• The Transactions of the Korean Institute of Electrical Engineers A
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• v.50 no.7
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• pp.340-347
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• 2001

In this Paper, we proposed a new voltage stability analysis algorithm. Using $ $ calculated by the optimal load How method(OLF), it rapidly and correctly calculates a PV curve with voltage collapse point in the stable region. OLF can calculates voltage collapse point as well as the operating point in the stable region. Specially, $ $ indicates the relative distance between voltage collapse point and the solution in the unstable region. In the study of a sample system, we verified the superiority of proposed algorithm.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.8
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• pp.491-494
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• 2000

A scheme is proposed for measuring similarities between the binary pulse signals in the pulse-code modulation using the Integra-Normalizer. The Integra-Normalizer provides a better interpretation of the relationship between the pulse signals by removing redundant codes, which maps all possible observed signals to one of the codes to be received with relative similarities between each pair of compared signals. The proposed method provides better error tolerance than L2 metric, such as Hamming distance, since the distances between pulse signals are measured not useful for the time-delay detection in the pulse-code modulation.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.50 no.1
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• pp.31-37
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• 2001

A robust adaptive technique for the longitudinal control of a platoon of automated vehicles is presented. A nonlinear model is used to represent the dynamics of each vehicle within the platoon. The external disturbances such as wind gust and a disturbance term due to engine transmission variations and so on are considered. The state observer is used to avoid direct measurement of the relative velocity or acceleration between the controlled and leading vehicles or the controlled vehicles's acceleration. The proposed controller guarantees to recover platoon stability in operation even if a speed dependent spacing policy is adopted, which incorporates a constant time headway in addition to the constant distance. It is shown that the proposed observer is exponentially stable, and the at the robust adaptive controller is stable. The simulation results demonstrate excellent tracking even in the presence of disturbances.

• Journal of the Korean Institute of Illuminating and Electrical Installation Engineers
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• v.25 no.5
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• pp.79-84
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• 2011

In this study, breakdown characteristics of a vertical sphere-plane air gap in the presence of combustion flame were examined under the application of a.c. and d.c. high-voltages in order to investigate the effect of flame on the dielectric strength of air. Propane gas is used as the fuel of the flame, and the temperature distribution of air around the flame is measured. The polarity effects for the d.c. voltages and breakdown voltages of air when applied both of a.c. and d.c. voltages were examined in the case of the variation of the gap length and the horizontal distance between the flame and the high-voltage sphere electrode. The influence of relative air density, electrification and shape changes of the flame as factors that affect the breakdown voltages were discussed.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.7
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• pp.605-613
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• 2013

This research proposes a vibration pattern algorithm to implement the haptic joystick to control a mobile robot at the remote site without watching the navigation environment. When the user cannot watch the navigation environment of the mobile robot, the user may rely on the haptic joystick solely to avoid obstacles and to guide the mobile robot to the target. To generate vibration patterns, there is a vibration motor at the bottom of the joystick which is held by the user to control the motion direction of the mobile robot remotely. When the mobile robot approaches to an obstacle, a pattern of vibration is generated by the motor, and by feeling the vibration pattern which is determined by the relative position of the mobile robot to the obstacle, the user can move the joystick to avoid the collision to the obstacle for the mobile robot. To generate the vibration patterns to convey the relative location of the obstacle near the mobile robot to the user, Fuzzy interferences have been utilized. To measure the distance and location of the obstacle near the mobile robot, ultrasonic sensors with the ring structure have been adopted and they are attached at the front and back sides of the mobile robot. The precise location of the obstacle is obtained by fusing the multiple data from ultrasonic sensors. Effectiveness of the proposed algorithm has been verified through the real experiments and the results are demonstrated.

• Proceedings of the KOSOMBE Conference
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• v.1993 no.11
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• pp.13-16
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• 1993

In this paper the morphological characteristic parameters according to the Lee's physical constitution theory are suggested using the X-ray computed tomography. The Lee's physical constitution theory is classify into 4 physical constitutional types by the relative degree of visceral function: those are macro-negative(strong liver- weak lung), micro-negative(strong kidney- weak spleen), micro-positive(strong spleen- weak kidney) and macro-positive(string lung- weak liver). The morphological characteristic parameters are the following. The AA-line is the distance between Rt. & Lt. acupuncture point keug-cheun. The BB-line is the length of lung. The CC-line is the longest width of thorax. The DD-line is the vertical distance between the CC-line and the EE-line. The EE-line is the distance between the Rt. and Lt. anterior superior iliac spines. As the results macro-negative(strong liver-weak lung) has the longest CC-line and the short BB-line. Micro-negative(strong kidney-weak spleen) has the longest EE-line and the short CC-line. Micro-positive(strong spleen-weak kidney) has the longest DD-line and the short BB-line. And macro-positive(strong lung-weak kidney) has the longest BB-line and the short EE-line.

