• IEMEK Journal of Embedded Systems and Applications
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• v.10 no.6
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• pp.373-379
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• 2015

A hybrid navigation system is implemented to apply for a mobile robot. The hybrid navigation system consists of an inertial navigation system and a global positioning system. The inertial navigation system quickly calculates the position and the attitude of the robot by integrating directional accelerations, angular speed, and heading angle from a strap-down inertial measurement unit, but the results are available for a short time since it tends to diverge quickly. Global positioning system delivers position, heading angle, and traveling speed stably, but it has large deviation with slow update. Therefore, a hybrid navigation system uses the result from an inertial navigation system and corrects the result with the help of the global positioning system where an indirect feedback Kalman filter is used. We implement and confirm the performance of the hybrid navigation system through driving a car attaching it.

• International Journal of Internet, Broadcasting and Communication
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• v.12 no.4
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• pp.102-108
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• 2020

One of the key features of a mobile crowd-sensing (MCS) system is task allocation, which aims to recruit workers efficiently to carry out the tasks. Due to various constraints of the tasks (such as specific sensor requirement and a probabilistic guarantee of task completion) and workers heterogeneity, the task allocation become challenging. This assignment problem becomes more intractable because of the deadline of the tasks and a lot of possible task completion order or moving path of workers since a worker may perform multiple tasks and need to physically visit the tasks venues to complete the tasks. Therefore, in this paper, a hybrid search algorithm for task allocation called HST is proposed to address the problem, which employ a traveling salesman problem heuristic to find the task completion order. HST is developed based on the tabu search algorithm and exploits the premature convergence avoiding concepts from the genetic algorithm and simulated annealing. The experimental results verify that our proposed scheme outperforms the existing methods while satisfying given constraints.

• The Transactions of the Korean Institute of Power Electronics
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• v.5 no.2
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• pp.105-114
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• 2000

To chive a traveling wave type ultrasonic motor with the series""-resonant inverter, the external inductor is i lnserted between the motor and inverter. In $\psi$is paper, we proposed a novel 3Ilalysis method to design the 3 ~xternal inductor. An equivalent model of the ultrasonic motor is expressed, and a selection method of the , ;;eries inductor is proposed from the basis of the model. When the series inductor has an optimal value, it is v velified by computer simulation results that power is efficiently transmitted to the mechanical resonant c component in the motor. The frequency and speed characteristics of the ultrasonic motor are investigated by e experiments for several external inductors. The validity of the proposed method for selecting external inductor i is clarified.clarified.

• Industrial Engineering and Management Systems
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• v.9 no.2
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• pp.80-87
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• 2010

As express courier market expands rapidly, companies are exposed to fierce competition. To cope with struggle for their survival, they are continuously making efforts to improve their service system. Even if most of service centers are directly linked to a consolidation terminal in courier service network, some of them with regional disadvantages are operated in milk run type from/to the consolidation terminal, which is a traditional PDP (Pick-up and Delivery Problem). This study suggests an approach to solve the PDP with the objective of maximizing the incremental profit, which belongs to PTP (Profitable Tour Problem) class. After the PTP is converted to TSP (Traveling Salesman Problem) with the same objective, a heuristic algorithm based on GA (Genetic Algorithm) is developed and examined through an example problem in practice of a courier service company in Korea.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.8 s.185
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• pp.64-71
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• 2006

In this paper, a uniform speed controller for an ultrasonic rotary motor is developed using the phase-difference method. The phase difference method uses traveling waves to drive the ultrasonic motor. The traveling waves are obtained by adding two standing waves that have a different phase to each other. A compact phase-difference driver system is designed and integrated by combining VCO(Voltage Controlled Oscillator) and phase shifter. Theoretically the relationship between the phase difference in time and the rotational speed of the ultrasonic motor is sine function, which is verified by experiments. Then a series of experiments under various loading conditions are conducted to characterize the motor's performance that is the relationship between the speed and torque. Proportional-integral control is adopted for the uniform speed control. The proportional control unit calculates the compensating phase-difference using the rotating speed which is measured by an encoder and fed back. Integral control is used to eliminate steady-state errors. Differential control for reducing overshoot is not used since the response of ultrasonic motor is prompt due to its low inertia and friction-driving characteristics. The developed controller demonstrates reasonable performance overcoming disturbing torque and the changes in material properties due to continuous usage.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.19 no.39
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• pp.9-18
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• 1996

