• 제어로봇시스템학회논문지
• /
• 제17권8호
• /
• pp.843-850
• /
• 2011

In this paper, an effective path generation algorithm for obstacle avoidance producing small amount of steering action as possible is proposed. The proposed path generation algorithm can reduce unnecessary steering because of the small lateral changes in generated waypoints when UGV (Unmanned Ground Vehicle) encounters obstacles during its waypoint navigation. To verify this, the proposed algorithm and $A^*$ algorithm are analyzed through the simulation. The proposed algorithm shows good performance in terms of lateral changes in the generated waypoint, steering changes of the vehicle while driving and execution speed of the algorithm. Especially, due to the fast execution speed of the algorithm, the obstacles that encounter suddenly in front of the vehicle within short range can be avoided. This algorithm consider the waypoint navigation only. Therefore, in certain situations, the algorithm may generate the wrong path. In this case, a general path generation algorithm like $A^*$ is used instead. However, these special cases happen very rare during the vehicle waypoint navigation, so the proposed algorithm can be applied to most of the waypoint navigation for the unmanned ground vehicle.

• 한국CDE학회논문집
• /
• 제5권1호
• /
• pp.95-101
• /
• 2000

For last two decades numerous automatic mesh generation algorithms for various two dimensional objects have been introduced continuously and among them triangular mesh generation schemes have been majority because of efficiency and controllability. In our study, an existing triangular mesh generation algorithm developed by Lo is totally modified to more improve node distribution, element shape, and objects shape independency. ft is composed of node generation part and element generation part. In order to find a suitable node position within geometry, the suggested algorithm searches desirable positions of points within boundary and optimizes node position to generate comparatively well-shaped elements. More over, the suggested algorithm handles various complex two dimensional objects and its meshing speed shows superiority to those of the existing triangulation mesh generation algorithms. It is fully automated in a sense of constructing object boundary and hence can be directly used as an independent meshing software.

• 디지털산업정보학회논문지
• /
• 제13권3호
• /
• pp.27-33
• /
• 2017

In this paper presents the MPPT tracking algorithm using angle control of flexible PV in BIPV. The proposed algorithm is based on MPPT tracking algorithm for curtain wall using flexible PV. It is an algorithm to find optimal power generation condition by controlling the angle of flexible PV using the air layer of window. The angle of flexible PV tests the power generation by separating the center of flexible PV into the interior angle in the interior direction and the external angle in the center of flexible PV. When the angle of flexible PV was used as interior angle, the generation amount was increased by 15.79% and increased by 8.45% compared with the external angle. MPPT tracking is performed on the generation amount of the interior angle which has the most power after comparing the generation amount according to the bending shape of the flexible PV. This algorithm can be the most efficient method for the curtain wall using flexible PV because the bending pattern with the greatest amount of power generation may be different because the environment of the building applying the curtain wall is different.

• 전기학회논문지
• /
• 제59권10호
• /
• pp.1823-1831
• /
• 2010

This paper proposes an automatic tracking control algorithm for efficiency improvement of photovoltaic generation. Increasing the power of PV systems should improve the efficiency of solar cells or the power condition system. The normal alignment of the PV module always have to run perpendicular to the sun's rays. The solar tracking system, able to improve the efficiency of the PV system, was initiated by applying that to the PV power plant. The tracking system of conventional PV power plant has been studied with regard to the tracking accuracy of the solar cells. Power generation efficiency were increased by aligning the cells for maximum exposure to the sun's rays. Using a perpendicular position facilitated optimum condition. However, there is a problem about the reliability of tracking systems unable to not track the sun correctly during environmental variations. Therefore, a novel control algorithm needs to improve the generation efficiency of the PV systems and reduce the loss of generation. This control algorithm is the proposed automatic tracking algorithm in this paper. Automatic tracking control is combined the sensor and program method for robust control in environment changing condition. This tracking system includes the insolation, rain sensor and anemometer for climate environment changing. Proposed algorithm in this paper, is compared to performance of conventional tracking control algorithm in variative insolation condition. And prove the validity of proposed algorithm through the experimental data.

• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2004년도 ICCAS
• /
• pp.1496-1499
• /
• 2004

In this paper, we deal with a novel path planning algorithm to find collision-free path for a moving robot to find an appropriate path from initial position to goal position. The robot should make progress by avoiding obstacles located at unknown position. Such problem is called the path planning. We propose so called the subgoal generation algorithm to find an effective collision-free path. The generation and selection of the subgoal are the key point of this algorithm. Several subgoals, if necessary, are generated by analyzing the map information. The subgoal is the candidate for the final path to be pass through. Then selection algorithm is executed to choose appropriate subgoal to construct a correct path. Deep and through explanations are given for the proposed algorithm. Simulation example is given to show the effectiveness of the proposed algorithm.

