sink in solar-powered WSN. Battery-based wireless sensor networks (WSNs) have a limited lifetime due to their limited energy, but solar energy-based WSNs can be supplied with energy periodically and can operate forever. On the other hand, introduction of mobile sink in WSNs can solve some energy unbalance problem between sink-neighboring nodes and outer nodes which is one of the major challenges in WSNs. However, there is a problem that additional energy should be consumed to notify each sensor node of the location of the randomly moving mobile sink. In the proposed scheme, one of the nodes that harvests enough energy in each cluster are selected as the cluster head, and the location information of the mobile sink is shared only among the cluster heads, thereby reducing the location management overhead. In addition, the overhead for setting the routing path can be removed by transferring data in the opposite direction to the path where the sink-position information is transferred among the heads. Lastly, the access node is introduced to transmit data to the sink more reliably when the sink moves frequently.

• The Journal of Korean Physical Therapy
• /
• v.25 no.4
• /
• pp.217-223
• /
• 2013

Purpose: This study was to investigate whether the two different head postures, natural and ideal head posture, affect head/shoulder posture and muscle activity. Methods: Thirty healthy subjects with the forward head and round shoulder posture were participated in this study. This study utilized a within-subjects design with subjects being positioned into two sitting positions: natural head posture (NHP) and ideal head posture (IHP). Forward head angle (FHA) and forward shoulder angle (FSA) of each subject were measured for assessing the head/shoulder posture and muscle activities of upper trapezius (UT), lower trapezius (LT), and serratus anterior (SA) during the forward overhead reaching. Results: There were significant increases in both FHA and FSA after taking IHP, which showed greater angles than in taking NHP. In change of muscle activities, there were significant decreases in both LT and SA after taking IHP, which showed lower activities than in taking a NHP, whereas there was no significant change in UT. Conclusion: These findings demonstrate that postural alterations associated with forward head and rounded shoulder postures could alter scapular kinetics and muscle activity during the forward overhead reaching.