• Journal of information and communication convergence engineering
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• v.6 no.1
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• pp.10-14
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• 2008

The robot localization problem is a key problem in making truly autonomous robots. In this work we provide thorough discussions of Ultrasonic Positioning System can be applied to the localization problem. First, we look at the use of Kalman filters and basic concept and the equation involved in Kalman filters. Secondly, we create understanding of how the Kalman filters can be implemented in robot localization. We show our discussion and experiments how Kalman filters applied to the localization problem. Lastly, we perform simulations using Usat Wheel Chair robot in our own general Kalman filters robot monitoring software.

• 전자공학회논문지 IE
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• v.45 no.2
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• pp.28-33
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• 2008

The paper is represented active robot soccer system using humanoid. many robot we implement the control method of several robot and the algorithm of robot soccer system. the position and direction of the robot is recognized quickly using color tag on the shoulder of robot and special personal computer. Humanoid robot soccer system in this paper develops better in existent wheel-driven soccer robot. Forward, through a lot of studies, self-moving soccer game like human with humanoid is possible.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.7
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• pp.695-700
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• 2014

In this paper, we utilize the CMG's momentum bias to control the roll/pitch attitude of the Quad-rotor. While the previous control approaches have used the thrust control approach, we design and add a new momentum controller (using CMG) in order to improve the transient response over the existing methods. The focal point of this paper is the design of a controller for a Quad-rotor's attitude using CMG. This leads to other tasks such as an identification of the model's parameters and mathematical nonlinear modeling. Then, the previous thrust controller is designed based on the linearized model. Finally, the overall system with our designed controller is implemented and tested in real time to show that the Quad-rotor is kept in a good balanced position faster than the traditional thrust-only control approach.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.6 no.3
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• pp.53-57
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• 2007

This paper presents a geometrical error compensation of tool alignment for B axis controlled machine. In precision machining, tool alignment is crucial parameter for machined surface. To decrease tool alignment error, plus tilted tool from B axis center is touched to reference work piece and checked the deviation from original position. Same process is performed in minus tilt. Comparing these 2 touch positions, wheel alignment error in X axis and Z axis can be calculated on B axis center. Experimental results show that this compensation method is efficient to correct tool alignment.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.848-851
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• 2003

In this paper, a separating system for used CRT recycling is presented. Depend on manufacturer CRTs has small differences in dimension for the same model, but the dimensions of the panel are nearly same. To simplifying configuration of the system, we developed CRT fixing pallets for every model of CRT. The height of cutting position for every model of CRT will be same. The cutting machine has two rotating arm and use metal-bond type diamond cutting wheel. Instead of water, two vortex tube type air-coolers are used for the cooling of cutter. Workers in recycling factory are generally old people. Therefore, control program should be easy to use and operate. Thus we developed GUI with very simple interface.

• Proceedings of the KSR Conference
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• 2007.05a
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• pp.169-174
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• 2007

Adopting articulated bogie system, the HSR350x and KTX have similar physical mechanical characteristic, but they show different dynamic characteristics due to different position of suspensions and those physical properties. The low level vibration frequency which effects on the ride comfort of passengers and the high level vibration frequency which is related to noise of vehicle have been measured by accelerometers mounted on Wheel sets, Bogies and Car bodies to analysis the dynamic characteristics of the High-Speed Trains. The KTX number 36 is utilized to measure the lateral and vertical acceleration value of car body, and total measurement system of HSR350x have been used to acquire acceleration data. The sampling frequency of data is 500Hz generally, but the Car body at TT2 of HSR350 has 1000Hz exceptionally.

• Journal of KSNVE
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• v.8 no.4
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• pp.603-608
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• 1998

In order to obtain basic data for the prediction of railway noise propagation, the noise radiation characteristics (source position, radiation directivity, etc) of trains were measured by using the sound intensity method. The measurements were performed at a side of railway by setting an intensity-probe array. As the measurement results, it was found that rolling noise due to interaction between wheel and rail and motor noise radiation from the lower part of train are dominant. The location of main sound sources can be described as being at the height of 0.1m in the center line of track, and the radiation directivity in the cross section of actually running trains are presented as a dipole source.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.05a
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• pp.212-217
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• 2004

In general, the braking system of high speed train has an important role for the safety of the train. To stop safely train at its pre-decided position, it is necessary to combine properly the various brakes. The prototype of Korean high speed train (KHST) has been designed, fabricated and tested by the domestic researchers. It has adopted a combined electrical brakes, such as rheostatic brake, regenerative brake and eddy current brake, and mechanical brakes composed of disc brake, wheel disc brake and tread brake. In this paper, the performances and control algorithms of braking system have been reviewed by the experimental method.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.5
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• pp.455-462
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• 2009

This paper presents design concepts of a reconfigurable mobile robot for both of indoor and outdoor applications. A linkage mechanism and wheel-in-motors give the proposed mobile robot various driving modes in maneuver and good adaptability to irregular surface. Since the mobile robot receives multiple sensor signals from odometers and an orientation sensor, states related to the position and the orientation of the mobile robot are optimally estimated by an extended Kalman filter. Simulations and experimental results show that the performance of dead reckoning on estimating the pose of a mobile robot can be improved remarkably by the optimal state observer.

• Journal of Biomedical Engineering Research
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• v.8 no.1
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• pp.49-56
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• 1987

This paper designed LOCOMOTION SYSTEM of a mobile robot for the blind guidance and LOCOMOTION COMMAND SYSTEM that gave the moving path to the locomotion system. This system analyzed COMMAND and calculated the speed and direction of the robot. And during locomotion it measured wheel's rotation number for the position and speed control. Also, this system was considered about the 110 interface with host computer and the locomotion method for the blind. In the locomotion experiment the standard speed of robot was 0.4m/sec and the locomotion error was below 5%