• Journal of the Institute of Electronics Engineers of Korea TC
• /
• v.46 no.8
• /
• pp.43-49
• /
• 2009

This paper presents a routing mechanism to prolong the lifetime of error-prone wireless sensor networks. The proposed mechanism estimates the amount of energy consumption for communications and the expected residual energy in advance, which is based on the qualities of wireless links. Then, the proposed mechanism selects a path that is expected to have the most residual energy, and sends sensory data along the path. This mechanism reduces energy consumption caused by unnecessary retransmissions and distributes traffic evenly over the network owing to taking error rates into consideration, and extends energy depletion by selecting a path with the maximum of the minimal expected residual energy amounts. The experiment results show that the proposed mechanism prolongs network lifetime, compared to the existing methods.

• 제어로봇시스템학회:학술대회논문집
• /
• 2004.08a
• /
• pp.869-874
• /
• 2004

The inverse kinematics of five-axis milling machines produce large errors near stationary points of the required surface. When the tool travels cross or around the point the rotation angles may jump considerably leading to unexpected deviations from the prescribed trajectories. We propose three new algorithms to repair the trajectories by adjusting the rotation angles in such a way that the kinematics error is minimized. Given the tool orientations and the inverse kinematics of the machine, we first eliminate the jumping angles exceeding ${\pi}$ by using the angle adjustment algorithm, leaving the jumps less than ${\pi}$ to be further optimized. Next, we propose to apply an angle switching algorithm to compute the rotations and identify an optimized sequence of rotations by the shortest path scheme. Further error reduction is accomplished by the angle insertion algorithm based an o special interpolation to obtain the required rotations near the singularity. We have verified the algorithms by five-axis milling machines, namely, MAHO600E at the CIM Lab of Asian Institute of Technology and HERMLE UWF902H at the CIM Lab of Kasetsart University.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• v.7 no.4
• /
• pp.670-691
• /
• 2013

In RSSI-based RFID(Radio Frequency IDentification) indoor localization system, the signal path loss model of each sub-region is different from others in the whole localization area due to the influence of the multi-path phenomenon and other environmental factors. Therefore, this paper divides the localization area into many sub-regions and constructs separately the signal path loss model of each sub-region. Then an improved LANDMARC method is proposed. Firstly, the deployment principle of RFID readers and tags is presented for constructing localization sub-region. Secondly, the virtual reference tags are introduced to create a virtual signal strength space with RFID readers and real reference tags in every sub-region. Lastly, k nearest neighbor (KNN) algorithm is used to locate the target object and an error compensating algorithm is proposed for correcting localization result. The results in real application show that the new method enhances the positioning accuracy to 18.2% and reduces the time cost to 30% of the original LANDMARC method without additional tags and readers.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.5
• /
• pp.416-422
• /
• 2013

This paper suggests a hybrid path planning method of multi-robots, where a path deviation prevention for maintaining a specific formation is implemented by using repulsive function, $A^*$ algorithm and UKF (Unscented Kalman Filter). The repulsive function in potential field method is used to avoid collision among robots and obstacles. $A^*$ algorithm helps the robots to find optimal path. In addition, error estimation based on UKF guarantees small path deviation of each robot during navigation. The simulation results show that the swarm robots with designated formation successfully avoid obstacles and return to the assigned formation effectively.

• Korean Journal of Computational Design and Engineering
• /
• v.4 no.4
• /
• pp.295-311
• /
• 1999

An increasing attention is paid to STEP-NC, the next generation CNC controller interfacing STEP-compatible data. In this paper, we first propose an Architecture for the STEP-NC (called FBCC: Feature Baled CNC Controller) accepting feature code compatible with STEP-data, and executing NC motion feature by feature while monitoring the execution status. The main thrust of the paper has been to develop an automatic on-line tool path generation and modification scheme for milling operation. The tool path it generated iota each feature by decomposing into a finite number of primitive features. The key function in the new scheme is haw to accommodate unexpected execution results. In our scheme, the too1 path plinker is designed to have a tracing capability iota the tool path execution so that a new path can be generated from the point where the operation is stopped. An illustrative example is included to show the capability of the developed algorithm.

