• Journal of Drive and Control
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• v.13 no.1
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• pp.18-26
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• 2016

This research is conducted to develop an automatic steering system for parallel parking, and the performance of the system was evaluated by parallel parking a conventional vehicle. The automatic steering system consisted of MDPS (motor driven power steering) to control steering, ESC (electronic stability control) to acquire wheel speed, ultrasonic sensors to recognize the parking space, and a controller to communicate and handle data. The parallel parking process using the automatic steering control consisted of parking space recognition, parking path generation, and parking path tracking. The path for parallel parking was generated based on a kinematic model of a conventional vehicle, and a PI controller was used to control the steering angle for path tracking. Parallel parking using the automatic steering control was conducted according to vehicle speed conditions. The results show that the errors on the x-axis and y-axis were below 0.54 m and 0.14 m, respectively, and the error on the steering angle was less than $1^{\circ}$. Therefore, it is possible to implement parallel parking using an automatic steering control system for conventional vehicles.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.18 no.5
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• pp.1390-1411
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• 2024

Underwater Wireless Sensors Networks (UWSNs) are deployed in remotely monitored environment such as water level monitoring, ocean current identification, oil detection, habitat monitoring and numerous military applications. Providing scalable and efficient routing is very challenging in UWSNs due to the harsh underwater environment. The biggest difficulties are the nodes inherent movement due to water current, long delay in data transmission, low bandwidth of the acoustic signal, high error rate and energy scarcity in battery powered nodes. Many routing protocols have been proposed to solve the aforementioned problems. There are three broad categories of routing protocols namely depth based, energy based and vector-based routing. Vector Based Forwarding protocols perform routing through virtual pipeline by defining their radius which give proper direction to packets communication. We proposed a routing protocol termed as Path-Oriented Energy Scaled Expanded Vector Based Forwarding (PESEVBF). PESEVBF takes into account all parameters; holding time, the source nodes packets routing path and void holes creation on the second hop; PESEVBF not only considers the packet upward advancement but also focus on density of the forwarded nodes in terms of number of potential forwarding and suppressed nodes for path selection. Node selection in resultant holding time is based on minimum Path Factor (PF) value. Moreover, the suppressed node will be selected for packet forwarding to avoid the void holes occurrences on the second hop. Performance of PESEVBF is compared with other routing protocols using matrices such as energy consumption, packet delivery ratio, packets dropping ratio and duplicate packets creation indicating considerable performance improvement.

• Transactions of the Korean Society of Mechanical Engineers
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• v.15 no.1
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• pp.69-77
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• 1991

A collision-free trajectory planning algorithm using an iterative learning concept is proposed for dual robot arms in a 3-D common workspace to accurately follow their specified paths with constant velocities. Specifically, a collision-free trajectory minimizing the trajectory error is obtained first by employing the linear programming technique. Then the total operating time is iteratively adjusted based on the maximum trajectory error of the previous iteration so that the collision-free trajectory has no deviation from the specified path and also that the operating time is near-minimal. To show the validity of the proposed algorithm, a numerical example is presented based on two planar robots.

• Journal of the Korean Society for Precision Engineering
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• v.27 no.11
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• pp.98-105
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• 2010

In this paper, double ball-bar is used to estimate the geometric errors of a rotary table, which includes one-axial motion, two-radial motions and two-tilt motions, except the angular positioning error. To simplify the measurement procedures, three measurement steps have been designed and developed. At each measurement step, one end of the double ball-bar is fixed at the nose of spindle and the other end is located on the rotary table. And specific circular test path is planned to keep the distance between two balls as constant at ideal case. The relationship including the geometric errors of a rotary table and the measured distance between two balls which is distorted by the geometric errors is defined by using ball-bar equation. Each geometric error is modeled as $4^{th}$ order polynomial considering $C^1$-continuity. Finally the coefficients of polynomial are calculated by least-square method. Simulation is done to check the validation of the suggested method considering set-up errors and measurement noise. Suggested method is applied to estimate geometric errors of a rotary table of a 5-axis machine tool.

• Journal of Advanced Navigation Technology
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• v.20 no.1
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• pp.23-28
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• 2016

In this paper, we verified accuracy of the satellite based augmentation system (SBAS) tropospheric delay correction model for the Korean region. We employed the precise data of the tropospheric zenith path delay (ZPD) which is provided by the international GNSS service (IGS). In addition, we compared the verification results with that of the Saastamoinen model and the Hopfield model. Consequently, the bias residual error of the SBAS tropospheric delay correction model is about 50 mm, whereas the Saastamoinen model and the Hopfield model are more accurate. This residual error by the tropospheric delay model can affect the SBAS user position accuracy, but there is no problem in SBAS accuracy requirement. If we modified the meteorological parameters for SBAS tropospheric model to appropriate in Korean weather environment, we can provide better SBAS service to the Korean user.

