• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.2325-2330
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• 2005

A potential field method for solving the problem of path planning based on global and local information for a mobile robot moving among a set of stationary obstacles is described. The concept of various method used path planning is used design a planning strategy. A real human living area is constructed by many moving and imminence obstacles. Home service mobile robot must avoid many obstacles instantly. A path that safe and attraction towards the goal is chosen. The potential function depends on distance from the goal and heuristic function relies on surrounding environments. Three additional combined methods are proposed to apply to human living area, calibration robots position by measured surrounding environment and adapted home service robots. In this work, we proposed the application of various path planning theory to real area, human living. First, we consider potential field method. Potential field method is attractive method, but that method has great problem called local minimum. So we proposed intermediate point in real area. Intermediate point was set in doorframe and between walls there is connect other room or other area. Intermediate point is very efficiency in computing path. That point is able to smaller area, area divided by intermediate point line. The important idea is intermediate point is permanent point until destruction house or apartment house. Second step is move robot with sensing on front of mobile robot. With sensing, mobile robot recognize obstacle and judge moving obstacle. If mobile robot is reach the intermediate point, robot sensing the surround of point. Mobile robot has data about intermediate point, so mobile robot is able to calibration robots position and direction. Third, we gave uncertainty to robot and obstacles. Because, mobile robot was motion and sensing ability is not enough to control. Robot and obstacle have uncertainty. So, mobile robot planed safe path planning to collision free. Finally, escape local minimum, that has possibility occur robot do not work. Local minimum problem solved by virtual obstacle method. Next is some supposition in real living area.

• 제어로봇시스템학회논문지
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• 제13권4호
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• pp.279-285
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• 2007

The objective of the research is two fold. The first is to design and propose a stable and robust learning control algorithm. The controller is CMAC Learning Controller which consists of a model-based controller, such as LQR or PID, as a reference control and a CMAC. The second objective is to implement a reference control and CMAC at two different sampling rates. Generally, a conventional controller is designed based on a mathematical plant model. However, increasing complexity of the plant and accuracy requirement on mathematical models nearly prohibits the application of the conventional controller design approach. To avoid inherent complexity and unavoidable uncertainty in modeling, biology mimetic methods have been developed. One of such attempts is Cerebellar Model Articulation Computer(CMAC) developed by Albus. CMAC has two main disadvantages. The first disadvantage of CMAC is increasing memory requirement with increasing number of input variables and with increasing accuracy demand. The memory needs can be solved with cheap memories due to recent development of new memory technology. The second disadvantage is a demand for processing powers which could be an obstacle especially when CMAC should be implemented in real-time. To overcome the disadvantages of CMAC, we propose CMAC learning controller with multiple sampling rates. With this approach a conventional controller which is a reference to CMAC at high enough sampling rate but CMAC runs at the processor's unoccupied time. To show efficiency of the proposed method, an inverted pendulum controller is designed and implemented. We also demonstrate it's possibility as an industrial control solution and robustness against a modeling uncertainty.

• 대한토목학회논문집
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• 제34권3호
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• pp.821-831
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• 2014

추계학적 강수발생 및 모의기법은 수문학적 모형의 입력 자료로써 널리 이용되고 있다. 그러나 Modified Bartlett-Lewis Rectangular Pulse(MBLRP)와 같은 추계학적 포아송 클러스터 강수생성 모형에 대해서 국부최적화 방법을 통한 매개변수 추정 방법은 매개변수의 신뢰성에 상당한 영향을 주는 것으로 알려져 있다. 최근에는 MBLRP 모형의 국부해추정 문제를 해소하기 위하여 Particle Swarm Optimization (PSO) 또는 Shuffled Complex Evolution developed at The University of Arizona (SCE-UA) 등 매개변수 추정 성능이 우수한 전역최적화기법이 도입되고 있지만, 제한된 매개변수 공간에서 항상 신뢰성 있는 매개변수 추정이 가능한 것은 아니다. 뿐만 아니라, 모형의 매개변수들이 갖고 있는 불확실성에 관한 연구는 아직 충분히 논의되지 않았다. 이러한 관점에서 본 연구는 Bayesian 기법과 연계한 MBLRP 모형을 개발하였으며 각 매개변수들의 사후분포(Posterior Distribution)를 유도하여 매개변수가 내포하는 불확실성을 정량적으로 평가하였다. 그 결과 관측값에 대한 시간단위 이하 강수발생 통계치를 효과적으로 복원하고 있음을 확인할 수 있었다.

