• Journal of Institute of Control, Robotics and Systems
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• v.20 no.1
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• pp.48-57
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• 2014

It is suggested that the curvature trajectory be used to estimate the real-time moving sound sources and efficiently the robot estimating the sound sources. Since the target points of the real-time moving sound sources change, the mobile robot continuously estimates the changed target points. In such a case, the robot experiences a slip phenomenon due to the abnormal velocity and the changes of the navigating state. By selecting an appropriate curvature and navigating the robot gradually by using it, it is possible to enable the robot to reach the target points without having much trouble. In order to recognize the sound sources in real time, three microphones need to be organized in a straight form. Also, by applying the cross-correlation algorithm to the TDOA base, the signals can be analyzed. By using the analyzed data, the locations of the sound sources can be recognized. Based on such findings, the sound sources can be estimated. Even if the mobile robot is navigated by selecting the gradual curvature based on the changed target points, there could be errors caused by the inertia and the centrifugal force related to the velocity. As a result, it is possible to control the velocity of both wheels of the robot through the velocity PID controller in order to compensate for the slip phenomenon and minimize the estimated errors. In order to examine whether the suggested curvature trajectory is appropriate for estimating the sound sources, two mobile robots are arranged to carry out an actual experiment. The first robot is moved by discharging the sound sources, while the second robot recognizes and estimates the locations of the discharged sound sources in real time.

• Journal of Korea Game Society
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• v.9 no.1
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• pp.33-41
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• 2009

In this paper we tried to figure out the types of real money trade of game items, and in order to study it we examined the Leveling System of MMORPG which is a perfect competitive market and how the closed structure of the game economy emits real money trade. The over production of the MMORPG's leveling system which is a perfect competitive market increases the amount of currency in circulation and then induces arbitrage due to mudfalation inside the game. In order to improve this problem, there are three methods of resolutions. The first is stabling the game economy by spontaneous order among the game users, but this is much local than the artificial order which takes a long time and evokes discrepance in MMORPG competitive characteristic. Secondly, legislational regulations from the government could improve the problem, but this method doesn't grant information or services as non-material labor in which it couldn't follow up the developing speed of the game market. Finally, delicate modulation among game items by the designer isn't possible to constrain them, and there is a limited reason that it couldn't control the increase of currency which is the main factor of arbitrage.

• IEMEK Journal of Embedded Systems and Applications
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• v.8 no.6
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• pp.311-318
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• 2013

In this paper, we consider a new packet scheduling algorithm for real-time traffic in the HSDPA system that has been introduced for the WCDMA system, in order to provide high transmission rates. The objective of the design is to meet the maximum tolerable delay and consider channel assignment based on the received SIR for real-time traffic users. The proposed scheduling algorithm shows that the users are ranked by the ratios of the bits in the buffer to the residual time for transmission as priority order; then the ranked users are assigned certain number of channels based on the SIR value table. The simulation results show that the proposed algorithm can provide a lower packet drop rate, and satisfy real time quality of service (QoS) requirements.

• The Journal of Korea Robotics Society
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• v.11 no.1
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• pp.33-40
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• 2016

In this paper, we propose a method for estimating the pose of the camera using a rectangle feature utilized for the visual SLAM. A warped rectangle feature as a quadrilateral in the image by the perspective transformation is reconstructed by the Coupled Line Camera algorithm. In order to fully reconstruct a rectangle in the real world coordinate, the distance between the features and the camera is needed. The distance in the real world coordinate can be measured by using a stereo camera. Using properties of the line camera, the physical size of the rectangle feature can be induced from the distance. The correspondence between the quadrilateral in the image and the rectangle in the real world coordinate can restore the relative pose between the camera and the feature through obtaining the homography. In order to evaluate the performance, we analyzed the result of proposed method with its reference pose in Gazebo robot simulator.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1645-1650
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• 2005

FOPDT(First-Order Plus Dead-Time) and SOPDT(Second-Order Plus Dead-Time) process, which are used as the most useful process in industry, are difficult about process identification because of the long dead-time problem and the model mismatch problem. Thus, the accuracy of process identification is the most important problem in FOPDT and SOPDT process control. In this paper, we proposed the real-coded genetic algorithm for identification of FOPDT and SOPDT processes. The proposed method using real-coding genetic algorithm shows better performance characteristic comparing with the existing an area-based identification method and a directed identification method that use step-test responses. The proposed strategy obtained useful result through a number of simulation examples.

