• Journal of Astronomy and Space Sciences
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• v.29 no.4
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• pp.351-362
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• 2012

We made a study on real-time determination method for relative position using the laser-measured distance data between satellites. We numerically performed the determination of relative position in accordance with extended Kalman filter algorithm using the vectors obtained through nonlinear equation of relative motion, laser simulator for distance measurement, and attitude determination of chief satellite. Because the spherical parameters of relative distance and direction are used, there occur some changes in precision depending on changes in relative distance when determining the relative position. As a result of simulation, it was possible to determine the relative position with several millimeter-level errors at a distance of 10 km, and sub-millimeter level errors at a distance of 1 km. In addition, we performed the determination of relative position assuming the case that global positioning system data was not received for long hours to see the impact of determination of chief satellite orbit on the determination of relative position. The determination of precise relative position at a long distance carried out in this study can be used for scientific mission using the satellite formation flying.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1609-1614
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• 2003

This paper presents a new method driving multiple robots to their goal position without collision. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. To implement the concept in collision avoidance of multiple robots, relative distance between the robots is proposed. The relative distance is a virtual distance between robots indicating the threat of collision between the robots. Based on the relative distance, the method calculates repulsive force against a robot from the other robots. Also, attractive force toward the goal position is calculated in terms of the relative distance. The proposed method is simulated for several cases. The results show that the proposed method steers robots to open space anticipating the approach of other robots. The proposed method works as a local collision-free motion coordination method in conjunction with higher level of task planning and path planning method for multiple robots to do a collaborative job.

• Proceedings of the KIEE Conference
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• 1996.07b
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• pp.1231-1233
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• 1996

This paper presents an estimation of relative distance and angle from a mobile robot to an object. From the number of pulses required to make the mobile robot move to the feature point, we find the relative distance and angle between the mobile robot and the object. The proposed method shows a practical way of measuring the relative distance and angle between the mobile robot and an object without setting up real world coordinate system.

• Journal of Mechanical Science and Technology
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• v.18 no.1
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• pp.132-144
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• 2004

This paper presents a new method driving multiple robots to their goal position without collision. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. The avoidability measure figures the degree of how easily a robot can avoid other robots considering the velocity of the robots. To implement the concept to avoid collision among multiple robots, relative distance between the robots is proposed. The relative distance is a virtual distance between robots indicating the threat of collision between the robots. Based on the relative distance, the method calculates repulsive force against a robot from the other robots. Also, attractive force toward the goal position is calculated in terms of the relative distance. These repulsive force and attractive force are added to form the driving force for robot motion. The proposed method is simulated for several cases. The results show that the proposed method steers robots to open space anticipating the approach of other robots. In contrast, since the usual potential field method initiates avoidance motion later than the proposed method, it sometimes fails preventing collision or causes hasty motion to avoid other robots. The proposed method works as a local collision-free motion coordination method in conjunction with higher level of task planning and path planning method for multiple robots to do a collaborative job.

• 제어로봇시스템학회:학술대회논문집
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• 2002.10a
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• pp.37.2-37
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• 2002

1. Introduction 2. Problem Formulation 3. Avoidability Measure And Relative Distance 4. Artificial Potential Field in Terms of Relative Distance 5. Simulation Results 6. Conclusions 7. Reference

• Transactions of the Korean Society of Automotive Engineers
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• v.6 no.5
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• pp.222-227
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• 1998

Collision warning systems have been an active research and development area as the interests and demands for ASV's (Advanced Safety Vehicles) have increased. This paper presents an experimental investigation of a collision warning system for automobiles. A collision warning HiLS(Hardware-in-the-Loop Simulation) system has been designed and used to test the collision warning algorithm, radar sensors, and warning displays under realistic operating conditions in the laboratory. the collision warning algorithm is operated by a warning index, which is a function of the warning distance and the braking distance. The computer calculates velocities of the preceding vehicle and following vehicle, relative distance and relative velocity of the vehicles using vehicle simulation models. The relative distance and the relative velocity are applied to the vehicle simulator controlled by a DC motor.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.33 no.1
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• pp.1-8
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• 1997

To find the tooth selectivity of the dredge for catching the ark shell Scapharca broughtonii, the probabilities of the ark shells which are not sifting through the gaps between teeth were calculated for the various shell lengths. Considering that these probabilities are in proportion to the relative catching efficiencies, selectivity curves for the ark shell dredge were estimated for the various gaps between teeth. The ratio of the shell length of ark shell to the distance between teeth indicating the relative catching efficiencies of 0%, 50%, 100% respectively, were calculated by using these selectivity curves, and the values were 1.00, 1.32, 1.54 in the distance of 4.0cm between teeth and then, the ratios showed a slight tendency to decrease as the distance between teeth increased in the relative catching efficiency of 100%, In addition, the range of shell length for catching, that is, the range of selective shell length by the distance between teeth was 0.54 in the distance of 4.0cm between teeth.

• The Journal of the Korea institute of electronic communication sciences
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• v.11 no.12
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• pp.1175-1186
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• 2016

The relative distance estimation technique is important to Location-Based Service(: LBS) in a wireless communication environment. In this paper, we propose a scheme for measuring the relative distance by utilizing a frame structure of a physical layer in asynchronous Frequency Division Duplexing(: FDD) when the Internal and external infrastructure for position measurement cannot be used. The proposed method is suitable for continuous distance measurement. The test results showed that the proposed method has the accuracy of less than 10 meters on average.

• Korean Journal of Air-Conditioning and Refrigeration Engineering
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• v.9 no.1
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• pp.14-22
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• 1997

The position of propeller fan from duct inlet is one of basic parameters for the design of propeller fan. To investigate the effect of its position on fan characteristics, the inlet flow fields and relative flow angles were measured by a 5-hole pitot tube. The experimental results indicate that the ratio of radial flow introduced from propeller circumference to total inlet flow increases with the increase of propeller distance from duct inlet. When fan operates without duct, the total flow rate and the radial flow ratio are higher than those of any other positions of propeller relative to duct inlet. The radial flow ratio decreases as a flow coefficient and the propeller distance decrease. Therefore the front flow fields can be adjusted in some extent by varying the propeller distance according to a fan loading. The inlet flow angles are decreasing a little as a rotational speed and the propeller distance decrease. In the present case it was judged that the deviation angle of outlet flow became negative owing to a flow separation near a trailing edge.

• Korean Journal of Optics and Photonics
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• v.14 no.2
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• pp.200-207
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• 2003

In this paper we present a new method of measuring the relative distance of two point objects in three-dimensional space by using phase-shifting digital holography. In our system the reference beam of a spherical wave is used instead of a plane wave. The system is computer simulated and built on an optical table for experiments. It is shown from computer simulations and experiments that the relative distance can be measured without the exact information on the reference beam used in the hologram record. It is shown from experiments that the relative distance between two point objects separated by 0.5 cm in the distance of about 300 cm from the CCD can be measured with an error less than 10％.