• 제어로봇시스템학회:학술대회논문집
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• 2001.10a
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• pp.64.4-64
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• 2001

Localization is the key role in controlling the Mobile Robot. In this papers, a development of the sensor fusion algorithm for controling UTV(Unmanned Tracked Vehicle) is presented. The multi-sensocial dead-rocking subsystem is established based on the optimal filtering by first fusing heading angle reading from a magnetic compass, a rate-gyro and two encoders mouned on the robot wheels, thereby computing the deat-reckoned location. These data and the position data provoded by LBL system are fused together by means of an extended Kalman filter. This algorithm is proved by simulation studies.

• Transactions of Materials Processing
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• v.8 no.4
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• pp.364-373
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• 1999

For material characterization of semi-solid materials, backward extrusion process, which has been used in forming of hollow-sectioned products, was analyzed by the upper bound analysis in the current study. The existing kinematically admissible velocity field was applied to steady state at which there was no change in the assumed regions of velocity field. For unsteady state, new velocity field, as a function of dead zone angle, was proposed. Through the whole analysis, fiction between die and workpiece was also considered. It has been studied how the process variables, such as friction factor and punch velocity, and material parameters, such as strength coefficient, strain rate sensitivity could affect on analysis results. Finally, by the comparison with the finite element analysis, the reliability and efficiency of the proposed velocity field were discussed.

• Journal of Power Electronics
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• v.18 no.2
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• pp.323-331
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• 2018

Buck power factor correction (PFC) converters, compared with conventional boost PFC converters, exhibit high efficiency performance in the entire range of universal line voltage. This feature has gotten more attention for eliminating the zero crossing dead angle of buck PFC rectifiers. Furthermore, bridgeless structures for the reduction of conduction losses have been proposed. The aim of this paper is to introduce a single-phase buck rectifier that simultaneously has unity power factor (PF) and bridgeless structure while operating in the continuous conduction mode (CCM). For this purpose, two auxiliary flyback converters without any active switches are applied to a bridgeless buck rectifier to eliminate the zero crossing dead angle and achieve unity power factor, low total harmonic distortion (THD) and high efficiency. The operation and design considerations of the proposed rectifier are verified on a 150W, 48V prototype using a conventional peak-current-mode control. The measurement results show that the proposed rectifier has nearly unity power factor, THD less than 7% and high efficiency.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.2
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• pp.132-138
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• 2009

In this paper, control of an omni-directional mobile robot is presented. Relying on encoder measurements to define the azimuth angle yields the dead-reckoned situation which the robot fails in localization. The azimuth angle error due to dead-reckoning is compensated and corrected by the magnetic compass sensor. Noise from the magnetic compass sensor has been filtered out. Kinematics and dynamics of the omni-directional mobile robot are derived based on the global coordinates and used for simulation studies. Experimental studies are also conducted to show the correction by the magnetic compass sensor.

• Journal of Biosystems Engineering
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• v.35 no.1
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• pp.31-36
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• 2010

A small unmanned helicopter was suggested to replace the conventional spray system. Aerial application using an agricultural helicopter helps precise and timely spraying, and reduces labor intensity and environmental pollution. In this research, a rotor system (SW05) was developed and its lift capability was evaluated. Lift force for the dead weight of the helicopter was obtained at the grip pitch angle of $12^{\circ}$. As the pitch angle increased to $14^{\circ}$ and $16^{\circ}$, the payload increased to 176 N and 216 N, respectively. Compared with SW04 airfoil performance in the total lift, the SW05 airfoil showed nearly the same capacity, but the payload of the SW05 was reduced because of the increased dead weight. A rated flight condition was defined as lifting mean payload of 294 N with the grip pitch angles of $16{\sim}17^{\circ}$ at the rotor rotating speed of 850~950 rpm for the adjusted engine power. The fuel consumption would be 4.8~6.0 L/hr, and the air temperature of cooling fan should be kept below $160^{\circ}C$.

