• The Journal of Korea Robotics Society
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• v.17 no.2
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• pp.142-151
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• 2022

With the advent of the 4th industrial revolution, autonomous driving technology is being commercialized in various industries. However, research on autonomous driving so far has focused on platforms with wheel-type platform. Research on a tracked platform is at a relatively inadequate step. Since the tracked platform has a different driving and steering method from the wheel-type platform, the existing research cannot be applied as it is. Therefore, a path-tracking algorithm suitable for a tracked platform is required. In this paper, we studied a path-tracking algorithm for a tracked platform based on a GPS sensor. The existing Pure Pursuit algorithm was applied in consideration of the characteristics of the tracked platform. And to compensate for "Cutting Corner", which is a disadvantage of the existing Pure Pursuit algorithm, an algorithm that changes the LAD according to the curvature of the path was developed. In the existing pure pursuit algorithm that used a tracked platform to drive a path including a right-angle turn, the RMS path error in the straight section was 0.1034 m and the RMS error in the turning section was measured to be 0.2787 m. On the other hand, in the variable LAD algorithm, the RMS path error in the straight section was 0.0987 m, and the RMS path error in the turning section was measured to be 0.1396 m. In the turning section, the RMS path error was reduced by 48.8971%. The validity of the algorithm was verified by measuring the path error by tracking the path using a tracked robot platform.

• Journal of the korean Society of Automotive Engineers
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• v.8 no.3
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• pp.28-36
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• 1986

This study was investigated the feasibility of AE application on in-process detection of tool fracture and chipping. Carbon steel SM45C workpiece with longitudinal slots was turned interruptedly on a lathe. AE RMS signal at tool fracture was observed and also the tangential force and the feed observed at the time of tool fracture, the levels of tangential force and the feed force at the time of fracture decrease considerably. In chipping, high level AE signal was observed but there were no changes of cutting force. Peak AE RMS squared is proportional to the area of tool fracture and resultant force. Fracture model of tool fracture is proposed as $V_{p}$ = $C_{1}$ $E_{1}$F(.DELTA. A)$_{0.5}$ and peak AE RMS shows strong correlation with the fracture parameter F(.DELTA.A)$^{0.5}$.

• IEMEK Journal of Embedded Systems and Applications
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• v.12 no.2
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• pp.79-88
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• 2017

One of the important applications of activity sensing in the home is energy monitoring. Many previous methodologies for detecting and recognizing household appliances have been proposed. This paper presents an approach that uses an energy metering circuit (EMC) to classify and identify the various electrical devices in home based on root-mean-square (RMS) consumed current value. EMC gathers the RMS current values created by appliance state transition (e.g., on to off) and apparatus operating process. In this paper, an identification algorithm is proposed to detect a change in current levels using the standard deviation of current signals and their average values. In addition, characteristic of the appliance is extracted concerning four feature parameters concerning the number of current levels, the minimum level, the maximum level, and signal-to-noise ratio (SNR) of them. Experiment results validate the reliable performance of the proposed identification method for 11 representative appliances.

• Transactions of the Korean Society of Machine Tool Engineers
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• v.12 no.1
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• pp.92-100
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• 2003

Using a quarter car model, an analytic method for performance estimation of a vehicle suspension system with respect to frequency response, RMS response and performance index is presented. From frequency response function, compromization of response performance to the whole frequency range is verified and from RMS response and performance index, sensitivity of ride md handling characteristics are examined. Using a full car model, sweet area(stable ride area) are determined and performance sensitivity is estimated according to the change of feedback gains. In order to esimate the output sensitivity, response we is displayed using a 3-dimensional contour plot. Design data n suggested for optimal design parameter esimation, which maximize the performance of the given suspension system.

• Journal of the Korean Society for Precision Engineering
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• v.16 no.1 s.94
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• pp.26-33
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• 1999

Automatic monitoring of cutting process is one of the most important technologies for increasing the stability and the reliability of unmanned manufacturing system. In this study, basic methods which use the acoustic emission (AE) signals and cutting forces were proposed to monitor flank wear (width of flank wear) quantiatively. First, in order to detect flank wear, it was investigated that the influence of cutting conditions, that is, cutting velocity, feed and depth of cut, on AE signals (${AE_rms}$) and cutting forces. Furthermore, the relation between flank wear and the measured signals (${AE_rms}$, cutting force) was discussed.

