• Journal of Mechanical Science and Technology
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• v.15 no.10
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• pp.1369-1379
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• 2001

This paper focuses on a development of a sensor system measuring locations of a vehicle to localize a mobile robot while it tracks on the track (location sensor) . Also it focuses on a system configuration identifying the vehicle's orientation and distance from the object while it is stationary at certain station (position sensor) . As for the location sensor it consists of a set of sensors with a combined guiding and counting sensor, and an address-coded sensor to localize the vehicle while moving on the rail. For the position sensor a PSD (Position Sensitive Device) sensor with photo-switches sensor to measure the offset and orientation of the vehicle at each station is introduced. Both sensor systems are integrated with a microprocessor as a data relay to the main computer controlling the vehicle. The location sensor system is developed and its performance for a mobile robot is verified by experiments. The position measuring system is proposed and is robust to the environmental variation. Moreover, the two kinds of sensor systems guarantee a low cost application and high reliability.

• Journal of Ocean Engineering and Technology
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• v.21 no.1 s.74
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• pp.75-80
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• 2007

Measuring the ground speed and the rotation speeds of tracks is an easy and realistic method to detect the track slips. It is very advantageous if the slips can be measured and applied to real time control of the vehicle. With a proper speed, the tractive force of a tracked vehicle may be calculated from the vehicle dynamics. For the control of tracked vehicle, the relationship between the slip and the tractive force is necessary. In this paper, a series of drawbar-pull tests, in which slips of two tracks are measured under the variational draw-bar weight, is executed to directly obtain the slip-tractive force relationship. For the purpose of the test, a tractive vehicle model was manufactured, and an artificial soil was simulated by using a bentonite-water mixture.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.3
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• pp.285-294
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• 2012

Using bearing measurement only, target motion state is not directly obtained so that TMA (Target Motion Analysis) is needed for this situation. TMA is a nonlinear estimation technique used in passive SONAR systems. Also it is the one of important techniques for underwater combat management systems. TMA can be divided to two parts: batch estimation and sequential estimation. It is preferable to use sequential estimation for reducing computational load as well as adaptively to target maneuvers, batch estimation is still required to attain target initial state vector for convergence of sequential estimation. Selection of batch time interval which depends on observability is critical in TMA performance. Batch estimation in general utilizes predetermined batch time interval. In this paper, we propose a new method called the BTIS (Batch Time Interval and Initial State Estimation). The proposed BTIS estimates target initial status and determines the batch time interval sequentially by using a bank of GMM-TS (Gaussian Mixture Measurement-Track Splitting) filters. The performance of the proposal method is verified by a Monte Carlo simulation study.

• Journal of Power Electronics
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• v.16 no.1
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• pp.111-120
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• 2016

Generally, a single phase H-bridge converter feeding a single primary track is employed in conventional inductive power transfer systems. However, these systems may not be suitable for some high power applications due to the constraints of the semiconductor switches and the cost. To resolve this problem, a novel dual coupled primary tracks IPT system consisting of two high frequency resonant inverters feeding the tracks is presented in this paper. The primary tracks are wound around an E-shape ferrite core in parallel which enhances the magnetic flux around the tracks. The mutual inductance of the coupled tracks is utilized to achieve adjustable power sharing between the inverters by configuring the additional resonant capacitors. The total transfer power can be continuously regulated by altering the pulse width of the inverters' output voltage with the phase shift control approach. In addition, the system's efficiency and the control strategy are provided to analyze the characteristic of the proposed IPT system. An experimental setup with total power of 1.4kW is employed to verify the proposed system under power ratios of 1:1 and 1:2 with a transfer efficiency up to 88.7%. The results verify the performance of the proposed system.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.24 no.2
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• pp.59-67
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• 2018

Background: The purpose of this study was to investigate the effects of gluteus medius strength exercise on the ankle stability of high school student with chronic ankle sprains. Methods: A total of 30 participants were divided two groups. Experimental group was 15 participants applied gluteus medius strength exercise. Control group was 15 participants performing ankle strength exercise. This study was performed for 50 minutes per day, three a week for 6 weeks. All measurements were taken to a pre and post test. Strength was measured using Power Track ll. Balance was measured using Biodex balance system for Limits of Stability and Postural Stability. Ankle Stability was measured using Cumberland Ankle Instability Tool (CAIT). Results: In the case of gluteus medius strength, there were statistically significant differences between the experimental group and the control group. For ankle stability were statistically significant differences within the experimental group according to measurements taken by Limits of Stability, Postural Stability, and CAIT. A between group comparison showed a statistically significant difference for CAIT only. Conclusion: According to our measurements it appears that gluteus medius strength training was effective in benefiting muscular strength, balance and ankle stability among the physical education.

