• Journal of the Korean Society for Precision Engineering
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• v.18 no.10
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• pp.45-52
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• 2001

This paper presents a study on the position tracking control of a robot system on the uncertain elastic base. The elastic bathe is a nonholonomic system but it can be changed into holonomic system, which is much easier to analyze, by modeling an elastic base as a virtual robot that has passive joints. Also, Jacobian operators, which represent the overall robot system including base movement, are defined and applied to the changed model. However, because base movements are not known, the exact Jacobian operators can＇t be estimated. The control algorithm proposed is that uses only Jacobians of a real robot as approximate Jacobian operators. Therefore the approximate Jacobian operators compensate the measured errors from external sensors. The proposed control strategy is evaluated by the simulation and experiment of a single-axis robot system on the elastic base.

• Journal of the Korean Vacuum Society
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• v.16 no.4
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• pp.235-243
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• 2007

Nowadays, in our country, large vacuum chambers for huge experimental facilities such as the tokamak fusion device, high power neural beam test stand, and space simulator have been constructed. In such a vacuum chamber of very large size, it is quite complicate to check on leakage quantitatively, while the probability of a leak is relatively high. To investigate the feasibility of applying reliably a helium leak detection to the huge vacuum chambers, and to find a reasonable methodology of choosing an optimum set-up for leak detection, several virtual constructions of the leak detection system have been analyzed by calculating the pressure distribution in the system and the helium level in the sensor part.

• The Journal of Korea Robotics Society
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• v.5 no.3
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• pp.186-196
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• 2010

In this paper, we present a global localization and position error compensation method in a known indoor environment using magnet hall sensors. In previous our researches, it was possible to compensate the pose errors of $x_e$, $y_e$, ${\theta}_e$ correctly on the surface of indoor environment with magnets sets by regularly arrange the magnets sets of identical pattern. To improve the proposed method, new strategy that can realize the global localization by changing arrangement of magnet pole is presented in this paper. Total six patterns of the magnets set form the unique landmarks. Therefore, the virtual map can be built by using the six landmarks randomly. The robots search a pattern of magnets set by rotating, and obtain the current global pose information by comparing the measured neighboring patterns with the map information that is saved in advance. We provide experimental results to show the effectiveness of the proposed method for a differential drive wheeled mobile robot.

• Transactions of the Korean Society of Automotive Engineers
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• v.13 no.2
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• pp.37-43
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• 2005

A haptic steering system which reflects steering reaction torque has been developed for a fixed base vehicle simulator. The haptic steering system consists of a steering effort sensor, MR-clutch, AC servo motor and controller. In order to generate realistic steering torque feel to driver and at the same time to meet real-time simulation requirement, 3D torque map is constructed by experimental data and torque generation algorithm using the torque map has been also developed. 3D torque map is constructed using curve fitting and interpolation of the measured values of the steering angle, velocity and steering torque from actual slalom test on the proving ground. In order to carry out performance test of the developed haptic steering system, a fixed based vehicle simulator is constructed by integrating real time vehicle dynamics module, VR-video/audio module, and the haptic steering system. Steering torque and steering angle curves have been obtained from virtual testing in the vehicle simulator and performance of the haptic steering system has been evaluated.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2002.11a
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• pp.762-763
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• 2002

Recently, automatic control or application of measuring instrument with computers is rapidly increasing. In this paper we designed automatic incubation system that has functions of control and monitoring of measuring instrument, analysis of measured data, and automatic control by using LabVIEW graphic program that can easily collect, control, analyze, and apply data. Then to inspect the system we produced Incubator. Internal environment is measured by a sensor and each device is setting and controlled to create the optimum environment after finding hatching environment of selected individual from Database file for incubation. Through this functions, problems of hatching rate and quality that were affected by minute change of hatching environment are dealt successfully with, and retrenchment of labor and cost is expected as well.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2013.10a
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• pp.350-353
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• 2013

