• 로봇학회논문지
• /
• 제9권1호
• /
• pp.1-10
• /
• 2014

In recent years, the research of 3D mapping technique in urban environments obtained by mobile robots equipped with multiple sensors for recognizing the robot's surroundings is being studied actively. However, the map generated by simple integration of multiple sensors data only gives spatial information to robots. To get a semantic knowledge to help an autonomous mobile robot from the map, the robot has to convert low-level map representations to higher-level ones containing semantic knowledge of a scene. Given a 3D point cloud of an urban scene, this research proposes a method to recognize the objects effectively using 3D graph model for autonomous mobile robots. The proposed method is decomposed into three steps: sequential range data acquisition, normal vector estimation and incremental graph-based segmentation. This method guarantees the both real-time performance and accuracy of recognizing the objects in real urban environments. Also, it can provide plentiful data for classifying the objects. To evaluate a performance of proposed method, computation time and recognition rate of objects are analyzed. Experimental results show that the proposed method has efficiently in understanding the semantic knowledge of an urban environment.

• 전기학회논문지
• /
• 제61권12호
• /
• pp.1864-1871
• /
• 2012

This paper proposes the hybrid proportional integral(HBPI) controller for maximum power point tracking(MPPT) control of photovoltaic system. The output characteristics of the solar cell are a nonlinear and affected by a temperature, the solar radiation and influence of a shadow. The MPPT control is a very important technique in order to increase an output and efficiency of the photovoltaic system. The conventional constant voltage(CV), perturbation and observation(PO) and incremental conductance(IC) are the method which finding maximum power point(MPP) by the continued self-excitation vibration, and uses the fixed step size. If the fixed step size is a large, the tracking speed of maximum power point is faster, but the tracking accuracy in the steady state is decreased. On the contrary, when the fixed step size is a small, the tracking accuracy is increased and the tracking speed is slower. Therefore, in order to solve these problems, this paper proposes HBPI controller that is adjusted gain of conventional PI control using fuzzy control, and the maximum power point tracks using this controller. The validity of the controller proposed in this paper proves through the results of the comparisons.

• 제어로봇시스템학회논문지
• /
• 제12궈1호
• /
• pp.41-46
• /
• 2006

Ubiquitous location based services, offer helpful services anytime and anywhere by using real-time location information of objects based on ubiquitous network. Particularly, autonomous mobile robots can be a solution for various applications related to ubiquitous location based services, e.g. in hospitals, for cleaning, at airports or railway stations. However, a meaningful and still unsolved problem for most applications is to develop a robust and cheap positioning system. A typical example of position measurements is dead reckoning that is well known for providing a good short-term accuracy, being inexpensive and allowing very high sampling rates. However, the measurement always has some accumulated errors because the fundamental idea of dead reckoning is the integration of incremental motion information over time. The other hand, a localization system using RFID offers absolute position of robots regardless of elapsed time. We construct an absolute positioning system based on RFID and investigate how localization technique can be enhanced by RFID through experiment to measure the location of a mobile robot. Tags are placed on the floor at 5cm intervals in the shape of square in an arbitrary space and the accuracy of position measurement is investigated . To reduce the error and the variation of error, a weighting function based on Gaussian function is used. Different weighting values are applied to position data of tags since weighting values follow Gaussian function.

• 한국자동차공학회논문집
• /
• 제13권4호
• /
• pp.58-65
• /
• 2005

A method measuring angular speed and estimating angular acceleration of an automotive wind shield wiper pivot with limited resources has been proposed. Limited resources refer to the fact that processes cannot be operated in real-time with a regular notebook running a Microsoft Windows. Also, they refer to the fact that data acquisition cards have only two general purpose counters as many generic cards do. An optical incremental encoder has been employed for measuring angular motion. To measure the angular speed of the pivot, periods for the encoder's output pulses have been measured as the speed is related to the reciprocal of the period. Since only information acquired from one counter channel is the magnitude of the angular speed, sign correction is necessary. Also the information for the exact time when a pivot passes left and right dead points is also missing and the situation is inherent to the hardware setup. To find out the zero-crossing time of the angular speed, a linear interpolation technique has been employed. Lastly, to overcome the imperfection of the mechanical encoders, the angular speed has been curve fitted to a spline. Angular acceleration can be obtained by a differentiation of the angular speed.

• Restorative Dentistry and Endodontics
• /
• 제26권6호
• /
• pp.492-498
• /
• 2001

The purpose of this study was to evaluate four different composite resins in vitro for microleakage in Class II box type restorations that have gingival margins apical to the cementoenamel junction. Forty caries free extracted human molars were used in this study. The Class II cavities were prepared 1.0mm below cementoenamel junction with a #701 carbide bur. The teeth were randomly divided into four groups, each group comprising 20 treated cavities according to adhesives and filling materials ; Group 1: Scotchbond Multipurpose/Z 100. Group 2: Ariston Liner/Ariston pHc, Group 3: One Step/Pyramid, Group 4: Prime & Bond NT/SureFil. To simulate the clinical situation during restoration placement, a restoration template was fabricated and composite resin was filled using a three sited light-curing incremental technique. The specimens were stored in the 100% humidity for 7 days prior to thermocycling. The specimens were immersed in 2% methylene blue dye solution for 24 hours and then embeded in transparent acrylic resin and sectioned mesiodistally with a diamond wheel saw. The degree of marginal leakage was scored under the stereomicroscope($\times$20) and the data were analyzed by Kruskal Wallis test and Mann Whitney test. (omitted)