• Progress in Superconductivity and Cryogenics
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• v.3 no.2
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• pp.32-38
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• 2001

A 30[kVA] superconducting generator (SCG) is built and tested at Korea Electrotechnology Research Institute (KERI) in Korea. This superconducting generator has an air-gap winding instead of the typical steel teeth structure. The rotor has 4 field coils of race-track type with NbTi superconducting wired. The rotor is composed of two dampers and a liquid helium composed of two dampers and a liquid helium container in which the field poles reside. The space between the outermost damper and the container is vacuum insulated. A ferrofluid seal is used between the stationary part connected to the couping and the rotor. A helium transfer coupling(HTC) has 3 passages of the recovered heilum gas and a gas flow control system. The open circuit test and sustained short circuit test are preformed to obtain the open circuit characteristics (OCC) and short circuit characteristics (SCC) Also. the test results usder the light load (up to 3.6[kW]) are given. The structure, manufacturing and basis test of the 30[kVA]SCG are discussed.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.399-399
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• 2000

In this paper, path generation using the sensor platform is proposed. The sensor platform is composed two electric motors which make panning and tilting motions. An algorithm fur a real path form and an obstacle length is realized using a scanning algorithm to rotating the sensors on the sensor platform. An ARV (Autonomous Robot Vehicle) is able to recognize the given path by adapting this algorithm. In order for the ARV to navigate the path flexibly, a kinematic model needed to be constructed. The kinematic model of the ARV was reformed around its body center through a relative velocity relationship to controllability, which derives from the nonholonomic characteristics. The optimal controller that is based on tile kinematic model is operated purposefully to track a reference vehicle's path. The path generation algorithm is composed of two parks. On e part is the generating path pattern, and the other is used to avoid an obstacle. The optimal controller is used for tracking the reference path which is generated by recognizing the path pattern. Results of simulation show that this algorithm for an ARV is sufficient for path generation by small number of sensors and for low cost controller.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.11 no.2
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• pp.166-176
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• 2000

In this paper, the LEO system signal degradation is mainly due to fading and doppler shift, so that the analysis of the signal degradation and compensation techniques are very important. This paper propose a Kalman filter based two step Automatic Frequency Control(AFC) to combat large and time variant frequency offset in low earth orbit satellite communication systems. The proposed Kalman AFC method estimates a frequency offset in two steps, I. e., coarse and fine estimations, extending the frequency acquisition range to even for than the symbol rate. Furthermore, it can track well a time variation of frequency offset. It is shown that the proposed compensator is able to compensate for doppler shift more than several KHz.

• Transactions on Electrical and Electronic Materials
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• v.17 no.4
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• pp.189-195
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• 2016

Micro Hotplate (MHP) is the key component in micro-sensors, particularly gas sensors. Indeed, in metal oxide gas sensors MOX, micro-heater is used as a hotplate in order to control the temperature of the sensing layer which should be in the requisite temperature range over the heater area, so as to detect the resistive changes as a function of varying concentration of different gases. Hence, their design is a very important aspect. In this paper, we have presented the design and simulation results of a meander micro heater based on three different materials - platinum, titanium and tungsten. The dielectric membrane size is 1.4 mm × 1.6 mm with a thickness of 1.4 μm. Above the membrane, a meander heating film was deposed with a thickness of 100 nm. In order to optimize the geometry, a comparative study by simulating two different heater thicknesses, then two inter track widths has also been presented. Power consumption and temperature distribution were determined in the micro heater´s structure over a supply voltage of 5, 6, and 7 V.

• Journal of KSNVE
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• v.9 no.2
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• pp.324-330
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• 1999

With the increase of track density, high rotational speed and the compatibility for various media such as CD-ROM, CD-R/RW, DVD-ROM/RAM/RW etc. in optical disk drive, the effective anti-vibration design is so crucial for robust operaton. Especailly when the drive is self-excited by unbalanced disk, internal sled base vibration and its external transmission to the case bring about so severe problem. Generally these two consideration points the practical anti-vibration design process to control thses two conflictive properties using finite element analysis. As an example of the design process, Duro 25 and 40 visco-elastic rubber mount was selected and analyzed. The stiffness obtained from FEM rubber model was well matched with the experiments. Also it was confirmed that the internal and external vibration induced from unbalanced disk have good agreement with experimental results. The proposed design process is adopted to the slim-type optical disk drive.