• Journal of the Korean Society of Manufacturing Technology Engineers
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• v.24 no.2
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• pp.141-147
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• 2015

In this study, a position control algorithm for an omni-directional mobile robot based on Mecanum wheels was introduced and experimentally evaluated. Multiple ultrasonic sensors were installed around the mobile robot to obtain position feedback. Using the distance of the robot from the wall, the position and orientation of the mobile robot were calculated. In accordance with the omni-directional velocity generation mechanism, the velocity kinematics between the Mecanum wheel and the mobile platform were determined. Based on this formulation, a simple and intuitive position control algorithm was suggested. To evaluate the control algorithm, a test bed composed of artificial walls was designed and implemented. While conventional control algorithms based on normal wheels require additional path planning for two-dimensional planar motion, the omni-directional mobile robot using distance sensors was able to directly follow target positions with the simple proposed position feedback algorithm.

• 제어로봇시스템학회:학술대회논문집
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• 1995.10a
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• pp.464-467
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• 1995

Autonomous Mobile Robot(AMR) is a field of study which is under active research along with rapid development of the engineering technology. The main reasons for the high interest in AMR are because of its ability to change work space freely and its capability to replace human being for difficult and dangerous jobs. Also the fact that AMR provides a variety of research fields, such as path planning, navigation algorithm, sensor fusion, image processing, and controller design is part of the reason for its popularity. But relatively few researches are concerned with controller. So in this paper, a control strategy of mobile robot with nonholonomic constraint for tracking ordered discontinuous motion is proposed. The proposed control strategy has been designed as a state feedback shape to allow the AMR to obtain continuous velocity and track the path which is composed of discontinuous motions. In order to design such controller, 3 states have been reduced to 2 states through coordinate projection. These ideas are tested for validity through simulation and simulation result is compared with experiments result.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.3
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• pp.214-221
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• 2005

For decades, airships have being developed in Europe (especially German) and America. Airships are planning to be used for advertisements and airliners as well. In Korea, KARI (Korea Aerospace Research Institute) is developing stratospheric communication airship and the similar research is carried out in Japan. Among them, Zeppelin of German has the cutting-edge airship technology with Zeppelin NT. In this paper, the flight performance and stability were evaluated by comparing mathematical theory and the real test. The stability was examined through dynamic modeling and assured by designing controllers at each flight mode. Elevator angle, rudder angle, magnitude of thrust and tilting angle of thrust vector were used as control inputs. Moreover, after measuring the airship velocity, flight direction, magnitude and direction of the wind, attitude angles and trajectories of the airship at each flight mode, the results were compared with the simulation. To get the reasonable data, low-pass filter and band-stop filter were designed to get rid of the sensor noise and engine vibration. The test was accomplished at cruise mode, turning mode, and deceleration. To conclude, with comparing the simulation data and flight test data, it could be known that the dynamic model used in this paper was reasonable.

• Journal of Sensor Science and Technology
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• v.25 no.2
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• pp.155-159
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• 2016

In this work, we have developed a test system to examine whether the charge indicator of the plug-in hybrid electric vehicle (PHEV) works properly or not. In PHEV, the driver should charge the necessary electricity by plugging in manually and be able to know the charging status through the charge indicator conveniently located for the charging individual. Our system used the CAN bus to transmit the same commands from ECU to the indicator to test the proper operation of the indicator lights. It measured the electric current values during operation and analyzed to determine the quality of the indicators. The inspection items included the proper packaging, the electrical shorts, the LED lighting during charging, the LED lighting for charging failure, and the LED lighting when errors occur. We developed the system for the operators in the factory allowing them to approve the test results at the site. We developed the hardware, the control software, and the software to store the test results and the history of the products in the database. Serial numbers were given to the good quality products and the bar code labels were printed to trace the products afterwards. Through this work, we developed a system to inspect the electric parts in real time upon fabrication. We are planning to further improve our system to inspect the brightness of the indicator by adding the vision inspection in future.

• Journal of the Korean Society for Nondestructive Testing
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• v.35 no.6
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• pp.421-428
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• 2015

An important trend in the sustainment of military aircraft is the transition from preventative maintenance to condition based maintenance (CBM). For CBM, it is essential that the actual system condition can be measured and the measured condition can be reliably extrapolated to a convenient moment in the future in order to facilitate the planning process while maintaining flight safety. Much research effort is currently being made for the development of technologies that enable CBM, including structural health monitoring (SHM) systems. Great progress has already been made in sensors, sensor networks, data acquisition, models and algorithms, data fusion/mining techniques, etc. However, the transition of these technologies into service is very slow. This is because business cases are difficult to define and the certification of the SHM systems is very challenging. This paper describes a possibility for fielding a SHM system on legacy military aircraft with a minimum amount of certification issues and with a good prospect of a positive return on investment. For appropriate areas in the airframe the application of SHM will reconcile the fail-safety and slow crack growth damage tolerance approaches that can be used for safeguarding the continuing airworthiness of these areas, combining the benefits of both approaches and eliminating the drawbacks.