• Proceedings of the KIEE Conference
• /
• 2003.11b
• /
• pp.255-258
• /
• 2003

It is hard to centrol the wheeled mobile robot because of uncertainty of modeling, non-holonomic constraint and so on. To solve the problems, we design the controller of wheeled mobile robot based on fuzzy-neural network algorithm. In this paper, we should research the problem of classical controller for path-tracking algorithm and design of Fuzzy-Neural Network algorithm controller. Classical controller acquired different control value according to change of initial position and direction. In this control value having very difficult and having acquired a lot of trial and error Fuzzy is implemented to adaptive adjust control value by error and change of error and neural network is implemented to adaptive adjust the control gain during the optimization. The computer simulation shows that the proposed fuzzy-neural network controller is effective.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 1995.10a
• /
• pp.961-964
• /
• 1995

For geometric accuracy in the net shape machining, the problem of tool deflection should be resolved in some fashion. In particular, this is crucial in finish cut operation where slim tools are used. The purpose of this paper is to verify the validity and effectiveness of the prediction model of the machined surface. Experimental results are presented for the cut of steel material with HSS endmill of diameter 6mm on machining center. The results shows that 1) the machining error due totool deflection is serious even in the low cutting load, 2) by using the mechanistic simulation model with experimental coefficients, the machining error was predicted with maximum prediction error of 10% which was significantly reduced to the desired level by the path modification method.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.21 no.11
• /
• pp.2923-2931
• /
• 1996

In this paper, the symbol error probability for orthogonal frequency division multiplexing (OFDM) in the multipath fading environment is obtained analytically. In the analysis, OFDM signals with and without the guard interval are considered, and the two-ray fading model is used for the multi-path fading channel. From the analysis results, it is found that the adjacent subchannel interfernce increases the symbol error rate when the guard interval is not employed or shorter than the length of the delay. It is also shown that the adjacent subchannel interference is a Gaussian random variable and its variance depends on the subchannel location and the number of subchannels. Finally, it is found that the variance of the subchannel interference also increases as the power of the signal increases for the OFDM with insufficient guard interval, yieldin an irreducible error at high signal to noise ratio.

• International Journal of Precision Engineering and Manufacturing
• /
• v.7 no.4
• /
• pp.51-56
• /
• 2006

This paper proposes a control algorithm, which is verified experimentally, for aspherical surface grinding and polishing. The algorithm provides simultaneous control of the position and interpolation of an aspheric curve. The nonlinear formula for the tool position was derived from the aspheric equation and the shape of the tool. The function was partitioned at specific intervals and the control parameters were calculated at each control section. The position, acceleration, and velocity at each interval were updated during the process. A position error feedback was introduced using a rotary encoder. The feedback algorithm corrected the position error by increasing or decreasing the feed speed. In the experimental verification, a two-axis machine was controlled to track an aspherical surface using the proposed algorithm. The effects of the control and process parameters were monitored. The results demonstrated that the maximum tracking error with tuned parameters was at the submicron level for concave and convex surfaces.

• Proceedings of the KIEE Conference
• /
• 1998.11b
• /
• pp.435-437
• /
• 1998

In this productive system, it needs to control the each axis motion harmoniously to perform accurately for the manufacturing, transporting and printing. Independent Axis Control usually used for this objection. However, if Independent Axis Control mismatched the parameter of each axis system or in the case of free curve tracking or the case of high speed control, there would be big contour error so that cannot achieve control objection. As a result, there is Contour Control method suggested to supply for this defect. This paper carried modeling of biaxial system and implemented Independent Axis Control & Contouring Control on straight line, circular, and coner path by simulation and experiment. If feedrate increased, contour error growed. In consequence, according to this factor, we introduced contouring controller, so we could find the fact that contour error was reduced more than that of independent axis control about each path.