• Title/Summary/Keyword: Relative electrical distance

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Estimation of Relative Distance and Angle from the point trajectories in a mobile robot (특징점 궤적에 의한 자율이동로봇의 상대거리 및 각도 추정)

  • Hwang, Duk-In;Kong, Seong-Gon
    • 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.

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Method for Collision Avoidance Motion Coordination of Multiple Mobile Robots Using Central Observation (다중 이동 로봇의 중앙 감시에 의한 충돌 회피 동작조정 방법)

  • Ko Nak Yong;Seo Dong-Jin
    • The Transactions of the Korean Institute of Electrical Engineers D
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    • v.52 no.4
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    • pp.223-232
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    • 2003
  • This paper presents a new method driving multiple robots to their goal position without collision. Each robot adjusts its motion based on the information on the goal location, velocity, and position of the robot and the velocity and position of the .other robots. 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 following factors: the distance from the robot to the other robots, velocity of the robot and the other robots. To implement the concept in moving robot avoidance, relative distance between the robots is derived. Our method combines the relative distance with an artificial potential field method. 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, the usual potential field method sometimes fails preventing collision or causes hasty motion, because it initiates avoidance motion later than the proposed method. The proposed method can be used to move robots in a robot soccer team to their appropriate position without collision as fast as possible.

Comparative Study of Two Congestion Management Methods for the Restructured Power Systems

  • Manikandan, B.V.;Raja, S. Charles;Venkatesh, P.;Mandala, Manasarani
    • Journal of Electrical Engineering and Technology
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    • v.6 no.3
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    • pp.302-310
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    • 2011
  • Congestion management is one of the most challenging tasks of a system operator to ensure the operation of transmission system within operating limits. In this paper, cluster/zone method and relative electrical distance (RED) method for congestion management are compared based on the considered parameters. In the cluster/zone method, rescheduling of generation is based on user impact on congestion through the use of transmission congestion distribution factors. In the RED method, the desired proportions of generations for the desired overload relieving are obtained. Even after generation rescheduling, if congestion exists, load curtailment option is also introduced. Rescheduling cost, system cost, losses, and voltage stability parameter are also calculated and compared for the above two methods of congestion management. The results are illustrated on sample 6-bus, IEEE 30-bus, and Indian utility 69-bus systems.

Feature Extraction of Letter Using Pattern Classifier Neural Network (패턴분류 신경회로망을 이용한 문자의 특징 추출)

  • Ryoo Young-Jae
    • The Transactions of the Korean Institute of Electrical Engineers D
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    • v.52 no.2
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    • pp.102-106
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    • 2003
  • This paper describes a new pattern classifier neural network to extract the feature from a letter. The proposed pattern classifier is based on relative distance, which is measure between an input datum and the center of cluster group. So, the proposed classifier neural network is called relative neural network(RNN). According to definitions of the distance and the learning rule, the structure of RNN is designed and the pseudo code of the algorithm is described. In feature extraction of letter, RNN, in spite of deletion of learning rate, resulted in the identical performance with those of winner-take-all(WTA), and self-organizing-map(SOM) neural network. Thus, it is shown that RNN is suitable to extract the feature of a letter.

A Relative Depth Estimation Algorithm Using Focus Measure (초점정보를 이용한 패턴간의 상대적 깊이 추정알고리즘 개발)

  • Jeong, Ji-Seok;Lee, Dae-Jong;Shin, Yong-Nyuo;Chun, Myung-Geun
    • Journal of the Korean Institute of Intelligent Systems
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    • v.23 no.6
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    • pp.527-532
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    • 2013
  • Depth estimation is an essential factor for robot vision, 3D scene modeling, and motion control. The depth estimation method is based on focusing values calculated in a series of images by a single camera at different distance between lens and object. In this paper, we proposed a relative depth estimation method using focus measure. The proposed method is implemented by focus value calculated for each image obtained at different lens position and then depth is finally estimated by considering relative distance of two patterns. We performed various experiments on the effective focus measures for depth estimation by using various patterns and their usefulness.

Enhanced Distance Dynamics Model for Community Detection via Ego-Leader

  • Cai, LiJun;Zhang, Jing;Chen, Lei;He, TingQin
    • KSII Transactions on Internet and Information Systems (TIIS)
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    • v.12 no.5
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    • pp.2142-2161
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    • 2018
  • Distance dynamics model is an excellent model for uncovering the community structure of a complex network. However, the model has poor robustness. To improve the robustness, we design an enhanced distance dynamics model based on Ego-Leader and propose a corresponding community detection algorithm, called E-Attractor. The main contributions of E-Attractor are as follows. First, to get rid of sensitive parameter ${\lambda}$, Ego-Leader is introduced into the distance dynamics model to determine the influence of an exclusive neighbor on the distance. Second, based on top-k Ego-Leader, we design an enhanced distance dynamics model. In contrast to the traditional model, enhanced model has better robustness for all networks. Extensive experiments show that E-Attractor has good performance relative to several state-of-the-art algorithms.

