• The Journal of Korea Robotics Society
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• v.3 no.3
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• pp.186-193
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• 2008

We propose a novel real-time obstacle avoidance method for rescue robots. This method, named the ELA(Emergency Level Around), permits the detection of unknown obstacles and avoids collisions while simultaneously steering the mobile robot toward safe position. In the ELA, we consider two sensor modules, PSD(Position Sensitive Detector) infrared sensors taking charge of obstacle detection in short distance and LMS(Laser Measurement System) in long distance respectively. Hence if a robot recognizes an obstacle ahead by PSD infrared sensors first, and judges impossibility to overcome the obstacle based on driving mode decision process, the order of priority is transferred to LMS which collects data of radial distance centered on the robot to avoid the confronted obstacle. After gathering radial information, the ELA algorithm estimates emergency level around a robot and generates a polar histogram based on the emergency level to judge where the optimal free space is. Finally, steering angle is determined to guarantee rotation to randomly direction as well as robot width for safe avoidance. Simulation results from wandering in closed local area which includes various obstacles and different conditions demonstrate the power of the ELA.

• The Journal of the Korean dental association
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• v.50 no.1
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• pp.22-30
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• 2012

The methods for the occlusal force measurement have long been developed. The occlusal analyzing equipment utilizing the pressure-sensitive film (Prescale) is useful for the assessment and comparison among large group of patients. On the other hand, the apparatus which uses the grid-based sensor sheet (T-scan) can be a useful assistant for acquiring the well-balanced occlusion. The device that can process the electrical input from the strain gauge which is attached to the tooth surface can collect the dynamic data of actual masticatory force. This device has been developed for the measurement of actual mastication with the food bolus and it can be a useful method for the comparison before and after the restorative treatment. Occlusal force measurement can be applied for the analysis of therapeutic action, diagnosis of crack- tooth syndrome, temporomandibul ar disease, and idiopathic implant loosening.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.1
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• pp.15-26
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• 2013

This paper proposes a classification method of parallel, vertical parking states and pillars for parking assist system using ultrasonic sensors. Since, in general parking space detection module, the compressed amplitude of ultrasonic data are received, the analysis of them is difficult. To solve these problems, in preprocessing state, symmetric transform and noise removal are performed. In feature extraction process, four features, standard deviation of distance, reconstructed peak, standard deviation of reconstructed signal and sum of width, are proposed. Gaussian fitting model is used to reconstruct saturated peak signal and discriminability of each feature is measured. To find the best combination among these features, multi-class SVM and subset generator are used for more accurate and robust classification. The proposed method shows 92 % classification rate and proves the applicability to parking space detection modules.

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1295-1299
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• 2003

The Mass Flow Controller(MFC) has become crucial in semiconductor manufacturing equipments. It is an important element because the quality and the yield of a semiconductor process are decided by the accurate flow control of gas. Therefore, the demand for the high speed and the highly accurate control of MFCs has been requested. It is hard to find an article of the control algorithm applied to MFCs. But, it is known that commercially available MFCs have PID control algorithms. Particularly, when the system detects the flow by way of heat transfer, MFC control problem contains the time delay and the nonlinearity. In this presentation, MFC control algorithm with the superior performance to the conventional PID algorithm is discussed and the superiority is demonstrated through the experiment. Fuzzy controller was utilized in order to compensate the nonlinearity and the time delay, and the performance is compared with that of a product currently available in the market. The control system, in this presentation, consists of a personal computer, the data acquisition board and the control algorithm carried out by LabWindows/CVI program on the PC. In addition, the method of estimating an actual flow from sensor output containing the time delay and the nonlinearity is presented. In conclusion, according to the result of the experiment, the proposed algorithm shows better accuracy and is faster than the conventional controller.

• Proceedings of the KIPE Conference
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• 2001.10a
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• pp.351-354
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• 2001

In this paper, we present self-tuning control of switched reluctance motor for maximum torque with phase current and shaft position sensor. Determination method of turn-on/off angle is realized by using self-tuning control method. During the sampling time, micro-controller checks the number of pulse from encoder and compare with the number of pre-checked pulse. After micro-controller calculates between two data, it moves forward or backward turn-off angle. When the turn-off angle is fixed optimal turn-off angle, the turn-on angle automatically moves forward or backward by a step using self-tuning control method. And then, optimal turn-off angle is searched once again. As such a repeating process, turn-on/off angle is moved automatically to obtain the maximum torque. The experimental results are presented to validate the self-tuning algorithm.

• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.21 no.4
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• pp.613-618
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• 2012

The Ultrasonic metal welding is used in the solid-phase welding method at room temperature or low temperature state. In welding process, the high frequency vibration energy is delivered to the welding part under the constant pressure for welding. In this study, we aimed to design and manufacture a 40,000 Hz band horn through finite element analysis. By performing modal analysis and harmonic response analysis, the modal analysis result is that the horn frequency was 39,599Hz and the harmonic response result that the horn frequency was 39,533Hz. These results were similar. In order to observe the designed horn's performance, about 4,000 voltage data was obtained from a light sensor and was analyzed by FFT analysis using Origin Tool. The result RMS amplitude was approximately $8.5{\mu}m$ at 40,000Hz, and maximum amplitude was $12.3{\mu}m$. Using this manufactured horn along with an ultrasonic metal welder and tension tester, the weldability of Cu sheets was evaluated. The maximum tensile force was 66.53 N in the welding condition of 2.0 bar pressure, 60% amplitude, and 0.32 s welding time. In excessive welding conditions, it was revealed that weldability is influenced negatively.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2003.05a
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• pp.313-316
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• 2003

This paper presents stand-alone electric power generator using bridge vibration for charging system of health monitoring sensor unit of bridge structure. In this paper, a novel electric power generator utilizing vertical vibration is proposed, which has minimum effect of armature reaction, and the related mechanical and electrical design equations are obtained and then a pilot electric power generator has been implemented. Moreover, the free oscillation test reveals that diode characteristics of rectifier is dominant factor in charging process. Also, simulation results with the Namhae bridge data showed the validity and effectiveness for stand-alone electric power generation.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.58 no.4
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• pp.469-475
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• 2009

Accident dangerousness of domestic hydro power generators which are operated in Korea is on the increase because of use at the long term. On this, the Off-line diagnosis techniques developed to the On-line by continued domestic technical development since 2000. Especially, On-line insulation diagnosis of domestic hydro power generator is possible by localization of partial electric discharge sensor and On-line insulation diagnosis system. This paper shows the diagnosis result that is applied localized Ceramic Coupler and PDMS-HG(Partial Discharge Monitoring System for Hydro Generator) at four Chung-ju hydro Generator used for 25 years. Particularly, the confidence of insulation diagnosis is improved by using high frequency filter and sampling the partial discharge signals which occur in site. For reviewing the confidence of On-Line insulation diagnosis system, we measured the outside noises and partial discharge signals during practical operation by using the partial discharge diagnosis system of the Full A/D process. And we reviewed the confidence of the On-Line insulation diagnosis system by comparing and analyzing these data.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.13 no.11
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• pp.5512-5526
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• 2019

In sports video games, especially ball games, motion capture techniques are used to reproduce the ball-driven performances. The amount of motion data needed to create different situations in which athletes exchange balls is bound to increase exponentially with resolution. This paper proposes how avatars in virtual worlds can not only imitate professional athletes in ball games, but also create and edit their actions effectively. First, various ball-handling movements are recorded using motion sensors. We do not really have to control an actual ball; imitating the motions is enough. Next, motion is created by specifying what to pass the ball through, and then making motion to handle the ball in front of the motion sensor. The ball's occupant then passes the ball to the user-specified target through a motion that imitates the user's, and the process is repeated. The method proposed can be used as a convenient user interface for motion based games for players who handle balls.

• Journal of Powder Materials
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• v.18 no.2
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• pp.135-140
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• 2011

The RFID (Radio-Frequency Identification) is an automatic identification method, relying on storing and remotely retrieving data using devices called RFID tags or transponders. Some RFID tags have been used in severe environment of temperature ranged from $200^{\circ}C$ to $250^{\circ}C$ for a long time and may cause serious problems such as signal error, short life cycle and explosion. Conventionally, the RFID tags for high temperature applications consisted of Fe-alloy housing part, ceramic powder and RFID sensor. However, it has disadvantage of heavy weight, signal noise and heat shield capability. In this study, we newly applied the aluminum porous materials fabricated by polymer leaching process into RFID tags in order to improve heat shielding ability, and compared the properties of RFID tag inserted by aluminum porous with the conventional one.