• Journal of IKEEE
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• v.17 no.4
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• pp.440-445
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• 2013

This paper proposes a local estimation system which combines Cell Divide Algorithm with low-cost GPS/INS fused by Extended Kalman Filter(EKF) for localization of Quad-rotor when it returns to the departure point. In the research, the low-cost GPS and INS are fused by EKF to reduce the local error of low-cost GPS and the accumulative error of INS due to continuous integration of sensor error values. When the Quad-rotor returns to the departure point in the fastest path, a moving path can be known because it moves straight, where Cell Divide Algorithm is used to divide moving route into the cells. Then it determines the closest position of data of GPS/INS system fused by EKF to obtain the improved local data. The proposed system was verified through comparing experimental localization results obtained by using GPS, GPS/INS and GPS/INS with Cell Divide Algorithm respectively.

• Journal of Computational Design and Engineering
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• v.2 no.4
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• pp.218-232
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• 2015

Piecewise linear (G01-based) tool paths generated by CAM systems lack $G_1$ and $G_2$ continuity. The discontinuity causes vibration and unnecessary hesitation during machining. To ensure efficient high-speed machining, a method to improve the continuity of the tool paths is required, such as B-spline fitting that approximates G01 paths with B-spline curves. Conventional B-spline fitting approaches cannot be directly used for tool path B-spline fitting, because they have shortages such as numerical instability, lack of chord error constraint, and lack of assurance of a usable result. Progressive and Iterative Approximation for Least Squares (LSPIA) is an efficient method for data fitting that solves the numerical instability problem. However, it does not consider chord errors and needs more work to ensure ironclad results for commercial applications. In this paper, we use LSPIA method incorporating Energy term (ELSPIA) to avoid the numerical instability, and lower chord errors by using stretching energy term. We implement several algorithm improvements, including (1) an improved technique for initial control point determination over Dominant Point Method, (2) an algorithm that updates foot point parameters as needed, (3) analysis of the degrees of freedom of control points to insert new control points only when needed, (4) chord error refinement using a similar ELSPIA method with the above enhancements. The proposed approach can generate a shape-preserving B-spline curve. Experiments with data analysis and machining tests are presented for verification of quality and efficiency. Comparisons with other known solutions are included to evaluate the worthiness of the proposed solution.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.36S no.11
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• pp.34-43
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• 1999

A high-speed image processor (HIP) is implemented for a high-speed multi-function peripheral. HIP has a binarization architecture with unified data path. It has the pixel-by-pixel pipelined processing to minimize size of the external memory. It performs pre-processing such as shading correction, automatic gain control (AGC), and gamma correction, and also drives external CCD or CIS modules. The pre-processed data can be enlarged or reduced. Various binarizatin algorithms can be processed in the unified archiecture. The embedded binarization algorithms are simple thresholding, high pass filtering, dithering, error diffusion, and thershold modulated error diffusion. These binarization algorithms are unified based on th threshold modulated error diffusion. The data path is designed to share the common functional block of the binarization algorithms. The complexity of the controls and the gate counts is greatly reduced with this novel architecture.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.9
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• pp.839-847
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• 2011

This paper proposes a new guidance law for increasing the lethality of munitions. The well known PNG (Proportional Navigation Guidance) is inadequate for the munitions because of some weaknesses. Even if the munition does not have the impact point error, the acceleration command is non zero because the line-of-sight changes at all times in flight. Therefore, we use a difference between a target and an impact point. This proposed guidance law is similar to PNG in the form, but this guidance law concentrates a correction rate of flight path angle instead of the LOS (Line of Sight) rate. The correction of flight path angle is defined as the amount of impact point error. This impact point error can be calculated by neural networks rapidly. Finally, we show that the simulation results prove the suitability of this law.

• Journal of Korea Society of Industrial Information Systems
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• v.18 no.2
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• pp.35-40
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• 2013

In this paper, we propose a new image rejection receiver architecture using simultaneously the high-side and low-side injected LO signals. The proposed architecture has a lower noise figure (NF) performance and a higher linearity characteristic than the previous receiver architecture using a single LO signal. Also, the proposed receiver shows a higher IRR performance about 6dB than that of the previous Weaver image rejection architecture even though the same gain and phase errors between I-path and Q-path exist. To verify these characteristics, we derive an IRR formular of the proposed architecture as a function of mismatch parameters. And we demonstrate its formular's usefulness through the system simulation. Therefore, the proposed architecture will be widely used to implement the image rejection receiver due to its higher IRR performance.