• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.168-173
• /
• 2003

In this paper, we will present a deeper look on optimal design methods that are related to path-planning for a mobile robot. To control the motion of a mobile robot in a clustered environment, it's necessary to know a suitable trajectory assuming certain start and goal point. Up to now, there are many literatures that concern optimal path planning for an obstacle avoided mobile robot. Among those literatures, we have chosen 2 novel methods for our further analysis. The first approach [4] is based on HJB(Hamilton-Jacobi-Bellman) equation whose solution is the return-function that helps to generate a shortest path to the goal. The later [5] is called polynomial-path-planning approach, in this method, a shortest polynomial-shape path would become a solution if it was a collision-free path. The camera network plays the role as sensors to generate updated map which locates the static and dynamic objects in the space. Therefore, the exhibition of both path planning and dynamic obstacle avoidance by the updated map would be accomplished simultaneously. As we mentioned before, our research will include the motion control of a true mobile robot on those optimal planned paths which were generated by above algorithms. Base on the kinematic and dynamic simulation results, we can realize the affection of moving speed to the stable of motion on each generated path. Also, we can verify the time-optimal trajectory through velocity tuning. To simplify for our analysis, we assumed the obstacles are cylindrical circular objects with the same size.

• Journal of IKEEE
• /
• v.25 no.4
• /
• pp.591-597
• /
• 2021

This paper proposes an EMC-aware PCB design method to reduce electromagnetic emission, where trace length and teturn path of critical signal are shortened by changing chip location and trace layout on the PCB, while additional filters or decoupling capacitors are not required. In the proposed method, signal velocity is calculated for various signals on the PCB. Critical signal with the fastest signal velocity is determined and its return path is shortened as much as possible by placing chip location and trace routing first. Return path of critical signal should be carefully designed not to have discontinuity. Power plane and ground plane should be carefully designed not to be divided, since these planes are the reference of return path. The proposed method was applied to automotive directional Bluetooth speaker which failed to pass CISPR 32 and CISPR 25 EMC tests. Its PCB was redesigned based on the proposed method and it easily passed the EMC tests. The proposed method is useful to EMC-sensitive electronic equipments.

• Journal of the Korea Academia-Industrial cooperation Society
• /
• v.20 no.1
• /
• pp.179-183
• /
• 2019

The system stability must be ensured from the switching noise due to the power conversion efficiency and power conversion system miniaturization. Therefore, countermeasures to reduce switching noise during power conversion are essential. Thus, in the previous paper, we constructed the DC / DC Buck Converter circuit using MPQ4432 driver of MPS, and simulated the switching noise characteristics which occurs when the components are arranged differently in the 4 - layer PCB circuit structure with reference plane. In this paper, two different simulated circuits are fabricated and the characteristics of the conducted emission and the radiated emission are analyzed in the same way as the simulation. As a result, it was confirmed that the Conducted Emission characteristic was reduced by 2 ~ 9dB in the low frequency band and 6 ~ 7dB in the high frequency band depending on the configuration of the current return path. And the radiated emission characteristic is reduced by 9 dB. Conducted emission simulation results show that 6 ~ 7dB in the low frequency range and 2 ~ 9dB in the measurement result are somewhat different. In the high frequency band, it is confirmed that the experimental and simulation results are about 7dB. And Radiated Emission confirmed 12dB decrease in simulation, but confirmed decrease of 9dB in measurement result. It is confirmed that there is a slight difference in the amount of reduction, but the design of the power conversion circuit improves the noise characteristics according to the configuration of the current return path.

• Journal of Institute of Control, Robotics and Systems
• /
• v.19 no.5
• /
• pp.416-422
• /
• 2013

This paper suggests a hybrid path planning method of multi-robots, where a path deviation prevention for maintaining a specific formation is implemented by using repulsive function, $A^*$ algorithm and UKF (Unscented Kalman Filter). The repulsive function in potential field method is used to avoid collision among robots and obstacles. $A^*$ algorithm helps the robots to find optimal path. In addition, error estimation based on UKF guarantees small path deviation of each robot during navigation. The simulation results show that the swarm robots with designated formation successfully avoid obstacles and return to the assigned formation effectively.

