• 대한임베디드공학회논문지
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• 제10권6호
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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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• 제12권4호
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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.

• 전력전자학회논문지
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• 제5권2호
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• pp.105-114
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• 2000

본 논문에서는 진행파형 초음파 모터 구동을 위한 직렬형 모터측에 직렬로 삽입되는 인덕터의 설계를 위한 새로운 해석 방법을 제시하였다. 초음파 모터의 구조를 등가적으로 해석하였고 이를 토대로 직렬 인덕터의 선정법을 제시하였다. 직렬 인덕터가 최적으로 설계되었을 때 모터 내부의 기계측 고유 공진 요소에 효율적인 전력이 전달될 수 있음을 시뮬레이션을 통하여 확인하였다. 여러 단계의 외부 인덕터에 대한 실험을 통하여 초음파 모터의 주파수 및 속도 특성이 검토되었다. 그 결과 제안된 외부 인덕터 선정방법의 타당성이 입증되었다.

• Industrial Engineering and Management Systems
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• 제9권2호
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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.

• 한국정밀공학회지
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• 제23권8호
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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.

• 산업경영시스템학회지
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• 제19권39호
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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.

• 한국정보통신학회:학술대회논문집
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• 한국정보통신학회 2016년도 추계학술대회
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• pp.605-607
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• 2016

국내외 여행자가 늘어나는 추세이다. 여행 전부터 조사하여 계획을 짜는 사람들, 여행을 떠났으나 길을 몰라 목적지를 잘 찾지 못하는 사람들이 존재한다. 이러한 문제점을 해결하고자 본 논문에서는 스마트폰 애플리케이션을 통해 여행에서의 이동 간 효율성을 제공한다. 동시에 편리함, 만족감 등을 향상시키기 위해 여행 시스템을 통하여 국가와 목적지를 선택하고 선택한 여러 목적지 중 현재 사용자의 위치에서 최단 경로에 위치한 목적지를 안내하여 여행 경로를 단축시키고 시간을 절약한다. 또한 부가적인 시설의 위치를 안내해주는 편의성을 제공하고자 구현하였다.

• 한국인터넷방송통신학회논문지
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• 제12권4호
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• pp.131-140
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• 2012

네비게이션의 최단 경로 탐색 알고리즘은 일반적으로 Dijkstra 알고리즘에 기반을 두고 있으며, 가중치로 단지 길이 (거리) 만을 고려하고 있다. 거리 기반의 Dijkstra 알고리즘은 출발 노드부터 시작하여 그래프의 모든 노드에 대한 최단 경로를 결정하기 때문에 일반적으로 노드의 수 - 1회를 수행해야 하며, 알고리즘 수행에 많은 메모리가 요구된다. 또한, 거리에만 기반하기 때문에 전방에 차량사고로 인해 병목현상이 발생하였을 때 우회도로를 탐색하는 기능이 없어 항상 동일한 경로만을 탐색한다. 이러한 문제점을 해결하고자, 본 논문은 도로 등급 (고속도로, 국도, 지방도 등)을 고려하지 않고, 속도 기준 (원활, 지체 서행, 정체, 사고 통제 등)도 적용하지 않으며, 단지 도로별 주행시간 (주행속도 ${\times}$ 거리)을 고려한다. 이는 사고, 지체, 공사 등으로 인해 동일한 거리의 도로도 다른 시간이 소요되는 현실성을 반영하여 우회도로를 탐색할 수 있는 장점이 있다. 제안된 알고리즘은 특정 도로에서 사고가 발생하였다고 가정한 경우에도 도로의 통행속도를 실시간으로 반영함으로서 돌발지점을 우회하여 목적지 까지 최단시간 내에 도달 할 수 있음을 증명하였다.

• Journal of Biosystems Engineering
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• 제24권5호
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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.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 G
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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.