Many algorithms have been developed for optimizing the asymmectric traveling salesman problem known as a representative NP-Complete problem. The most efficient ones of them are branch and bound algorithms based on the subtour elimination approach. To increase efficiency of the branch and bound algorithm. number of decision nodes should be decreased. For this the minimum bound that is more close at the optimal solution should be found or an effective bounding strategy should be used. If the optimal solution has been known, we may apply it usefully to branching. Because a good feasible solution should be found as soon as possible and have similar features of the optimal solution. By the way, the upper bound solution in branch and bound algorithm is most close at the optimal solution. Therefore, the upper bound solution can be used instead of the optimal solution and information of which can be applied to new branching criteria. As mentioned above, this paper will propose an effective branching rule using the information of the upper bound solution in the branch and bound algorithm. And superiority of the new branching rule will be shown by comparing with Bellmore-Malone's one and carpaneto-Toth's one that were already proposed.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2016.10a
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• pp.605-607
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• 2016

The trend is growing domestic and international travelers. Research before making plans to travel people, Leave the tour you do not know the way, there are people who can not find a better destination. In this paper, to solve this problem and provide a mobile-to efficiency in traveling through a smart-phone application. At the same time to improve the convenience and satisfaction, etc. Select the destination country and traveling through the guidance system and the destination in the shortest path from the current location of the user to select multiple destinations shorten the travel route and save time. Also implemented to provide a convenience to guide the position of the additional facilities.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.12 no.4
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• pp.131-140
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• 2012

The shortest path search algorithm of navigation is generally based on Dijkstra algorithm and considers only the distance using the weight. Dijkstra algorithm based on the distance mainly ought to perform the 'number of nodes 1' and requires a lot of memory, for it is to start from the starting node and to decide the shortest path for all the nodes. Also, it searches only the same identical path in case of any bottleneck due to an accident nearby, since it is based only on the distance, and hence does not have a system that searches the detour road. In order to solve this problem, this paper considers only the travelling time per road (travelling speed * distance), without applying speed criteria (smoothness, slow speed, stagnation and accident control) or road class (express road, national road and provincial road). This provides an advantage of searching the detour, considering the reality that there are differences in time take for the car to travel on different roads with same distance, due to any accident, stagnation, or repair construction. The suggested algorithm proves that it can help us to reach the destination within the shortest time, making a detour from any congested road (outbreak) on providing an information on traveling time continuously(real-time) even though there is an accident in a particular road.

• Journal of Biosystems Engineering
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• v.24 no.5
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• pp.383-390
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• 1999

When a tractor travels slope lands, problems of operator safety and the reduction of job efficiency usually occur. Therefore, maintaining the tractor body being horizontal is critical to improve the security of traveling and the job performance. An experiment was made in a soil bin using the experimental model system built and equipped with a leveling control system. Adaptability of the control system was tested and investigated by analyzing system response in time and frequency domains. Control response time of hydraulic cylinder with 10lpm flow rate on a step input of 10$^{\circ}$slope was about 0.42sec. And it showed a linearly increasing trend without any hunching state. A steady state error of 0.6$^{\circ}$occurred but it was negligible. The hydraulic control system showed a little phase differences within the range of 0.4Hz input frequency. The experimental model showed that implementation of the proposed tractor control system to on slope lands tractor was feasible.

• Proceedings of the KIEE Conference
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• 1998.07g
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• pp.2215-2217
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• 1998

A remote maintenance system, which enables an engineer to check and treat machines installed at remote site with the help of data communication, has been developed. The maintenance of machines with the traveling of engineers is much costly in time and economically. With the developed system, the engineer at the remote site can diagnose malfunctioning machines. The remote maintenance system is composed of video conferencing system, camera control system and signal aquisition system. The developed system has been tested on the 100Mbps ATM network to evaluate its ability to diagnose remote machines.