• Journal of IKEEE
• /
• v.19 no.4
• /
• pp.472-478
• /
• 2015

When user wants to receive a smart safe return service, user sends a service request using a smart device to support GPS location data. After the smart safe return system receives the location of user, it selects the neighboring CCTV cameras based on user's location information, and controls the selected CCTV cameras to take a picture of the user, and to chase the user automatically. This service can be useful when there is a crime-ridden district on the path to return home late at night. Previous systems can't provide the smart safe return service to multiple user simultaneously. In this paper, we propose the smart safe return system which can provide the service to multiple users simultaneously.

• Proceedings of the KSR Conference
• /
• 2004.10a
• /
• pp.1407-1412
• /
• 2004

Impedance calculations of electric railway traction systems is essential to define characteristics and to design it. The self impedance is defined voltage drop rate per unit length, the mutual impedance is represented as a voltage induced to transmission line from transmission line. The self and the mutual impedance are influenced by ground return currents. The earth is considered as a semi-infinitely extended non-ideal conductor. The current of transmission line produces earth current induced magnetically and it flow through a path having minimum impedance. Carson proposed the impedance calculation formula using wave equations and magnetic field equations. Though the formula have an improper equation, that is still used as a standard impedance calculation method. This paper introduced an impedance calculation method that the complex depth of earth return method assumes that the current in conductor returns through an imagined earth depth path located directly under original conductor at a depth of. In this paper, we showed that this proposed method has a closed form and is easier than Carson's.

• 한국정보통신설비학회:학술대회논문집
• /
• 2008.08a
• /
• pp.7-11
• /
• 2008

Future electric lights will be composed of white LEDs (Light Emitting Diodes). Indoor wireless optical communication systems utilizing white LED lights have been studying about it. Generally, plural lights are installed in room. Therefore, their optical path difference must be considered. In this paper, the influence of an optical path difference has been investigated and two approaches against this problem are introduced. One uses OOK-RZ (On-Off Keying, Return-to-Zero) coding and the other uses optical OFDM (Orthogonal Frequency Division Multiplexing). From the results of computer simulations, we have found that these approaches are feasible for the wireless optical communication systems utilizing white LED lights.

• 한국ITS학회:학술대회논문집
• /
• 2008.11a
• /
• pp.391-394
• /
• 2008

• Journal of the Korean Society for Precision Engineering
• /
• v.29 no.4
• /
• pp.441-448
• /
• 2012

This paper describes the optimal home positioning algorithm of Eclipse-II, a new conceptual parallel mechanism for motion simulator. Eclipse-II is capable of translation and 360 degrees continuous rotation in all directions. In unexpected situations such as emergency stop, riders have to be resituated as soon as possible through a shortest translational and rotational path because the return paths are not unique in view of inverse kinematic solution. Eclipse-II is man riding. Therefore, the home positioning is directly related to the safety of riders. To ensure a least elapsed time, ZYX Euler angle inverse kinematics is applied to find an optimal home orientation. In addition, the subsequent decrease of maximum acceleration and jerk values is achieved by combining the optimal return path function with cubic spline, which consequently reduces delivery force and vibration to riders.

• Progress in Superconductivity and Cryogenics
• /
• v.26 no.1
• /
• pp.25-30
• /
• 2024

High-temperature superconducting rotors offer advantages in terms of output-to-weight ratio and efficiency compared to conventional phase conduction motors or generators. The rotor can be cooled by conduction cooling, which attaches a cryocooler, and by refrigerant circulation, which uses circulating liquid or gas neon, helium and hydrogen. Recent work has focused on environmental issues and on high-temperature superconducting motors cooled with liquid hydrogen that can be combined with fuel cells. However, to ensure smooth supply and return of the cryogenic cooling fluid, a cryogenic rotational coupling between the rotating and stationary parts is necessary. Additionally, the development of a sealing structure to minimize fluid leakage applicable to the coupling is essential. This study describes the design and performance evaluation of a non-contact sealing method, specifically a labyrinth seal, which avoids power loss and heat load caused by friction in contact sealing structures. The seal design incorporates a spiral flow path to reduce leakage using centrifugal force, and computational fluid dynamics (CFD) simulations were conducted to analyze the flow path and rotational speed. A performance evaluation device was configured and employed to evaluate the designed seal. The results of this study will be used to develop a cryogenic rotational coupling with supply and return flow paths for cryogenic applications.