• Journal of Power Electronics
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• 제19권3호
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• pp.691-701
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• 2019

To solve the problems in the contact charging of inspection robots, a wireless charging system for inspection robots and a control strategy are introduced in this paper. Circuit models of a wireless power system with a compound compensation circuit and a three-phase Class-D resonant inverter are set up based on circuit theory. An output voltage control method based on the equal spread regulation of the phase difference between adjacent phases and the parameter correction method in the primary compound compensation circuit are proposed. The dynamic characteristics of the key parameters varying with the secondary coil position are obtained to further investigate the adaptive location scheme during the access and exit processes of moving robots. Combining the output voltage control method and the adaptive location scheme, a transition control strategy for the standby and operation modes of the wireless charging systems for inspection robots is put forward to realize the system characteristics including the low standby power in the standby mode and the high receiving power in the operation mode. Finally, experiments are designed and conducted to verify the correctness of the theoretical research.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2005년도 학술대회 논문집 정보 및 제어부문
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• pp.606-608
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• 2005

In this paper, we introduce localization server system calculated real location of objects using raw data of location-awareness from sensor node gateway. The software architecture of localization server system consists of location calculation and actuator control based on location. Also, this system supports for collecting raw data, calculating location of real objects using raw data, correcting error from outer environment, and server for applications based on location.

• 제어로봇시스템학회논문지
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• 제7권1호
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• pp.1171-1177
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• 2001

This paper provides a guideline for specifying the operational compliance characteristics considering the location of compliance center and the grasp points in assembly tasks using robot hands. Through various assembly tasks, we analyze the conditions of the achievable operational stiffness matrix with respect to the location of compliance center and the grasp points. Also, we show that some of coupling stiffness elements in the operational space cannot be planned arbitrarily. As a result it is concluded that the location of compliance center on the grasped object and the grasp points play important roles for successful assembly tasks and also the operational stiffness matrix should be carefully specified by considering those conditions.

• 제어로봇시스템학회논문지
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• 제17권1호
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• pp.17-21
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• 2011

This paper presents a real- time detection of on-road succeeding vehicles based on low level edge features and a boosted cascade of Haar-like features. At first, the candidate vehicle location in an image is found by low level horizontal edge and symmetry characteristic of vehicle. Then a boosted cascade of the Haar-like features is applied to the initial hypothesized vehicle location to extract the refined vehicle location. The initial hypothesis generation using simple edge features speeds up the whole detection process and the application of a trained cascade on the hypothesized location increases the accuracy of the detection process. Experimental results on real world road scenario with processing speed of up to 27 frames per second for $720{\times}480$ pixel images are presented.

• 상하수도학회지
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• 제22권1호
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• pp.149-157
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• 2008

The reduction of leakage is a major issue of the South Korea water industry. The inclusion of pressure dependent leakage terms in network analysis allows the application of optimization techniques to identify the most effective means of reducing water leakage in distribution networks. This paper proposes a method to find optimal setting and location of control valve for reducing leakage efficiently. The proposed search method differs from previous methods for addressing optimal valve location problem and improves the GA simulation time with guaranteeing for getting the global optimal solution. The strength of this method has been demonstrated by means of case studies. This allows the procedure of optimization to be more robust and computational efficient.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2004년도 Proceedings of ISRS 2004
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• pp.249-252
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• 2004

The automatic determination of vehicle operation status as well as continuous tracking of vehicle location with intelligent management is one of major elements to achieve the goals. Especially, vehicle operation status can only be analyzed in terms of expert experiences with real-time location data with scheduling information. However the scheduling information of individual vehicle is very difficult to be interpreted immediately because there are hundreds of thousand vehicles are run at the same time in the national wide range workplace. In this paper, we propose the location-based knowledge management system(LKMs) using the active trajectory analysis method with routing and scheduling information to cope with the problems. This system uses an inference technology with dispatching and geographic information to generate the logistics knowledge that can be furnished to the manager in the central vehicle monitoring and controlling center.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2003년도 가을 학술발표회 논문집
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• pp.153-160
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• 2003

The objective of optimal placement of dampers for a structure is to maximize the effective-ness of the vibration control with the same number of dampers. While many optimal placement methods of linear viscous dampers have been proposed and used, there are only a few methods for MR dampers. Here some optimal location indices for M dampers are proposed, which are similar to those for linear viscous dampers and show how large the structural responses on each floor are. Every time an additional MR damper is implemented, the optimal location index on each floor is measured, and then the next damper is installed on the floor with the maximum location index. In these sequential procedures, the peak interstory drift, the peak interstory velocity and the absolute acceleration of each floor are selected as the optimal location indeices. Four different earthquakes with various scales are loaded to the 20-story nonlinear benchmark building model (Otori et al. 2000, 2002). Passive On/on algorithms are used in order to represent the control algorithm of M dampers.

• 제어로봇시스템학회논문지
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• 제21권11호
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• pp.996-1002
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• 2015

In this paper, we present an effective system for the 3D scene labeling of objects from RGB-D videos. Our system uses a Markov Random Field (MRF) over a voxel representation of the 3D scene. In order to estimate the correct label of each voxel, the probabilistic graphical model integrates both scores from sliding window-based object detectors and also from object location prior maps. Both the object detectors and the location prior maps are pre-trained from manually labeled RGB-D images. Additionally, the model integrates the scores from considering the geometric constraints between adjacent voxels in the label estimation. We show excellent experimental results for the RGB-D Scenes Dataset built by the University of Washington, in which each indoor scene contains tabletop objects.

• 한국지진공학회:학술대회논문집
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• 한국지진공학회 2003년도 추계 학술발표회논문집
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• pp.467-472
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• 2003

The objective of optimal placement of dampers for a structure is to maximize the effectiveness of the vibration control with the same number of dampers. While many optimal placement methods of linear viscous dampers have been proposed and used, there are only a few methods for MR dampers. Here some optimal location indices for MR dampers are proposed, which are similar to those for linear viscous dampers and show how large the structural responses on each floor we. Every time an additional MR damper is implemented, the optimal location index on each floor is measured, and then the next damper is installed on the floor with the maximum location index. In these sequential procedures, the peak interstory drift, the peak interstory velocity and the absolute acceleration of each floor are selected as the optimal location indeices. Four different earthquakes with various scales are loaded to the 20-story nonlinear benchmark building model (Otori et at. 2000, 2002). Passive On/Off algorithms are used in order to represent the control algorithm of MR dampers.

• 한국정보기술응용학회:학술대회논문집
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• 한국정보기술응용학회 2005년도 6th 2005 International Conference on Computers, Communications and System
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• pp.27-30
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• 2005

Because of unreplenishable power resources, reducing node energy consumption to extend network lifetime is an important requirement in wireless sensor networks. In addition both path length and path cost are important metrics affecting sensor lifetime. We propose a dynamic clustering scheme based on location in wireless sensor networks. Our scheme can localize the effects of route failures, reduce control traffic overhead, and thus enhance the reachability to the destination. We have evaluated the performance of our clustering scheme through a simulation and analysis. We provide simulation results showing a good performance in terms of approximation ratios.