• Journal of Mechanical Science and Technology
• /
• v.15 no.2
• /
• pp.217-224
• /
• 2001

In this paper, the relocation of a mobile robot is considered such that it enables the robot to determine its position with respect to a global reference frame without any $\alpha$ priori position information. The robot acquires sonar range data from a two-dimensional model composed of planes, corners, edges, and cylinders. Considering individual range as data features, the robot searches the best position where the data features of a position matches the environmental model using a constraint-based search method. To increase the search efficiency, a hypothesize and-verify technique is employed in which the position of the robot is calculated from all possible combinations of two range returns that satisfy the sonar sensing model. Accurate relocation is demonstrated with the results from sets of experiments using sparse sonar data in the presence of unmodeled objects.

• Journal of the Korean Society for Precision Engineering
• /
• v.29 no.11
• /
• pp.1159-1163
• /
• 2012

In this paper, we would like to introduce two dimensional non-contact position sensor by using an electromagnetic induction based coil system and an algorithm to estimate the position of pointer. The sensor which will introduce in this paper is composed of a pointer including LC resonant circuit and a sensor board to detect the electromagnetic signal from the pointer. Because of the simplicity shape of the line antenna, low cost and free form curved shape of the sensor device is possible. In this research, we proposed a new two dimensional non-contact type electromagnetic sensor system and realized the proposed sensor device. From the experiments, the proposed device can be employed for the two dimensional position sensor.

• The Journal of the Korean dental association
• /
• v.11 no.4
• /
• pp.263-266
• /
• 1973

The measuring tests on the rest position capacity and the tongue volume were conducted on the one hundred normal dental college students and staffs of Seoul National University in order to study the relationships between the est position Capacity and tongue volume. The results were as follows : 1) The correlation between the rest position capacity and tongue volume was hardly recognized. 2) The correlation between tongue volume and the weight was recognized. 3) Physiologic reflex was coused by the water injected in the mouth in the rest position. 4) Each correlation of the height and cheek thickness to the tongue volume was not recognized.

• Proceedings of the KIPE Conference
• /
• 2005.07a
• /
• pp.558-561
• /
• 2005

This paper describes a novel method of detecting excitation position in switched reluctance motor(SRM) drive. Some strategies of position sensorless control methods for the motor include the measurement of phase current and applied pulse voltage in an unexcited phase is suggested. The principle of the estimation of a rotor position is based on the detection of inductance by pulse currents. This sensorless method is very simple to detect excitation position estimation and gives efficient control of drive system. Suggested method is verified by some simulations.

• Journal of the Korean Society of Manufacturing Process Engineers
• /
• v.16 no.5
• /
• pp.113-118
• /
• 2017

In this paper, we propose a design procedure for determining the gate position robust to changes and inherent fluctuations in the process conditions during injection molding. To evaluate the robustness of the gate position, the signal-to-noise ratio is used, and noise conditions are implemented using orthogonal arrays, where the process variables are considered as noise factors and possible process fluctuations are set as the levels of the noise factors. To show the usefulness of the proposed robust design procedure, we apply it to a computer CPU baseplate. As a result, it is shown that a robust gate position can be determined that reduces the average warpage deflection by 2.4% and 1.7%, and the variance by 3.4% and 5.1%, compared to the two initial gate positions.

• Journal of Institute of Control, Robotics and Systems
• /
• v.12 no.9
• /
• pp.856-860
• /
• 2006

A CCD camera is used to determine the position of the point sources that influence the measurement accuracy in the absolute interferometer. The principle of determination method is based on the GPS in which the position is determined by more than 3 distance information from the known positions. Two-dimensional array of photo-detectors in the CCD camera is used as known positions. Performing optimization of the cost function constructed with phase values measured at each pixel on the CCD camera, the position coordinates of each source is precisely determined.

• Journal of Institute of Control, Robotics and Systems
• /
• v.12 no.6
• /
• pp.561-567
• /
• 2006

This paper deals with a fuzzy controller using IA(Immune Algorithm) for Trajectory Tracking of 2-DOF WMR(Wheeled Mobile Robot). The global inputs to the WMR are reference position and reference velocity, which are time variables. The global output of WMR is a current position. The tracking controller makes position error to be converged 0. In order to reduce position error, a compensation velocities on the track of trajectory is necessary. Therefore, a FIAC(Fuzzy-IA controller) is proposed to give velocity compensation in this system. Input variables of fuzzy part are position errors in every sampling time. The output values of fuzzy part are compensation velocities. IA are implemented to adjust the scaling factor of fuzzy part. The computer simulation is performed to get the result of trajectory tracking and to prove efficiency of proposed controller.

• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.5
• /
• pp.419-428
• /
• 2011

This paper suggests a judgement method for an inclined plane before entrance of it and the detection of obstacle position. Main idea is started from the assumption that obstacle is always on the bottom plane, and corner appears at this position. The process to detect the obstacle consists of three steps. First the 3D data using stereo matching is acquired to detect an obstacle. Second a bottom plane is extracted by using limit condition. Last the obstacle position is found by using Harris corner detection. Obstacle position detection on an inclined plane was verified by outdoor and indoor experiment. In error analysis, it is confirmed that an average error of obstacle detection in outdoor was larger than the error in indoor but the error are within about 0.030 m. This method will be applied to unmanned vehicles to navigate under various environment.

• Journal of the Korean Institute of Navigation
• /
• v.24 no.4
• /
• pp.219-226
• /
• 2000

Ship's position data obtaining method is one of the very important factor in navigation. Nowadays, GPS(Global Positioning System) using the earth orbiting satellites are equipped and operated for the position finding. Because it provides more precise position information than other equipments and is very convenient for navigator. In this study, it is designed to develop the GPS simulator for everybody being able to practise the GPS operating skill like as navigation planning, navigation calculating etc. And also, it can be operated with personal computer without real GPS receiver. This simulation system is based on the real GPS receiver and built by the visual basic 5.0 program. And it displays the ship's position and navigating information and plots the ship's moving track on the screen in real time according as initial setup data-main engine's rpm, rudder angle, departure position and waypoint.

• Journal of the Korean Society for Precision Engineering
• /
• v.16 no.9
• /
• pp.159-165
• /
• 1999

Based on the cable-extension transducers, a new technique for two dimensional position measurement is developed in this paper. This new technique includes the use of two such transducers and the planar position is determined through triangulation. This paper also presents uncertainty analysis results for establishing sensor design specifications. An actual prototyped sensor system is built and its accuracy is verified through h\both experiments with coordinate measurement machines and its application to the real-time control of a high load wheeled mobile robot. This new type of position sensor can be easily used in a wide variety of automation applications in industry for two dimensional position measurements with high accuracy over a relatively large range, and it is both cast effective and robust against hostile environments.