• Journal of international Conference on Electrical Machines and Systems
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• v.3 no.4
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• pp.362-366
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• 2014

In recent years, a permanent magnet linear synchronous motor (PMLSM) has been used in various kinds of transportation applications for its relative high power density and efficiency. The general transportation system arranges the armature on the full length of transportation lines. However, when this method is applied to long distance transportation system, it causes increase of material cost and manufacturing time. Thus, in order to resolve this problem, we suggested stationary discontinuous armature PMLSM. However, the stationary discontinuous armature PMLSM contains the edges which always exist as a result of the discontinuous arrangement of the armature. These edges become a problem because the cogging force that they exert bad influences the controllability of the motor. Therefore, in this paper we proposed the combination of skewed magnets and stair shape auxiliary teeth to reduce the force by edge effect. Moreover, we analyzed the influence of the design factors by using a 3-D finite element method (FEM) simulation tool.

• Journal of Institute of Control, Robotics and Systems
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• v.4 no.1
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• pp.68-75
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• 1998

The Intelligent Cruise Control system, ICC, is a driver assisting system for controlling relative speed and distance between two vehicles in the same lane. The ICC may be considered as an extension of a traditional cruise control, not only keeping a fixed speed of the vehicle, but correcting the speed also to that of a slower one ahead. This paper presents a real-time self-tuning fuzzy control algorithm to develop ICC. The self-tuning fuzzy control law is adopted to reduce the effects of nonlinearities of the vehicle and various road environments. In the self-tuning algorithm an interior penalty method is applied to preserve the inherent order of membership functions and is modified as an on-line algorithm for real time application. Via simulations, the performance of the suggested control algorithm is compared with a PID and a fuzzy control without self-tuning. The suggested control algorithm is implemented on PRV III and the results of the test driving on a local road are given.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.1791-1796
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• 2005

Semi-shield tunneling is one of the propulsion construction methods used to lay pipes underground between two pits named 'entrance' and 'destination', respectively. Usually a simple composition, such as 'a fiducial target at the entrance+a total station (TS)+a target on the machine', is used to confirm the planned course. However, unavoidable curved sections are present in small-sized pipe lines, which are laid after implementation of a road system, for public works such as waterworks, sewer, electrical power, and gas and communication networks. Therefore, if the planned course has a curved section, it is difficult to survey the course with the abovementioned simple composition. This difficulty could be solved by using the multiple total stations (MTS), which attaches the cross type linear LED target to oneself. The MTS are disposed to where each TS can detect the LED target at the other TS or the base point or the machine. And the accurate relative positions between each MTS and target are calculated from measured data. This research proposes the relative and absolute coordinate calculation algorithm by using three MTS to measure a curved course with 20m curvature at 30m maximum distance, and verifies the algorithm experimentally.

• Journal of Mechanical Science and Technology
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• v.15 no.8
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• pp.1097-1107
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• 2001

In this paper, the wall following navigation algorithm of the mobile robot using a mono vision system is described. The key points of the mobile robot navigation system are effective acquisition of the environmental information and fast recognition of the robot position. Also, from this information, the mobile robot should be appropriately controlled to follow a desired path. For the recognition of the relative position and orientation of the robot to the wall, the features of the corridor structure are extracted using the mono vision system, then the relative position, the offset distance and steering angle of the robot from the wall, is derived for a simple corridor geometry. For the alleviation of the computation burden of the image processing, the Kalman filter is used to reduce search region in the image space for line detection. Next, the robot is controlled by this information to follow the desired path. The wall following control scheme by the PD control scheme is composed of two control parts, the approaching control and the orientation control, and each control is performed by steering and forward-driving motion of the robot. To verify the effectiveness of the proposed algorithm, the real time navigation experiments are performed. Through the result of the experiments, the effectiveness and flexibility of the suggested algorithm are verified in comparison with a pure encoder-guided mobile robot navigation system.