• Journal of Electrical Engineering and Technology
• /
• 제13권6호
• /
• pp.2227-2235
• /
• 2018

Under the current policies and compensation rules in South Korea, Photovoltaic (PV) generation supplier can maximize the profit by combining PV generation with Energy Storage System (ESS). However, the existing operational strategy of ESS is not able to maximize the profit due to the limitation of ESS capacity. In this paper, new ESS scheduling algorithm is introduced by utilizing the System Marginal Price (SMP) and PV generation forecasting to maximize the profits of PV generation supplier. The proposed algorithm determines the charging time of ESS by ranking the charging schedule from low to high SMP when PV generation is more than enough to charge ESS. The discharging time of ESS is determined by ranking the discharging schedule from high to low SMP when ESS energy is not enough to maintain the discharging. To compensate forecasting error, the algorithm is updated every hour to apply the up-to-date information. The simulation is performed to verify the effectiveness of the proposed algorithm by using actual PV generation and ESS information.

• International Journal of Fuzzy Logic and Intelligent Systems
• /
• 제14권4호
• /
• pp.305-312
• /
• 2014

This paper discusses real-time peak shaving algorithms for a large-scale battery energy storage system (BESS). Although several transmission and distribution functions could be implemented for diverse purposes in BESS applications, this paper focuses on a real-time peak shaving algorithm for an energy time shift, considering wind power generation. In a high wind penetration environment, the effective load levels obtained by subtracting the wind generation from the load time series at each long-term cycle time unit are needed for efficient peak shaving. However, errors can exist in the forecast load and wind generation levels, and the real-time peak shaving operation might require a method for wind generation that includes comparatively large forecasting errors. To effectively deal with the errors of wind generation forecasting, this paper proposes a real-time peak shaving algorithm for threshold value-based peak shaving that considers fuzzy wind power generation.

• Journal of Mechanical Science and Technology
• /
• 제16권2호
• /
• pp.137-146
• /
• 2002

In this paper, a path generation algorithm that uses sensor scannings is described. A scanning algorithm for recognizing the ambient environment of the Automatic Guided Vehicle (AGV) that uses the information from the sensor platform is proposed. An algorithm for computing the real path and obstacle length is developed by using a scanning method that controls rotating of the sensors on the platform. The AGV can recognize the given path by adopting this algorithm. As the AGV with two-wheel drive constitute a nonholonomic system, a linearized kinematic model is applied to the AGV motor control. An optimal controller is designed for tracking the reference path which is generated by recognizing the path pattern. Based on experimental results, the proposed algorithm that uses scanning with a sensor platform employing only a small number of sensors and a low cost controller for the AGV is shown to be adequate for path generation.

• Industrial Engineering and Management Systems
• /
• 제8권1호
• /
• pp.22-28
• /
• 2009

We consider facility layout problems, where mn facility units are assigned into mn cells. These cells are arranged into a rectangular pattern with m rows and n columns. In order to solve this cell type facility layout problem, many approximation algorithms with improved local search methods were studied because it was quite difficult to find exact optimum of such problem in case of large size problem. In this paper, new algorithms based on Simulated Annealing (SA) method with two neighborhood generation methods are proposed. The new neighborhood generation method adopts the exchanging operation of facility units in accordance with adjacent preference. For evaluating the performance of the neighborhood generation method, three algorithms, previous SA algorithm with random 2-opt neighborhood generation method, the SA-based algorithm with the new neighborhood generation method (SA1) and the SA-based algorithm with probabilistic selection of random 2-opt and the new neighborhood generation method (SA2), are developed and compared by experiment of solving same example problem. In case of numeric examples with problem type 1 (the optimum layout is given), SA1 algorithm could find excellent layout than other algorithms. However, in case of problem type 2 (random-prepared and optimum-unknown problem), SA2 was excellent more than other algorithms.

• 디지털산업정보학회논문지
• /
• 제12권2호
• /
• pp.7-14
• /
• 2016

In this paper presents a low power algorithm using a feasible cluster generation method considered glitch. The proposed algorithm is a method for reducing power consumption of a given circuit. The algorithm consists of a feasible cluster generation process and glitches removal process. So that glitches are not generated for the node to which the switching operation occurs most frequently in order to reduce the power consumption is a method for generating a feasible cluster. A feasible cluster generation process consisted of a node value set, dividing the node, the node aligned with the feasible cluster generation. A feasible cluster generation procedure is produced from the highest number of nodes in the output. When exceeding the number of OR-terms of the inputs of the selected node CLB prevents the signal path is varied by the evenly divided. If there are nodes with the same number of outputs selected by the first highest number of nodes in the input produces a feasible cluster. Glitch removal process removes glitches through the path balancing in the same manner as [5]. Experimental results were compared with the proposed algorithm [5]. Number of blocks has been increased by 5%, the power consumption was reduced by 3%.