• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.5
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• pp.1929-1950
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• 2020

Reliable and secure data transmission in the application environment assisted by the wireless sensor network is one of the major challenges. Problem like blind forwarding and data inaccessibility affect the efficiency of overall infrastructure performance. This paper proposes routing protocol for forwarding and error recovery during packet loss. The same is achieved by energy and hops distance-based formulation of the routing mechanism. The reachability of the intermediate node to the source node is the major factor that helps in improving the lifetime of the network. On the other hand, intelligent hop selection increases the reliability over continuous data transmission. The number of hop count is factor of hop weight and available energy of the node. The comparison over the previous state of the art using QualNet-7.4 network simulator shows the effectiveness of proposed work in terms of overall energy conservation of network and reliable data delivery. The simulation results also show the elimination of blind forwarding and data inaccessibility.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.7
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• pp.502-507
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• 2016

In this paper, we propose a tracking control method for a quadrotor equipped with a 2-DOF manipulator, which is based on the multiple sliding surface control (MSSC) method. To derive the model of a quadrotor equipped with a 2-DOF manipulator, we obtain the models of a quadrotor and a 2-DOF manipulator based on the Lagrange-Euler formulation separately - and include the inertia and the reactive torque generated by a manipulator when these obtained models are combined. To make a quadrotor equipped with a manipulator track the desired path, we design a double-loop controller. The desired position is converted into the desired angular position in the outer controller and the system's angle tracks the desired angular position through the inner controller based on the MSSC method. We prove that the position-tracking error asymptotically converges to zero based on the Lyapunov stability theory. Finally, we demonstrate the effectiveness of the proposed control system through a computer simulation.

• Journal of Institute of Control, Robotics and Systems
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• v.13 no.9
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• pp.903-909
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• 2007

Mobile Robots are increasingly being used to perform tasks in unknown environment. The potential of robots to undertake such tasks lies in their ability to intelligently and efficiently search in an environment. To achieve autonomous mobile robot navigation, efficient path planner and accurate localization technique are the fundamental issues that should be addressed. This paper presents mobile robot localization using IRID(InfraRed IDentification) as artificial landmarks. IRID has highly deterministic characteristics, different from RFID. By putting several IRID emitters on the ceiling, the floor is divided into many different sectors and each sector is set to have a unique identification. Dead-reckoning provides the estimated robot configuration but the error becomes accumulated as the robot travels. IRID information tells the sector the robot is in, but the size of the uncertainty is too large if only the IRID information is used. This paper presents an algorithm which combines both the encoder and the IRID information so that the size of the uncertainty becomes smaller. It also introduces a framework which can be used with other types of the artificial landmarks. The characteristics of the developed IRID and the proposed algorithm are verified from the simulation results and experiments.

• Design & Manufacturing
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• v.14 no.1
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• pp.63-68
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• 2020

Ultra-high brightness and thin displays need to optical micro-patterns which can uniformly diffuse the lights and low loss. The micro random patterns have characteristics to rise the optical efficiency such as light extraction, uniform diffusion. For this reason, various fabrication processes are studied for random patterns. In this study, the micro random patterns were machined by diamond turning which used a controlled cutting tool path with random cutting depth. The machined patterns had random shape and directionality along the circumferential direction. The average width and length of machined random pattern according to rotation radius were 40.13㎛~55.51㎛ and 37.25㎛~59.49㎛, and these results were compared with the designed result. Also, the machining error according to rotation radius in diamond turning using randomly controlled cutting depth was discussed.

• Journal of the Korean Society for Precision Engineering
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• v.19 no.7
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• pp.97-105
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• 2002

The use of rapid prototyping (RP) has reduced time to market, cut total costs and improved product quality by giving design and manufacturing teams the opportunity to verify and fine tune designs before committing them to expensive tooling and fabrication. In order to improve their unique characteristics according to the working principles, Variable Lamination Manufacturing process (VLM-ST) and corresponding CAD/CAM software (VLM-Slicer) is developed. The objective of this study is to improve the accuracy of VLM-ST process, and it can be done by offset fur cutting error correction, cutting path overrun fur sharp edge and reference shape generation for off-line stacking. It has been shown that, through the verification experiments for given practical shapes, the proposed algorithms are effective for diverse categories of three-dimensional shapes.