• Journal of the Korean Institute of Electrical and Electronic Material Engineers
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• v.27 no.7
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• pp.458-461
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• 2014

TiC thin films were deposited on Si wafer by unbalanced magnetron sputtering (UBMS) system with two targets of graphite and titanium. During the TiC sputtering, the RF power was varied from 100 W to 175 W and the physical and electrical properties of TiC films were investigated. The hardness and rms surface roughness of TiC films were improved with increasing RF power and the maximum hardness about 24 GPa and the minimum rms surface roughness about 1.2 nm were obtained. The resistivity of TiC films was decreased with increasing RF power. Consequently, the physical and electrical properties of TiC film wewe improved with increasing RF power.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2007.12a
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• pp.90-93
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• 2007

해양수산부에서 해양 DGPS기준국과 연계하여 전국망 위성항법보정시스템 (NDGPS) 구축 사업을 추진 중에 있으며, 2008년도 춘천기준국이 설치 완료되면 우리나라 전역에서 실시간 DGPS 측위 정보를 이용할 수 있게 되었다. 따라서 DGPS 이용 활성화를 위하여 무엇보다도 DGPS 측위 정확도의 신뢰성이 요구되는바, 실시간 DGPS 의 측위 정확도를 측정 ${\cdot}$ 분석하여 신뢰성을 검증하였다. 실시간 NDGPS 측위 정확도는 Static 측정에 있어 0.42m(RMS), 회전운동에 의한 Dynamic 측정시 0.48m(RMS)로 분석되었으며, RTK에 의한 비교 측정 ${\cdot}$ 분석도 병행하였다. 따라서 위성항법보정시스템 (DGPS)은 높은 정확도를 요구하는 GIS구축사업 분야에 직접적으로 이용될 수 없으나 실시간 측위 정보를 필요로 하는 GIS활용 분야에서 DGPS가 다양하게 이용될 수 있을 것이다.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.8 no.1
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• pp.126-134
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• 1999

In this paper, a new error compensating technique for form-error compensation of rough-surface profile obtained by contact stylus profilometer is proposed. By the method, the real contact points of rough-surface and diamond stylus can be estimated and the measured profile data corrected. To verify the compensation effect, the properties(Ra, RMS, Kurtosis, Skewness) of measured profile data and compensated data were compared. And, the cumulative RMS slope was proposed to assess the compensated effect of upper area of profile. The results show that the measuring error could be compensated very well in amplitude parameters and in proposed cumulative RMS slope by the developed form-error compensating technique.

• Journal of the Korean Society for Nondestructive Testing
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• v.37 no.2
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• pp.84-90
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• 2017

An ultrasonic synthetic aperture focusing technique (SAFT) using a root mean square (RMS) velocity model is proposed for pulse-echo immersion testing to improve the computational efficiency. Considering the immersion ultrasonic testing of a steel block as an example, three kinds of imaging were studied (B-Scan, SAFT imaging based on ray tracing technology and RMS velocity). The experimental results show that two kinds of SAFT imaging have almost the same imaging performance, while the efficiency of RMS velocity SAFT imaging is almost 25 times greater than the SAFT based on Snell's law.

• Journal of the Korean Ceramic Society
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• v.31 no.7
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• pp.731-738
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• 1994

TiN films were deposited on high speed steels by plasma assisted chemical vapor deposition (PACVD), cathode arc ion plating (CAIP) and reactive magnetron sputtering (RMS). The properties of the films deposited by the three different methods were compared. The preferred oriented plane of PACVD-TiN is (200) and those of CAIP-TiN and RMS-TiN are (111). PACVD-TiN shows a dome surface and a microstructure having small grains. CAIP-TiN shows the highest microhardness and the best adhesion strength of the three because it has a dense microstructure and an ill-defined interface. But is shows the greatest surface roughness due to the Ti droplet created by the arc. RMS-TiN shows a microstructure having large voids so that its properties in microhardness and adhesion are the worst of the three.