• Proceedings of the KIEE Conference
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• 2003.07d
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• pp.2170-2172
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• 2003

This paper presents the position tracking control of an inverted pendulum on an inclined railway. In general, inclining the railway leads to errors in the pendulum angle even though the pendulum is stabilized, which results in errors in the cart position. To solve this problem, a linear quadratic regulation (LQR) controller with an integrator is used for compensating the resulting error in the cart position. The proposed method is evaluated by comparing LQR controllers with and without an integrator. Experimental results show that the LQR controller with an integrator is better in performance than one without an integrator.

• Proceedings of the Korean Institute of IIIuminating and Electrical Installation Engineers Conference
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• 2006.05a
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• pp.13-15
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• 2006

This paper describes the problem generated in PLS luminous flux measurement with integrating sphere. In RS case, we don't use the center position of the sphere but side position for flux test The difference of the lamp position makes the luminous flux difference of same light source. We confirmed the phenomenon with three other kinds of lamps and ensured the repeatability and reliability of this work at two laboratories. finally, the correction factor which should be applied for the PLS test at Side position was calculated.

• Journal of the Korean Society of Industry Convergence
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• v.20 no.2
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• pp.89-95
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• 2017

In this paper, we suggest the method for a mobile robot to move safely from an initial position to a goal position in the wide environment like a building. There is a problem using odometry encoder sensor to estimate the position of a mobile robot in the wide environment like a building. Because of the phenomenon of wheel's slipping, a encoder sensor has the accumulated error of a sensor measurement as time. Therefore the error must be compensated with using other sensor. A vision sensor is used to compensate the position of a mobile robot as using the regularly attached light's panel on a building's ceiling. The method to create global path planning for a mobile robot model a building's map as a graph data type. Consequently, we can apply floyd's shortest path algorithm to find the path planning. The effectiveness of the method is verified through simulations and experiments.

• ETRI Journal
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• v.46 no.3
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• pp.421-431
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• 2024

In this study, a direct position tracking method for non-circular (NC) signals using distributed passive arrays is proposed. First, we calculate the initial positions of sources using a direct position determination (DPD) approach; next, we transform the tracking into a compensation problem. The offsets of the adjacent time positions are calculated using a first-order Taylor expansion. The fusion calculation of the noise subspace is performed according to the NC characteristics. Because the proposed method uses the signal information from the previous iteration, it can realize automatic data associations. Compared with traditional DPD and two-step localization methods, our novel process has lower computational complexity and provides higher accuracy. Moreover, its performance is better than that of the traditional tracking methods. Numerous simulation results support the superiority of our proposed method.

• 제어로봇시스템학회:학술대회논문집
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• 1997.10a
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• pp.280-284
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• 1997

In this paper, Nonlinear VSS control based on bang-bang control concept is derived under the assumption that the control input is bounded. We try to derive control algorithm which has almost same performance as the time optimal control. We focus this control scheme on the real implementation of DC motor position controller of flexible link, i.e. we obtain the switching curves from the real data of DC motor system operating under the full maximum and minimum applied voltages. State space is separated into several regions and we set different switching surfaces in each region to reduce chattering problem. The efficiency of the proposed controller is compared with PID controller and it is shown that the controller converges fast than PID controller without chattering. The hybrid controller scheme is also proposed not only to control the position of hub but also to reduce the vibration of end tip of flexible link.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.12
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• pp.1002-1010
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• 2005

We study on the implementation of reconfigurable position control system which is based on Open Control Platform(OCP) for Unmanned Expedition Vehicles(UEV) in ubiquitous environment. The control system uses hierarchical control structure and OCP structure which contains three layers such as core OCP, reconfigurable control API(Application Programmer Interface), generic hybrid control API. The goal of our research is to implement an UEV control system using advanced software technology. As a specific control problem, we study a transition management problem between PID control and neural network control depending on fault or parameter change of the plant, i.e., UEV. The concept of the OCP-based software-enabled control can provide synergy effect by the integration of software component, middleware, network communication, and control, and thus can be applied to various systems in ubiquitous environment.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2007.05a
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• pp.1100-1105
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• 2007

In the gas supply duct, the gas leakage caused by the impact of the construct equipment is serious problem. The identification of the impact position is an important issue and an engineering work. For the basic research of this problem, the principle studies for the acoustic wave propagation in a gas duct are proceeded in this paper. This principal work is based on the identification of the cut-off frequency associated with major modes of the gas duct theoretically and experimentally. The cut-off frequency is confirmed by STFT and cross-correlation function is used to identify the leakage position.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.13 no.12
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• pp.6081-6088
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• 2012

An unequal clustering method in wireless sensor networks is the technique that forms the cluster of different size. This method decreases whole energy consumption by solving the hot spot problem. In this paper, I propose a layer-based dynamic unequal clustering using the unequal clustering model. This method decreases whole energy consumption and maintain that equally using optimal cluster's number and cluster head position. I also show that proposed method is better than previous clustering method at the point of network lifetime.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.18 no.8
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• pp.797-804
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• 2008

In the gas supply pipe, the gas leakage caused by the impact of the construct equipment is serious problem. The identification of the impact position is an important issue and an engineering work. For the basic research of this problem, the principle studies for the acoustic wave propagation in a gas pipe are proceeded in this paper. This principal work is based on the identification of the cut-off frequency associated with major modes of the gas pipe theoretically and experimentally The cut-off frequency is confirmed by STFT and cross-correlation function is used to identify the leakage position.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.114.2-114
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• 2001

In steel works, Locomotives and torpedo ladle cars are used to convey the smelted iron that comes out Blast Furnace to the steel-making mill. Above conveying vehicles are operated in all steel works area. And to trace their positions, after partitioned their areas, Automatic Vehicle Identification(RF-ID method) is installed on the railroad and identifies vehicle numbers. But AVI facilities have many problem that means that are too expensive, cost too much maintenance fee and inefficient management. This paper is to revamp those inefficient operations and state the status of operations of train positioning system, get to know what the problem is. And also when we use GPS to monitor and trace the vehicle position ...