• Journal of Institute of Control, Robotics and Systems
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• v.14 no.3
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• pp.284-294
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• 2008

In this paper, we describe an implementation of small mobile robot that can be used at research and application of mobile sensor networking. This robot that will constitute the sensor network, as a platform of multi-robot system for each to be used as sensor node, has to satisfy restrictions in many aspects in order to perform sensing, communication protocol, and application algorithms. First, the platform must be designed with a robust structure and low power consumption since its maintenance after deployment is difficult. Second, it must have flexibility and modularity to be used effectively in any structure so that it can be used in various applications. Third, it must support the technique of wireless network for ubiquitous computing environment. At last, to let many nodes be scattered, it must be cost-effective and small. Considering the above restrictions of the mobile platform for sensor network, we designed and implemented robots control the current of actuator by using additional circuit for power efficiency. And we chose MSP430 as MCU, CC2420 as RF transceiver, and etc, that have the strength in the aspect of power. For flexibility and modularity, the platform has expansion ports. The results of experiments are described to show that this robot can act as sensor node by RF communication process with Zigbee standard protocol, execute the navigation process with simple obstacle avoidance and the moving action with RSSI(Received Signal Strength Indicator), operate at low-power, and be made with approx. $100.

• Journal of Power Electronics
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• v.13 no.6
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• pp.939-954
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• 2013

The Direct Torque Control (DTC) technique for Permanent Magnet Synchronous Motors (PMSM) is receiving increased attention due to its simplicity and robust dynamic response when compared with other control techniques. The classical switching table based DTC results in large flux and torque ripples in the motors. Several studies have been reported in the literature on classical DTC. However, there are only limited studies that actually discuss or evaluate the classical DTC. This paper proposes, novel switching table / DTC methods for PMSMs to reduce torque ripples. In this paper, two DTC schemes are proposed. The six sector and twelve sector methodology is considered in DTC scheme I and DTC scheme II, respectively. In both DTC schemes a simple modification is made to the classical DTC structure. The two level inverter available in the classical DTC is eliminated by replacing it with a three level Neutral Point Clamped (NPC) inverter. To further improve the performance of the proposed DTC scheme I, the available 27 voltage vectors are allowed to form different groups of voltage vectors such as Large - Zero (LZ), Medium - Zero (MZ) and Small - Zero (SZ), where as in DTC scheme II, all of the voltage vectors are considered to form a switching table. Based on these groups, a novel switching table is proposed. The proposed DTC schemes are comparatively investigated with the classical DTC and existing literatures through theory analysis and computer simulations. The superiority of the proposed DTC method is also confirmed by experimental results. It can be observed that the proposed techniques can significantly reduces the torque ripples and improves the quality of current waveform when compared with traditional and existing methods.

• Journal of IKEEE
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• v.27 no.3
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• pp.319-326
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• 2023

In this paper, simulation and experimental results are presented, including the implementation of a digital controller for robust output voltage control of a single-phase voltage source inverters (VSIs) and total harmonic distortion (T.H.D.v) analysis. Typically, the VSIs uses a proportional integral (PI) controller for the current controller on the inner loop and a proportional resonant (PR) controller for the voltage controller on the outer loop to control the output voltage. However, non-linear loads still produce high-order odd harmonic distortion. Therefore, in this paper, a proportional multiple resonance (PMR) controller with a resonance controller for odd harmonic frequencies is proposed to suppress harmonic distortion. Analyze the frequency response of controllers for VSI plants and design PMR controllers. Through simulation, the total harmonic distortion characteristics of the output voltage are compared and verified when PI and PMR are used as voltage controllers. Both linear and non-linear loading conditions were considered. Finally, the effectiveness of the PMR controller was demonstrated by applying it to a 3kW VSIs prototype.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.2519-2523
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• 2003

Ultrasonic sensors are widely used in mobile robot applications to recognize external environments, because they are cheap, easy to use, and robust under varying lighting conditions. In most cases, a single ultrasonic sensor is used to measure the distance to an object based on time-of-flight (TOF) information, whereas multiple sensors are used to recognize the shape of an object, such as a corner, plane, or edge. However, the conventional sequential driving technique involves a long measurement time. This problem can be resolved by pulse coding ultrasonic signals, which allows multi-sensors to be fired simultaneously and adjacent objects to be distinguished. Accordingly, the current presents a new simultaneous coded driving system for an ultrasonic sensor array for object recognition in autonomous mobile robots. The proposed system is designed and implemented using a DSP and FPGA. A micro-controller board is made using a DSP, Polaroid 6500 ranging modules are modified for firing the coded signals, and a 5-channel coded signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances for each sensor were obtained from the received overlapping signals using correlations and conversion to a bipolar PCM-NRZ signal.

• Journal of Power Electronics
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• v.14 no.2
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• pp.226-236
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• 2014

A new active LED driver with high power factor (PF) and low total harmonic distortion (THD) compatible with a rapid-start ballast is proposed. An LC input filter is attached to the ballast to increase PF and reduce THD. A boost converter is then installed to regulate the LED current, where an unstable operating region has been newly identified. The unstable region is successfully stabilized by feedback control with two zeroes. The extremely high overall system of the 10th order is completely analyzed by the newly introduced phasor transformed circuits in static and dynamic analyses. Although a small DC capacitor is utilized, the flicker percentage of the LED is drastically mitigated to 1% by the fast controller. The proposed LED driver that employs a simple controller with a start-up circuit is verified by extensive experiments whose results are in good agreement with the design.