Effects of Position of Auxiliary Probe on Ground Resistance Measurement Using Fall-of-Potential Method

  • Gil, Hyoung-Jun;Kim, Dong-Woo;Kim, Dong-Ook;Lee, Ki-Yeon;Kim, Hyang-Kon
    • International Journal of Safety
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    • v.7 no.2
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    • pp.1-6
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    • 2008
  • In this paper, the effects of the position and the angle of the potential probes on the measurements of the ground resistance using the fall-of-potential method are described and the testing techniques for minimizing the measuring errors are proposed. The fall-of-potential method is theoretically based on the potential and current measuring principle and the measuring error is primarily caused by the position and angle of auxiliary probes. In order to analyze the relative error in the measured value of the ground resistance due to the position of the potential probe, the ground resistance was measured for the case in which the distance of the current probe was fixed at 50[m] and the distance of the potential probe was located from 10[m] to 50[m]. Also, the potential probe was located in turn at $30[^{\circ}]$, $45[^{\circ}]$, $60[^{\circ}]$, $90[^{\circ}]$, and $180[^{\circ}]$. As a consequence, relative error decreased with increasing distance of the potential probe and decreasing angle between the current probe and potential probe. The results could help to determine the position of the potential probe during the ground resistance measurement.

Robust Relative Localization Using a Novel Modified Rounding Estimation Technique

  • Cho, Hyun-Jong;Kim, Won-Yeol;Joo, Yang-Ick;Seo, Dong-Hoan
    • Journal of Advanced Marine Engineering and Technology
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    • v.39 no.2
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    • pp.187-194
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    • 2015
  • Accurate relative location estimation is a key requirement in indoor localization systems based on wireless sensor networks (WSNs). However, although these systems have applied not only various optimization algorithms but also fusion with sensors to achieve high accuracy in position determination, they are difficult to provide accurate relative azimuth and locations to users because of cumulative errors in inertial sensors with time and the influence of external magnetic fields. This paper based on ultra-wideband positioning system, which is relatively suitable for indoor localization compared to other wireless communications, presents an indoor localization system for estimating relative azimuth and location of location-unaware nodes, referred to as target nodes without applying any algorithms with complex variable and constraints to achieve high accuracy. In the proposed method, the target nodes comprising three mobile nodes estimate the relative distance and azimuth from two reference nodes that can be installed by users. In addition, in the process of estimating the relative localization information acquired from the reference nodes, positioning errors are minimized through a novel modified rounding estimation technique in which Kalman filter is applied without any time consumption algorithms. Experimental results show the feasibility and validity of the proposed system.

Relative Error Analysis for Measuring Value of Ground Resistance according to Position Variation of Potential Probe) (전위보조전극의 위치변화에 따른 접지저항 측정값의 상대오차분석)

  • Gil, Hyoung-Jun;Kim, Dong-Woo
    • Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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    • v.23 no.2
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    • pp.96-102
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    • 2009
  • In this paper, the effects of the position and the angle of the potential probes on the measurements of the ground resistance with the fall-of-potential method are described and the testing techniques to minimize the measuring errors are proposed. The fall-of-potential method is theoretically based on the potential and current measuring principle and the measuring error is primarily caused by the position and angle of auxiliary probes. In order to analyze the relative error for measuring value of ground resistance due to the position of the potential probe, ground resistance were measured in case that the distance of current probe was fixed at 50[m] and the distance of potential probe was located from l0[m] to 50[m]. Also, the potential probe was located at 30[$^{\circ}$], 45[$^{\circ}$], 60[$^{\circ}$], 90[$^{\circ}$] and 180[$^{\circ}$]. As a consequence, relative error decreased with increasing the distance of potential probe and decreasing the angle between current probe and potential probe. The results could be help to determine the position of potential probe when the ground resistance was measured at grounding system.

An Electric Field analysis of a Vacuum Interrupter by 3 Dimensional Finite Element Method (3차원 유한요소법에 의한 진공 인터럽터의 전계해석)

  • Choi, Seung-Kil;Shim, Jae-Hak;Kang, Hyung-Boo
    • Proceedings of the KIEE Conference
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    • 1998.11c
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    • pp.913-915
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    • 1998
  • This paper describes the application of two and three dimensional electric field analysis for vacuum interrupter with spiral contacts. The electric potentials of floating arc shield and electric fields in a vacuum interrupter are analysed at various gap distances from 1mm to 12mm. The electric potentials of floating shield is increased with the gap distance, which is because the relative position of shield is closer to the fixed contact so that the capacitance distribution inside interrupter is varied. The calculated results show that the maximum value of electric field in a vacuum interrupter with floating shield is nearly same to that without shield at short gap distance below 5mm, however at longer gaps more intensive electric field is achieved in interrupter with shield comparing with the model without shield, which is due to the influence of charged floating shield.

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