• The Plant Pathology Journal
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• v.30 no.2
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• pp.220-227
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• 2014

The GacS/GacA system in the root colonizer Pseudomonas chlororaphis O6 is a key regulator of many traits relevant to the biocontrol function of this bacterium. Proteomic analysis revealed 12 proteins were down-regulated in a gacS mutant of P. chlororaphis O6. These GacS-regulated proteins functioned in combating oxidative stress, cell signaling, biosynthesis of secondary metabolism, and secretion. The extent of regulation was shown by real-time RT-PCR to vary between the genes. Mutants of P. chlororaphis O6 were generated in two GacS-regulated genes, trpE, encoding a protein involved in tryptophan synthesis, and prnA, required for conversion of tryptophan to the antimicrobial compound, pyrrolitrin. Failure of the trpE mutant to induce systemic resistance in tobacco against a foliar pathogen causing soft rot, Pectobacterium carotovorum SCCI, correlated with reduced colonization of root surfaces implying an inadequate supply of tryptophan to support growth. Although colonization was not affected by mutation in the prnA gene, induction of systemic resistance was reduced, suggesting that pyrrolnitrin was an activator of plant resistance as well as an antifungal agent. Study of mutants in the other GacS-regulated proteins will indicate further the features required for biocontrol-activity in this rhizobacterium.

• Journal of Korea Game Society
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• v.16 no.3
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• pp.87-96
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• 2016

As use of Internet increase, IoT(Internet Of Things), a interaction between connected devices, is widely used throughout industrial area. In this paper, we discussed what to consider when planning framework for contents using user's mobile devices and various sensors in IoT environment and suggest related techniques. Also, using the techniques suggested in this paper, we showed the prototype of the framework. Finally, we showed the possibility of games in the IoT environment by creating game in the IoT environment.

• Journal of Information Technology Applications and Management
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• v.19 no.4
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• pp.1-18
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• 2012

This paper identifies technology trends of national research and development (national R&D) by exploiting Korean national R&D patents, ranging from 2007 to 2010. In this paper, co-word analysis (CWA), which is a method to identify the relationship among technology terms by using their co-occurrences, is incorporated into network analysis to visualize the relationships among technology keywords of national R&D patents and calculate network indexes concerning inter-relationship diversity and strength of technology keywords. As a result, this research found that inter-relationship among technology keywords in national R&D are getting increasingly strengthening in an overall sense. In addition, the keyword inter-relationship diversity-strength map proposed in this paper revealed some significant technological keywords of national R&D : core technology keywords including "sensor", "film" and "fuel" and emerging keywords including "biosensor" and "thermoelectric". Because the proposed approach helps identify interdisciplinary trends of technology keywords from a massive volume of national R&D patents in a visual and quantitative way, we expect that the approach can be incorporated as a preliminary into the R&D planning process to assist R&D policy makers to understand technology convergence of national R&D and develop relevant R&D policies.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.34 no.9
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• pp.60-66
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• 2006

Now, on developing COMS(Communication, Ocean and Meteorological Satellite) has solar panel on the south panel only. Therefore, the wheel off-loading has to be performed periodically to reduce a induced momentum energy by a asymmetric solar panel. One of two East/West station keeping maneuver to correct simultaneously longitude and eccentricity, orbit corrections may be performed during one of the two wheel off-loading manoeuvres per day to get enough observation time for meteorological and ocean sensor. In this paper, we applied a linearized orbit maneuver equation to acquire maneuver time and delta-V. Nonlinear simulation for the station keeping is performed and compared with general station keeping strategy for fuel reduction.

• Journal of Power System Engineering
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• v.17 no.5
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• pp.112-120
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• 2013

In this study, we propose an improved view-based navigation method for obstacle avoidance and evaluate the effectiveness of the method in real environments with real obstacles. The proposed method possesses the ability to estimate the position and rotation of a mobile robot, even if the mobile robot strays from a recording path for the purpose of avoiding obstacles. In order to achieve this, ego-motion estimation was incorporated into the existing view-based navigation system. The ego-motion is calculated from SURF points between a current view and a recorded view using a Kinect sensor. In conventional view-based navigation systems, it is difficult to generate alternate paths to avoid obstacles. The proposed method is anticipated to allow a mobile robot greater flexibility in path planning to avoid humans and objects expected in real environments. Based on experiments performed in an indoor environment using a mobile robot, we evaluated the measurement accuracy of the proposed method, and confirmed its feasibility for robot navigation in museums and shopping mall.