In this paper, a hardware implementation of phase calculator for extracting 3D depth image from TOF(Time-Of-Flight) sensor is proposed. The designed phase calculator, which adopts redundant binary number systems and a pipelined architecture to improve throughput and speed, performs arctangent operation using vectoring mode of DCORDIC algorithm. Fixed-point MATLAB simulations are carried out to determine the optimized bit-widths and number of iteration. The designed phase calculator is verified by emulating the restoration of virtual 3D data using MATLAB/Simulink and FPGA-in-the-loop verification, and the estimated performance is about 7.5 Gbps at 469 MHz clock frequency.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.11 no.8
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• pp.1414-1419
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• 2000

In this paper, we propose a resolution enhancement method for estimating direction-of-arrival (DOA) of narrowband incoherent signals incident on a general array. The resolution of DOA algorithm is dependent on the aperture size of antenna array. But it is very impractical to increase the physical size of antenna array in real environment. Therefore we propose the method that increases the aperture size by virtually expanding the sensor spacing of original antenna array and then construct the steering matrix of the virtual array using the proper transformation matrix. Superior resolution capabilities achieved with this method are shown by simulation results in comparison with the standard MUSIC for incoherent signals incident on a uniform circular array.

• Journal of Information Technology Services
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• v.18 no.4
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• pp.97-113
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• 2019

With the development of sensor, communication and intelligent software technology, expectation of IoT-based service which can receive desired service automatically and anytime, anywhere is getting higher. In addition, IoT-based services have begun to anticipate the development of a hyper-connected society. Despite these expectations and anticipations, few studies have empirically identified ways to improve the intentions of prospective customers to use IoT-based services. Therefore, the purpose of this paper is to propose a theoretical model that can explain the factors that determine the intention of using IoT-based services. In addition, this study investigates what factors affect the intention to use IoT-based services focusing on the connectedness. Especially, perceived connectivity with the (virtual) community, unlike the connectivity with the machines, is newly proposed, to understand the IoT technology adoption behavior. The empirical results suggest that social relationship is one of the critical factors to affect the use of services running on interconnected technology such as IoT. When IoT-based service is recognized as a link to other communities, it has been found to have a positive effect on intention to use via perceived belongingness.

• The Journal of Korea Robotics Society
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• v.5 no.2
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• pp.120-126
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• 2010

This paper presents to study the path tracking method of AGV(autonomous guided vehicle) which has a laser guidance system. An existing automatic guided vehicles(AGVs) which were able to drive on wired line only had a automatic guidance system. However, the automatic guidance systems that those used had the high cost of installation and maintenance, and the difficulty of system change according to variation of working environment. To solve such problems, we make the laser guidance system which is consisted of a laser navigation and gyro, encoder. That is robust against noise, and flexible according to working environment through sensor fusion. The laser guidance system can do a perfect autonomous driving. However, the commercialization of perfect autonomous driving system is difficult, because the perfect autonomous driving system must recognize the whole environment of working space. Hence, this paper studied the path tracking of AGV using laser guidance system without wired line. The path tracking method is consisted of virtual path generation method and driving control method. To experiment, we use the fork-type AGV which is made by ourselves, and do a path tracking experiments repeatedly on same experimental environment. In result, we verified that proposed system is efficient and stable for actual fork-type AGV.

• STI Policy Review
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• v.9 no.1
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• pp.133-157
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• 2018

The divide between the "digital" economy and the traditional "physical" economy is outdated. In fact, we are in a transition to a singular economy. This paper classifies economic objects (including actors) as either physical or virtual and argues that due to emerging technologies, these objects are interacting with each other in both physical and increasingly digital spheres in tandem. This paper recognizes the elemental difference between atoms and bytes but argues that physical and digital economic activities are becoming inseparably intertwined. Furthermore, arbitrarily dividing the economy into two categories - one "physical" and the other "digital" - distorts the overall view of the actual execution of economic activity. A wide range of innovations emerging concurrently is fueling the transition to a singular economy. Often referred to as the elements of the Fourth Industrial Revolution (4IR), four emerging technological areas are reviewed here: distributed ledger technology, artificial intelligence/machine learning/data sciences, biometrics and remote sensor technologies, and access infrastructure (universal internet access/electricity/cloud computing). The financial services sector is presented as a case study for the potential impact of these 4IR technologies and the blurring physical/digital line. To reach the potential of these innovations and a truly singular economy, it requires the concurrent development of social, organizational, and regulatory innovations, though they lag in terms of technological progress thus far.