• International Journal of Control, Automation, and Systems
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• 제4권4호
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• pp.524-528
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• 2006

A controller built with the gyro effect for a balance-beam can freely control the attitude of an unstructured object by changing the position of an inner gimbal. In this paper, we propose a new balance-beam controller that can detect the inertia of the load to limit the velocity of the load commanded by a user. We found that when there was smaller load inertia, a larger restoration displacement occurred. Therefore, the load can be identified by issuing a predefined command to measure the restoration displacement, which enables us to construct a controller that can limit the angular velocity of the load by planning the motion. Experimental results show the performance of the controller with different loads.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1996년도 한국자동제어학술회의논문집(국내학술편); 포항공과대학교, 포항; 24-26 Oct. 1996
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• pp.644-647
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• 1996

In this study the theoretical minimum resolution analysis of an active vision system using laser range finder is performed for surrounding recognition and 3D data acquisition in unknown environment. The laser range finder consists of a slitted laser beam generator, a scanning mechanism, CCD camera, and a signal processing unit. A laser beam from laser source is slitted by a set of cylindrical lenses and the slitted laser beam is emitted up and down and rotates by the scanning mechanism. The image of laser beam reflected on the surface of an object is engraved on the CCD array. In the result, the resolution of range data in laser range finder is depend on distance between lens center of CCD camera and light emitter, view and beam angles, and parameters of CCD camera.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 1998년도 하계종합학술대회논문집
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• pp.565-568
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• 1998

In this paper, we implemented the electornic moving aid system for safe walking of the blind. An obstacle detecting of each sector used ultrasound and a distance measurement used time of flight. The alarm is designed to have a sound and a tactile function that can be selected on an user's convenience. This system can detect and obstacle of upward, forward, downward and optimally warn to the blind with vibration, beep sound by appling warning algorithm on object detection. Experimental testing and performance evaluation have been successfully carried out with a prototype cane, and the experiment shows the capability of the function to detect unknown objects within an assigned distance, under knees, over head height, and crushed puddles.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.652-657
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• 1991

Up to date, application areas of mobile robots have been expanded. In addition, Many types of LRF(Laser Range Finder) systems have been developed to acquire three dimensional information about unknown environments. However in real world, because of various noises (sunlight, fluorescent light), it is difficult to separate reflected laser light from these noise. To overcome the previous restriction, we have developed a new type vision system which enables a mobile robot to measure the distance to a object located 1-5 (m) ahead with an error than 2%. The separation and detection algorithm used in this system consists of pulse phase difference method and multi-stripe structured light. The effectiveness and feasibility of the proposed vision system are demonstrated by 3-D maps of detected objects and computation time analysis.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1992년도 추계학술대회 논문집
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• pp.266-270
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• 1992

In this study an active vision system using a laser range finder is proposed for the navigation of a mobile robot in unknown environment. The laser range finder consists of a slitted laser beam generator, a scanning mechanism, CCD camera, and a signal processing unit. A laser beam from laser source is slitted by a set of cylindrical lenses and the slitted laser beam is emitted up and down and rotates around the robot by the scanning mechanism. The image of laser beam reflected on the surface of an object is engraved on the CCD array. A high speed image processing algorithm is proposed for the real-time navigation of the mobile robot. Through experiments it is proved that the accurate and real-time recognition of environment is able to be realized using the proposed laser range finder.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2002년도 합동 추계학술대회 논문집 정보 및 제어부문
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• pp.513-516
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• 2002

In electrical impedance tomography(EIT), various image reconstruction algorithms have been used in order to compute the internal resistivity distribution of the unknown object with its electric potential data at the boundary. Mathematically the EIT image reconstruction algorithm is a nonlinear ill-posed inverse problem. This paper presents two intelligent optimization algorithm techniques such as genetic algorithm and simulated annealing for the solution of the static EIT inverse problem. We summarize the simulation results for the three algorithm forms: modified Newton-Raphson, genetic algorithm, and simulated annealing.

• 한국통신학회논문지
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• 제13권4호
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• pp.352-359
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• 1988

학습제어 시스템은 제어대상 시스템의 파라미터를 모르는 경우에 파라미터 적응의 개념을 도입해서, 일종의 hybrid형 적응제어 시스템으로 간주하여 설계될 수 있다. 이러한 파라미터 적응형 학습제어 시스템은 이미 보고되었으나 연속시간 시스템에만 적용될 수 있었다. 본 논문에서는 메모리소자를 반드시 포함하여야 하는 학습시스템에 대하여, 위의 제어알고리즘을 이산화 함으로써 디지탈기술의 발전에 비추어 실제의 적용을 용이하도록 하였으며, 그 타당성을 시뮬레이션으 통하여 확인하였다.

• 한국공작기계학회:학술대회논문집
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• 한국공작기계학회 1999년도 춘계학술대회 논문집
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• pp.175-180
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• 1999

Generally, When we measure of object 3D surfaces with phase shifting shadow moire method, it is use of optical system consist of light source, grating, and ccd camera. At this time, it is important parameter that vertical distance of grating and camera, grating and light source, and horizontal distance of camera and light source. When use camera consist of complex lens vertical distance of grating and camera is unknown parameter. From this cause equivalent wave length of moire fringe is uncertain. In this study, We exactly obtain a vertical distance of grating and camera so improve on measurement accuracy.

• 천문학회지
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• 제50권1호
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• pp.1-5
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• 2017

Like Hipparcos, Gaia is designed to give absolute parallaxes, independent of any astrophysical reference system. And indeed, Gaia's internal zero-point error for parallaxes is likely to be smaller than any individual parallax error. Nevertheless, due in part to mechanical issues of unknown origin, there are many astrophysical questions for which the parallax zero-point error ${\sigma}({\pi}_0)$ will be the fundamentally limiting constraint. These include the distance to the Large Magellanic Cloud and the Galactic Center. We show that by using the photometric parallax estimates for RR Lyrae stars (RRL) within 8kpc, via the ultra-precise infrared period-luminosity relation, one can independently determine a hyper-precise value for ${\pi}_0$. Despite their paucity relative to bright quasars, we show that RRL are competitive due to their order-of-magnitude improved parallax precision for each individual object relative to bright quasars. We show that this method is mathematically robust and well-approximated by analytic formulae over a wide range of relevant distances.

• KIEE International Transactions on Electrophysics and Applications
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• 제4C권3호
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• pp.123-128
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• 2004

In electrical impedance tomography (EIT), the internal resistivity distribution of the unknown object is computed using the boundary voltage data induced by different current patterns using various reconstruction algorithms. This paper presents a new image reconstruction algorithm based on the genetic algorithm (GA) via a two-step approach for the solution of the EIT inverse problem, in particular for the reconstruction of "static" images. The computer simulation for the 32 channels synthetic data shows that the spatial resolution of reconstructed images in the proposed scheme is improved compared to that of the modified Newton-Raphson algorithm at the expense of an increased computational burden.rden.