• 한국신재생에너지학회:학술대회논문집
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• 2011.11a
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• pp.89.2-89.2
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• 2011

In automotive applicatons or water vehicles, the polymer electrolyte membrane fuel cell(PEMFC) stack is keep moving while their operation. Especially the inclination environment can take a effect to fuel cell stack perfromance, because this condition can cause a bad effect to water exhaust of fuel cell stack. In this study, a large scale stack(over 100kW power) is inclined upto 30 degree in lengthwise and crosswise using stack lift equipment. And the stack is operated in 10~100% load. No significant change has appeared in crosswise inclined condition and lenthwise low angle. But in lenthwise large angle tilting condition, the fuel cell performance has significantly decreased. And this performance decrease is aggravated in low load. An active water exhaust device is applied to the stack to prevent the performance decrease. And in lenthwise large angle tilting condition, this device cause a good effect to fuel cell stack performance.

• IEMEK Journal of Embedded Systems and Applications
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• v.4 no.2
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• pp.69-78
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• 2009

Localization is a very important technique for the mobile robot to navigate in outdoor environment. In this paper, the development of the sensor fusion algorithm for controlling mobile robots in outdoor environments is presented. The multi-sensorial dead-reckoning subsystem is established based on the optimal filtering by first fusing a heading angle reading data from a magnetic compass, a rate-gyro, and two encoders mounted on the robot wheels, thereby computing the dead-reckoned location. These data and the position data provided by a global sensing system are fused together by means of an extended Kalman filter. The proposed algorithm is proved by simulation studies of controlling a mobile robot controlled by a backstepping controller and a cascaded controller. Performances of each controller are compared.

• Journal of Institute of Control, Robotics and Systems
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• v.5 no.7
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• pp.827-835
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• 1999

In this paper, a dead reckoning navigation system for differential drive mobile robots is presented. The navigation system consists of two incremental encoders and a gyroscope. We have built a third order polynomial function for compensating the nonlinear scale factor errors of the gyroscope. We utilize an indirect Kalman filter that feeds back estimated errors to the main navigation system. Also, the observability of the filter is analyzed in order to systematically evaluate the filter's performance. Experimental results show that the proposed navigation system provides a reliable position and heading angle by mutually compensating the encoder and the gyroscope errors. The proposed filter also reduces the computational burden and enhances the navigation system's reliability. The observability analysis confirms the characteristics of inevitably unbounded position error growth in dead reckoning navigation systems.

• Journal of the korean Society of Automotive Engineers
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• v.7 no.3
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• pp.64-73
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• 1985

In order to control ignition advance angle, this system is designed with Z-80 CPU, CTC (counter Timer Circuit), PIO(Parallel Input Output), A/D Converter and Memory, etc. Serial pulses from speed sensor and analog voltage from pressure sensor are converted to digital data. In order to reduce the error of ignition advance angle output, the reference of ignition advance angle output is set 56.25 before TDC(Top Dead Center). The table of ignition advance angle and program which have a main routine and subroutines are written into ROM ( 1 K-byte). The experimental result of this system is correspondent to the theoretical values of proposed ignition advance angle table. This system can be utilized to any other type of 4 cylinder vehicles for advance angle control by changing software.

• Membrane Journal
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• v.22 no.5
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• pp.332-341
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• 2012

We studied the effects of induction of natural convection instability flow (NCIF) according to the gravitational orientation (inclined angle) of the membrane cell on the reduction of membrane fouling in the constant-flow ultrafiltration (UF) of colloidal silica solutions. Five colloidal silica solutions with different silica size (average size = 7, 12, 22, 50 nm and 78 nm) were used as UF test solutions. The silica particles in colloidal solutions form cakes on the membrane surface thereby causing severe membrane fouling. The constant-flow UF performance according to the gravitational orientation of the membrane cell (from $0^{\circ}$ to $180^{\circ}$ inclined angle), was examined in an unstirred dead-end cell. We evaluate the effects of NCIF on the suppression of fouling formation by measuring the variation of transmembrane pressure (TMP) and the increase of critical flux by using the flux-stepping method. In the constant-flow dead-end UF for the smaller size (7, 12 nm and 22 nm) silica colloidal solutions, changing the gravitational orientation (inclined angle) of the membrane cell above the $30^{\circ}$ angle induces NCIF in the membrane module. This induced NCIF enhances back transport of the deposited silica solutes away from the membrane surface, therefore gives for the reduction of TMP. But in the constant-flow UF for the more larger size (50 nm and 78 nm) silica colloidal solutions, NCIF effects are not appearing. The critical flux is increased as increasing the module angle and decreasing the silica size. Those results show that the intesity of NCIF occurrence in membrane module is more higher as increasing the module angle and decreasing the silica size.