• 신재생에너지
• /
• 제8권3호
• /
• pp.14-22
• /
• 2012

Performance of photovoltaic (PV) generator systems relies on its operating conditions. Maximum power extracted from PV generators depends strongly on solar irradiation, load impedance, and ambient temperature. A most maximum power point tracking (MPPT) algorithm is based on a perturb and observe method and an incremental conductance method. It is well known the latter is better in terms of dynamics and tracking characteristics under condition of rapidly changing solar irradiation. However, in case of digital implementation, the latter has some error for determining a maximum power point. This paper presents a PID based MPPT algorithm for such PV systems. We use neural network technique for determining PID parameters by online learning approach. And we construct a boost converter to regulate the output voltage from PV generator system. Computer simulation is carried out to evaluate the proposed MPPT method and we accomplish comparative study with a perturb and observe based MPPT method to prove its superiority.

• 한국정보과학회논문지:데이타베이스
• /
• 제34권3호
• /
• pp.261-269
• /
• 2007

이 논문에서는 XML 문서에 대한 효율적인 검색과 통합을 위한 기초연구로써 XML 문서들에 대한 구조 중심의 클러스터링 기법을 제안한다. 기존 연구에서 문서간의 구조적 유사도를 기반으로 클러스터를 형성해 가는 것과는 다르게 많은 데이타를 빠르게 처리할 수 있는 트랜잭션 데이타를 취급하는 알고리즘을 변형하여 적용한다. 각 클러스터에 포함되어 있는 항목들에 대한 누적 분포를 나타내는 히스토그램을 이용하여 전체적인 클러스터링의 응집도를 고려하는 클러스터링을 수행한다. 기존 연구와의 실험을 통해 클러스터링 처리 시간의 향상과 양질의 클러스터를 생성하는 것을 알 수 있었다.

• 한국표면공학회지
• /
• 제26권6호
• /
• pp.316-326
• /
• 1993

Adhesion and hardeness are the most important properties of a hard coated layer which is applied to wear-resistant devices. Zr/ZrN layer was deposited on tool steel(SKH9) and stainless steel(SUS304) by a re-active D.C. magnetron sputtering technique and their microhardness and adhesion strength were measured for the films processed by changing the partial pressures of $N_2$ gas (4~10$\times$$10^{-4}$mbar) and the substrate bias voltage(0~250V). The adhesion strength was evaluated by acoustic signals through the scratch-test with the incremental applied load. As the partial pressure of $N_2$ gas and the substrate bias voltage were increased, the adhesion strength of tool steel was observed to be stronger than that of the stainless steel. The adhesion strength was generally, observed to decrease with the same tendency regardless of the kinds of substrates. The adhesion strength of tool steel was increased more and more strongly than that of stainless steel as heat-treated temperature was increased. The strength of tool steel was appeared to be high adhesion strength at $400^{\circ}C$. From the failure mode of the film during the scratch adhesion test, the cohesive failure was observed to be obvious and the adhesive failure in a minor portion in the Zr/ZrN doublelayer regardless of the kinds of substrates.

• Structural Engineering and Mechanics
• /
• 제74권3호
• /
• pp.313-323
• /
• 2020

Non-destructive tests are commonly used in construction industry to access the quality and strength of concrete. However, till date there is no non-destructive testing method that can be adopted to evaluate the bond condition of reinforced concrete beams. In this regard, the presented research work details the use of ultra-sonic pulse velocity test method to evaluate the bond condition of reinforced concrete beam. A detailed experimental research was conducted by testing four identical reinforced concrete beam samples. The samples were loaded in equal increments till failure and ultra-sonic pulse velocity readings were recorded along the length of the beam element. It was observed from experimentation that as the cracks developed in the sample, the ultra-sonic wave velocity reduced for the same path length. This reduction in wave velocity was used to identify the initiation, development and propagation of internal micro-cracks along the length of reinforcement. Using the developed experimental methodology, researchers were able to identify weak spots in bond along the length of the specimen. The proposed method can be adopted by engineers to access the quality of bond for steel reinforcement in beam members. This allows engineers to carryout localized repairs thereby resulting in reduction of time, cost and labor needed for strengthening. Furthermore, the methodology to apply the proposed technique in real-world along with various challenges associated with its application have also been highlighted.

• ETRI Journal
• /
• 제43권5호
• /
• pp.825-834
• /
• 2021

Based on its simplicity and user-friendly characteristics, OpenMP has become the standard model for programming on shared-memory architectures. Checkpointing-aided parallel execution (CAPE) is an approach that utilizes the discontinuous incremental checkpointing technique (DICKPT) to translate and execute OpenMP programs on distributed-memory architectures automatically. Currently, CAPE implements the OpenMP execution model by utilizing the DICKPT to distribute parallel jobs and their data to slave machines, and then collects the results after executing these distributed jobs. Although this model has been proven to be effective in terms of performance and compatibility with OpenMP on distributed-memory systems, it cannot fully exploit the capabilities of multicore processors. This paper presents a novel execution model for CAPE that utilizes two levels of parallelism. In the proposed model, we add another level of parallelism in the form of multithreaded processes on slave machines with the goal of better exploiting their multicore CPUs. Initial experimental results presented near the end of this paper demonstrate that this model provides significantly enhanced CAPE performance.