• MALSORI
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• no.57
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• pp.175-189
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• 2006

Because a packet loss brings about degradation of speech quality, VoIP speech coders have PLC (Packet Loss Concealment) mechanism. G.711, which is a mandatory VoIP speech coder, also has the PLC algorithm based on pitch period replication. However, it is not robust to burst losses. Thus, we propose two methods to improve the performance of the original PLC algorithm in G.711. One adaptively utilizes voiced/unvoiced information of adjacent good frames regarding to the current lost frame. The other is based on adaptive gain control according to energy variation across the frames. We evaluate the performance of the proposed PLC algorithm by measuring a PESQ value under different random and burst packet loss simulating conditions. It is shown from the experiments that the performance of the proposed PLC algorithm outperforms that of PLC employed in ITU-T Recommendation G.711.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.1 no.1
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• pp.13-23
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• 2001

Most current machine vision systems for industrial inspection were developed with one specific task in mind. Hence, these systems are inflexible in the sense that they cannot easily be adapted to other applications. In this paper, a general vision system framework has been developed that can be easily adapted to a variety of industrial web inspection problems. The objective of this system is to automatically locate and identify \\\"defects\\\" on the surface of the material being inspected. This framework is designed to be robust, to be flexible, and to be as computationally simple as possible. To assure robustness this framework employs a combined strategy of top-down and bottom-up control, hierarchical defect models, and uncertain reasoning methods. To make this framework flexible, a modular Blackboard framework is employed. To minimize computational complexity the system incorporates a simple multi-thresholding segmentation scheme, a fuzzy logic focus of attention mechanism for scene analysis operations, and a partitioning if knowledge that allows concurrent parallel processing during recognition.cognition.

• Nuclear Engineering and Technology
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• v.50 no.2
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• pp.292-296
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• 2018

Recent events in the nuclear industry have resulted in a movement towards increased seismic and LOCA excitations and requirements that challenge current fuel designs. AREVA NP's GAIA fuel design introduces unique and robust characteristics to resist the effects of seismic and LOCA excitations. For demanding seismic and LOCA scenarios, fuel assembly spacer grids can undergo plastic deformations. These plastic deformations must not prohibit the complete insertion of the control rod assemblies and the cooling of the fuel rods after the accident. The specific structure of the GAIA spacer grid produces a unique and stable compressive deformation mode which maintains the regular array of the fuel rods and guide tubes. The stability of the spacer grid allows it to absorb a significant amount of energy without a loss of load-carrying capacity. The GAIA-specific grid behavior is in contrast to the typical spacer grid, which is characterized by a buckling instability. The increased mechanical robustness of the GAIA spacer grid is advantageous in meeting the increased seismic and LOCA loadings and the associated safety requirements. The unique GAIA spacer grid behavior will be incorporated into AREVA NP's licensed methodologies to take full benefit of the increased mechanical robustness.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.20 no.9
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• pp.42-47
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• 2021

A one-touch descending lifeline that can easily be installed and rapidly evacuated in the event of a fire accident in high-rise buildings was proposed to overcome difficulties of conventional descending lifeline such as complex installation methods and procedures. However, this lifeline exhibits limitations such as restrictions in installation location and large apparatus size. Therefore, this paper proposes a sliding-type descending lifeline, which has a similar operation to that of current one-touch descending lifeline and solves the aforementioned limitations. A double square link mechanism including a sliding four-bar linkage is proposed and the descending lifeline support is redesigned to unfold in two different planes, allowing 3D movement. Additionally, the shape of the support frame is designed to obtain two attachment surfaces that can be attached to a wall, irrespective of the angle between the window and the inner wall. FEA analysis using ABAQUS is performed to ensure that the robustness of the presented support complies with the Fire Control Act Enforcement Decree. Finally, the feasibility of the proposed sliding one-touch descending lifeline is verified through fabrication.

• The Journal of Asian Finance, Economics and Business
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• v.8 no.7
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• pp.245-254
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• 2021

This paper examines the impact of corporate governance strength on capital structure in an emerging country, namely, Jordan, by constructing a corporate governance score that captures both internal monitoring mechanisms (foreign ownership and institutional ownership) and external monitoring mechanism (audit fees). In addition, this study uses profitability as control variable. This paper uses data of non-financial companies (industrial and services) of 87 listed firms on Amman Stock Exchange (ASE) from 2011 to 2019. Using the random-effects generalized least square (GLS) regression model, the findings reveal that foreign ownership significantly and negatively influences the level leverage, while institutional ownership has a positive and insignificant association with level leverage. Further, audit fees have a positive and strong significant association with level leverage in Jordan. In addition, profitability has a positive and significant association with leverage. These outcomes suggest that foreign ownership should be encouraged in listed companies as it can replace the weakness of other corporate governance mechanisms in Jordan. The outcomes of the current study should be of great interest to regulators and policy-makers. The results, which are robust to a range of alternative proxies and to additional tests, provide new insights into the determinants of level leverage.