• Safety and Health at Work
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• 제11권2호
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• pp.127-135
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• 2020

A safe work environment is crucial in high-risk industries, such as construction refurbishment. Safety incidents caused by uncertainty and unexpected events in construction refurbishment systems are difficult to control using conventional safety management techniques. Resilience engineering (RE) is proposed as an alternative to traditional safety management approaches. It presents a successful safety management methodology designed to deal with uncertainty in high-risk work environments. Despite the fact that RE resides in the safety domain, there is no common set of RE indicators to measure and assess resilient in the work environment. The main aim of this research is to explore RE indicators that have been identified as important in developing and assessing the resilient work environment in high-risk industries, particularly in construction refurbishment. Indicators have been attained through a systematic literature review of research and scholarly articles published between the years 2004 and 2019. The literature review explored RE indicators in various industries. Descriptive analysis and co-occurrence-based network visualization were used for data analysis. The findings revealed 28 RE indicators in 11 different high-risk industries. The results show that the four commonly used indicators were: top-management commitment, awareness, learning, and flexibility, all of which have a strong relationship with RE. The findings of this study are useful for stakeholders when making decisions concerning the most important RE indicators in the context of their research or practice as this would avoid the ambiguity and disparity in the identification of RE indicators.

• 아태비즈니스연구
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• 제10권2호
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• pp.65-77
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• 2019

The after China's reform and opening up, the country has been facing the era of material abundance based on its economic power. The Chinese food industry has been growing along with economic growth, high quality, and diversified customer needs. Also, as Chinese people have strong attachment to food, many food franchise companies have been also growing rapidly. As the Chinese government encourages and supports the field of food franchises, so that the quality and quantity of the Chinese restaurant industry have been improved largely. Meanwhile with the support of the Korean government to enter the overseas market, the number of Korean franchise companies are increasing to operate their business in China. Under the influence of Chinese food industrial climate, Korean companies are also in search of global market advancement to China. However, the risks in China are unexpectable, which means that the recent move of China is literally showing rugby action, criticism of operating businesses in China has been climbed up and the domestic SMEs are seriously considering whether to stay or leave. This study investigates the environmental risks of Chinese enterprises, in which the food franchise companies could experience, to manage any risks from entering the Chinese market with uncertainty. Through SWOT analysis and cases, strategies to avoid the risks are suggested for Korean companies to enter the Chinese markets. Therefore, this study researches in the current status of Chinese and Korean restaurants, explores any risks in China in terms of exports to China and market advance, develops strategies to avoid those risks, and provides essential suggestions for entering into Chinese market.

• Smart Structures and Systems
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• 제32권4호
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• pp.267-279
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• 2023

Data modelling and interpretation for structural health monitoring (SHM) field data are critical for evaluating structural performance and quantifying the vulnerability of infrastructure systems. In order to improve the data modelling accuracy, and extend the application range from data regression analysis to out-of-sample forecasting analysis, an improved most likely heteroscedastic Gaussian process (iMLHGP) methodology is proposed in this study by the incorporation of the outof-sample forecasting algorithm. The proposed iMLHGP method overcomes this limitation of constant variance of Gaussian process (GP), and can be used for estimating non-stationary typhoon-induced response statistics with high volatility. The first attempt at performing data regression and forecasting analysis on structural responses using the proposed iMLHGP method has been presented by applying it to real-world filed SHM data from an instrumented cable-stay bridge during typhoon events. Uncertainty quantification and correlation analysis were also carried out to investigate the influence of typhoons on bridge strain data. Results show that the iMLHGP method has high accuracy in both regression and out-of-sample forecasting. The iMLHGP framework takes both data heteroscedasticity and accurate analytical processing of noise variance (replace with a point estimation on the most likely value) into account to avoid the intensive computational effort. According to uncertainty quantification and correlation analysis results, the uncertainties of strain measurements are affected by both traffic and wind speed. The overall change of bridge strain is affected by temperature, and the local fluctuation is greatly affected by wind speed in typhoon conditions.