• International Journal of Control, Automation, and Systems
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• v.5 no.1
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• pp.79-85
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• 2007

In this paper, a real-coded genetic algorithm is proposed for identification of time delay systems from step responses. FOPDT(First-Order Plus Dead-Time) and SOPDT(Second-Order Plus Dead-Time) systems, which are the most useful processes in this field, but are difficult for system identification because of a long dead-time problem and a model mismatch problem. Genetic algorithms have been successfully applied to a variety of complex optimization problems where other techniques have often failed. Thus, the modified crossover operator of a real-code genetic algorithm is proposed to effectively search the system parameters. The proposed method, using a real-coding genetic algorithm, shows better performance characteristics when compared to the usual area-based identification method and the directed identification method that uses step responses.

• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.133.5-133
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• 2001

The real-time industrial network, often referred to as fieldbus, is an important element for building automated manufacturing systems. Thus, in order to satisfy the real time requirements of field devices such as sensors, actuators, and controllers, numerous standard organizations and vendors have developed various fieldbus protocols. As a result, IEC 61158 protocol including Profibus, WorldFIP, and Foundation Fieldbus is recently announced as an international standard. Many fieldbus protocols have an important advantage over the widely used protocols such as Ethernet (IEEE 802.3) in terms of the deterministic characteristics of the fieldbuses. However, the application of fieldbus has been limited due to the high cost of hardware and the difficulty in interfacing with multi-vendor products. In order to solve these problems, computer network ...

• Journal of Institute of Control, Robotics and Systems
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• v.6 no.10
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• pp.911-917
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• 2000

As many sensors and actuators are used in various automated systems, the application of network to real-time distributed control system is gaining acceptance in many industries. In order to take advantages of networking, however, the network should be carefully designed to satisfy real-time distributed control. This paper presents an implementation method of closed-loop control using Profibus-FMS. In order to implement a closed-loop control system, we used industrial computers with Profibus-FMS network cards and a DC servo motor. Through various experiments, the step response of the control system with network was compared with the reference response without network.

• Proceedings of the Computational Structural Engineering Institute Conference
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• 2003.04a
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• pp.201-208
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• 2003

Since the real steel box girder bridges have a large number of design variables and show complex structural behavior, it would be impractical to directly use the algorithm for its optimum design. Thus, in this study, for optimum design of real steel box girder bridge, approximated reanalysis using an higher-order Improved self-adjusted Convex Approximation (ISACA) which was newly proposed on a previous study by the author is applied for the numerical efficiency. To demonstrate the efficiency, robustness, and convergence of the approximated reanalysis technique using the ISACA, a real bridge having two continuous spans is used as an illustrative example. From the results of the numerical investigation, it may be positively stated that the efficiency, robustness, and convergence of the approximated reanalysis using an ISACA is superior compared with the previous approximated reanalysis techniques.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.58-58
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• 2000

As many sensors and actuators are used in various automated systems, the application of network system to real-time distributed control is gaining acceptance in many industries. In order to take advantages of the network technique. however, network implementation should be carefully designed to satisfy real-time constraints and to consider network delays. This paper presents the implementation of feedback control system in Profibus-DP. Profibus-DP is a type of fieldbus protocols that are specifically designed to interconnect simple devices with fast I/O data exchange. As feedback control in profibus-DP is implemented, Network delays is found with influence of system performance. We analyze network delays in Profibus-DP into 3 reasons - dead time in Profibus interface, protocol delay, delay by asynchronization. In order to compensate the network delays, we introduce control algorithms with time delay concept. The results show that network delay can be compensated.