• Transactions on Control, Automation and Systems Engineering
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• v.4 no.4
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• pp.264-269
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• 2002

In this paper, Η$_{\infty}$ depth and course controller of an AUV(Autonomous Underwater Vehicle) using Η$_{\infty}$ servo control is proposed. The Η$_{\infty}$ servo problem is formulated to design the controllers satisfying a robust tracking property with modeling errors and disturbances. The solution of the Η$_{\infty}$ servo problem is as fellows: first, this problem is modified as an Η$_{\infty}$ control problem for the generalized plant that includes a reference input mode, and then a sub-optimal solution that satisfies a given performance criteria is calculated by LMI(Linear Matrix Inequality) approach. The Η$_{\infty}$ depth and course controller are designed to satisfy with the robust stability about the modeling error generated from the perturbation of the hydrodynamic coefficients and the robust tracking property under disturbances(wave force, wave moment, tide). The performances of the designed controllers are evaluated with computer simulations, and finally these simulation results show the usefulness and application of the proposed Η$_{\infty}$ depth and course control system.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.9
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• pp.916-924
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• 2008

In this paper dynamic modeling parameters were estimated using a frequency domain estimation method. A systematic flight test method was employed using preprogrammed multistep excitation of the swashplate control input. In addition when one axis is excited, the autopilot is engaged in the other axis, thereby obtaining high-quality flight data. A dynamic model was derived for a small scale unmanned helicopter (CNUHELI-020, developed by Chungnam National University) equipped with a Bell-Hiller stabilizer bar. Six degree of freedom equations of motion were derived using the total forces and moments acting on the small scale helicopter. The dynamics of the main rotor is simplified by the first order tip-path plane, and the aerodynamic effects of fuselage, tail rotor, engine, and horizontal/vertical stabilizer were considered. Trim analysis and linearized model were used as a basic model for the parameter estimation. Doublet and multistep inputs are used to excite dynamic motions of the helicopter. The system and input matrices were estimated in the frequency domain using the equation error method in order to match the data of flight test with those of the dynamic modeling. The dynamic modeling and the flight test show similar time responses, which validates the consequence of analytic modeling and the procedures of parameter estimation.

• Proceedings of the KIEE Conference
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• 1997.11a
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• pp.505-508
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• 1997

In this paper, an auto-tuning method for fuzzy controller based on the neural network is presented. The backpropagated error of neural emulator offers the path which reforms the fuzzy controller's membership functions and fuzzy rule, and used for speed control of induction motor. For the torque control method, an indirect vector control scheme with slip calculation is used because of its stable characteristics regardless of speed. Motor input current is regulated by a current controlled voltage source PWM inverter using space voltage vector technique. Also, the scheme of current control fuzzy controller is synchronous reference frame with decoupling term. DSP(TMS320C31) is used to achieve the high speed calculation of the space voltage vector PWM and to build the self-learning fuzz. control algorithm. An IPM is used to simplify hardware design.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.8 no.3
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• pp.85-90
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• 1988

A probabilistic model for the failure in a homogeneous soil slope is presented. The Safety of the slope is measured through its probability of failure rather than the customary factor of safety. The safety margin of slope failure is assumed to follow a normal distribution. Sources of uncertainties affecting characterization of soil property in a homogeneous soil layer include inherent spatial variability., estimation error from insufficient samples, and measurement errors. Uncertainties of the shear strength-along potential failure surface are expressed by one-dimensional random field models. The rupture surface, created at toe of a soil slope, has been considered to propagate towards the boundary along a path following an exponential (log-spiral) law. Having derived the statistical characteristics of the rupture surface and of the forces which act along it, the probability of failure of the slope was found. Finally the developed procedure has been applied in a case study to yield the reliability of a soil slope.

• Journal of Korean Academy of Nursing
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• v.34 no.2
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• pp.290-296
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• 2004

Purpose: The purpose of this study was to develop a home care nursing network system for operating home care effectively and efficiently by utilizing a wire-wireless network and mobile computing in order to record and send patients' data in real time, and by combining the headquarter office and the local offices with home care nurses over the Internet. It complements the preceding research from 1999 by adding home care nursing standard guidelines and upgrading the PDA program. Method: Method/l and Prototyping were adopted to develop the main network system. Result: The detailed research process is as follows: 1 )home care nursing standard guidelines for Diabetes, cancer and peritoneal-dialysis were added in 12 domains of nursing problem fields with nursing assessment/intervention algorithms. 2) complementing the PDA program was done by omitting and integrating the home care nursing algorhythm path which is unnecessary and duplicated. Also, upgrading the PDA system was done by utilizing the machinery and tools where the PDA and the data transmission modem are integrated, CDMX-1X base construction, in order to reduce a transmission error or transmission failure.