• 전기학회논문지
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• 제61권2호
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• pp.276-283
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• 2012

In this paper, a practical quasi-optimal DOA(direction of arrival) estimator is proposed in order to develop a one-axis gimbaled ultrasonic source tracker for mobile robot applications. With help of the gimbal structure, the ultrasonic moving source tracking problem can be simply reduced to the DOA estimation. The DOA estimation is known as one of the representative long-pending nonlinear filtering problems, but the conventional nonlinear filters might be restrictive in many actual situations because it cannot guarantee the reliable performance due to the use of nonlinear signal model. This motivates us to reformulate the DOA estimation problem in the linear robust state estimation setting. Based on the assumption that the received ultrasonic signals are noisy sinusoids satisfying linear prediction property, a linear uncertain measurement model is newly derived. To avoid the DOA estimation performance degradation caused by the stochastic parameter uncertainty contained in the linear measurement model, the recently developed NCRKF (non-conservative robust Kalman filter) scheme [1] is utilized. The proposed linear DOA estimator provides excellent DOA estimation performance and it is suitable for real-time implementation for its linear recursive filter structure. The effectiveness of the suggested DOA estimation scheme is demonstrated through simulations and experiments.

• 제어로봇시스템학회논문지
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• 제17권2호
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• pp.79-87
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• 2011

This paper presents the optimal design of an overlapped ultrasonic sensor ring for high resolution obstacle detection of an autonomous mobile robot. It is assumed that a set of low directivity ultrasonic sensors of the same type are arranged along a circle of nonzero radius at a regular spacing with their beams overlapped. First, taking into account the dead angle region, the entire range of obstacle detection is determined with reference to the center of an overlapped ultrasonic sensor ring. Second, the optimal design index of an overlapped ultrasonic sensor ring is defined as the area closeness of three sensing subzones resulting from beam overlap. Third, the lower and upper bounds on the number of ultrasonic sensors are derived, which can guarantee minimal beam overlap and also avoid excessive beam overlap among adjacent ultrasonic sensors. Fourth, employing a commercial low directivity ultrasonic sensor, an optimal design example of an overlapped ultrasonic sensor ring is given along with the ultrasonic sensor ring prototype mounted on top of a mobile robot. Finally, some experimental results using our prototype ultrasonic sensor ring are given to demonstrate the validity and performance of an optimally overlapped ultrasonic sensor ring for high resolution obstacle detection.

• 전력전자학회:학술대회논문집
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• 전력전자학회 1999년도 전력전자학술대회 논문집
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• pp.4-9
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• 1999

A new control method for precision robust position control of a brushless DC (BLDC) motor using asymptotically stable adaptive load torque observer is presented in the paper. Precision position control is obtained for the BLDC motor system approximately linearized using the field-orientation method Recently, many of these drive systems use BLDC motors to avoid backlashe. However, the disadvantages of the motor are high cost and complex control because of nonlinear characteristics. Also, the load torque disturbance directly affects the motor shaft. The application of the load torque observer is published in [1] using fixed gain. However, the motor flux linkage is not exactly known for a load torque observer. There is the problem of uncertainty to obtain very high precision position control. Therefore a model reference adaptive observer is considered to overcome the problem of unknown parameter and torque disturbance in this paper. The system stability analysis is carried out using Lyapunov stability theorem. As a result, asymptotically stable observe gain can be obtained without affecting the overall system response. The load disturbance detected by the asymptotically stable adaptive observer is compensated by feedforwarding the equivalent current which gives fast response. The experimenta results are presented in the paper.

• Journal of Communications and Networks
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• 제7권4호
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• pp.525-536
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• 2005

In an IP-based network, automated dynamic assignment of IP addresses is preferable. In most wired networks, a node relies on a centralized server by using dynamic host configuration protocol (DHCP) to obtain a dynamic IP address. However, the DHCP­based approach cannot be employed in a mobile ad hoc network (MANET) due to the uncertainty of any centralized DHCP server. That is, a MANET may become partitioned due to host mobility. Therefore, there is no guarantee to access a DHCP server. A general approach to address this issue is to allow a mobile host to pick a tentative address randomly, and then use duplicate address resolution (DAR) protocol to resolve any duplicate addresses. In this paper, an innovative distributed dynamic host configuration protocol designed to configure nodes in MANET is presented. The proposed protocol not only can detect the duplicate address, but also can resolve the problem caused by duplicate address. It shows that the proposed protocol works correctly and is more universal than earlier approaches. An enhanced version of DAR scheme is also proposed in this paper to solve the situation of duplicate MAC address. The new and innovative approach proposed in this paper can make the nodes in MANET provide services to other networks and avoid packets from being delivered to incorrect destinations.