• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.2519-2523
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• 2003

Ultrasonic sensors are widely used in mobile robot applications to recognize external environments, because they are cheap, easy to use, and robust under varying lighting conditions. In most cases, a single ultrasonic sensor is used to measure the distance to an object based on time-of-flight (TOF) information, whereas multiple sensors are used to recognize the shape of an object, such as a corner, plane, or edge. However, the conventional sequential driving technique involves a long measurement time. This problem can be resolved by pulse coding ultrasonic signals, which allows multi-sensors to be fired simultaneously and adjacent objects to be distinguished. Accordingly, the current presents a new simultaneous coded driving system for an ultrasonic sensor array for object recognition in autonomous mobile robots. The proposed system is designed and implemented using a DSP and FPGA. A micro-controller board is made using a DSP, Polaroid 6500 ranging modules are modified for firing the coded signals, and a 5-channel coded signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances for each sensor were obtained from the received overlapping signals using correlations and conversion to a bipolar PCM-NRZ signal.

• 제어로봇시스템학회논문지
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• 제10권11호
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• pp.1028-1036
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• 2004

Ultrasonic sensors are widely used in mobile robot applications to recognize external environments by virtue that they are cheap, easy to use, and robust under varying lighting conditions. In most cases, a single ultrasonic sensor is used to measure the distance to an object based on time-of-flight (TOF) information, whereas multiple sensors are used to recognize the shape of an object, such as a comer, plane, or edge. However, the conventional sequential driving technique involves a long measurement time. This problem can be resolved by pulse coding of ultrasonic signals, which allows multi-sensors to be emitted simultaneously and adjacent objects to be distinguished. Accordingly, this paper presents a new simultaneous coded driving system for an ultrasonic sensor array for object recognition in autonomous mobile robots. The proposed system is designed and implemented. A micro-controller unit is implemented using a DSP, Polaroid 6500 ranging modules are modified for firing the coded signals, and a 5-channel coded signal generating board is made using a FPGA. To verify the proposed method, experiments were conducted in an environment with overlapping signals, and the flight distances fur each sensor were obtained from the received overlapping signals using correlations and conversion to a bipolar PCM-NRZ signal.

• 대한기계학회논문집
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• 제12권5호
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• pp.1035-1042
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• 1988

본 연구에서는 단순절삭의 특성과 관련된 신호처리 방법을 검토하고, 선삭의 경우와 달리 제기되는 문제점중의 하나인 센서의 부착위치를 예비실험을 통하여 결정 하며, 공구마멸의 진전에 따른 AE신호의 특성변화를 조사하여 공구마멸 자동감지의 기 초가 되는 공구마멸의 점진적 증가에 따른 AE신호의 특성변화를 관찰하고자 한다. 특히 절삭조건 즉 이송량, 절석깊이, 절삭속도, 그리고 정착된 인서트의 수가 AE신호 의 특성에 미치는 영향을 각각 조사하여 절삭조건의 변화에 따른 AE신호의 변화경향을 살펴보고자 한다.

• 한국음향학회지
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• 제16권4호
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• pp.5-10
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• 1997

본 논문에서는 웨이브렛 변환을 이용한 새로운 시지연 추정방법인 WTD-LMSTDE을 제안하였다. 이 방법은 시평면에서 입력 신호 자기상관 행렬의 고유치 분포를 줄임으로서 수렴속도를 향상시켰다. 이 알고리즘의 성능을 시불변과 시변인 경우에 대해서 평가하였다. 결과로서 시불변 시지연의 경우에, WTD-LMSTDE의 추정 정확도가 LMSTDE보다 SNR에 따라서 3.3%에서 12.5%까지 개선되었다. 시변 시지연의 경우에는, 선형적으로 증가하는 자연 환경에서 WTD-LMSTDE의 평균 오차 전력이 잡음이 없는 상태에서 LMSTDE와 비교하여 2.4dB정도 감소하였다. 결론적으로 WTD-LMSTDE의 성능이 LMSTDE보다 우수함을 확인할 수 있었다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 하계학술대회 논문집 B
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• pp.585-587
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• 1998

It is suggested that the PWM inverter is controlled by Digital Software Programming. VVVF(Variable Voltage Variable Frequency) inverter control being used by PWM control for driving the motor with speed-varying, makes the PWM pattern with calculating the output voltage and frequency, and with controlling the carrier and signal, so actually this method is difficult to correspond with driving the motor by using voltage-varying and frequency-varying. Therefore this research suggested the new algorithm controlled by micro processor which is already stored by various PWM form of output voltage by using fundamental data of the carrier and signal. The PWM wave can be controlled with real time by using extra hardware and digital software and to speed up program processing, the control signals to switch the power semi-conductor of three phase PWM inverter, simultaneously use the output signal by microprocessor and extra hardware, and control signal by software. In the end, this method was proved by applying to Three Phase Voltage-type Inverter.

• 대한전자공학회논문지
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• 제25권12호
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• pp.1618-1624
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• 1988

In this paper, a robust discrete model reference adaptive controller is proposed using a generalized model reference adaptive algorithm for single-input single-output discrete systems. A signal dependent time-varying dead-zone is employed in a generalized adaptive control structure. This adaptive controller is shown to assure the boundedness of the signals of the system even in the presence of bounded external disturbance.

• 한국통신학회논문지
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• 제29권2C호
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• pp.238-246
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• 2004

본 논문에서는 비 샘플간격을 갖는 빠른 시변채널에서 OFDM 시스템의 위한 채널 추정 기법과 최적 보간기 대신 선형 보간기를 사용한 채널 추정기법이 제안되었다. 제안된 채널 추정기는 비 샘플간격을 갖는 채널의 기존의 채널 추정기가 활용하지 못했던 주파수 상관관계를 이용한 2-D 보간기법을 적용하여 채널의 추정의 정확도를 향상시켜 샘플 간격 채널 뿐만 아니라 실제 채널과 유시한 비 샘플간격 채널에도 적용이 가능하다. 또한 기존의 채널 추정기와 같은 복잡도를 갖는 경우에도 기존의 채널추정기의 성능을 능가함을 모의 실험을 통해 보여졌다. 또한 시간에 따른 채널의 변화가 적을 경우 도플러와 같은 시간변화에 대한 정보를 사용하지 않는 선형 보간기가 최적 보간를 대체하여도 성능 열화가 적음을 실험을 통해서 보였다. 따라서 제안된 채널 추정기는 비 샘플 간격을 갖는 빠른 시변채널에서 OFDM의 성능을 향상시키는데 도움을 줄 수 있다.

• Journal of Welding and Joining
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• 제21권6호
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• pp.33-39
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• 2003

Wavelet transform analysis results show a spectrum energy distribution of CWT along scale factors distinguish the partial, full and over penetration in a electron beam welding by analyzing the curve of spectrum energy at small scale, middle and large scale range, respectively. Two types of signals collected by Ion collector and x-ray sensors and analyzed. The acquired signals from sensors are very complicated since these signals are very closely related the dynamics of keyhole which interact the very high density energy with materials during welding. The results show the wavelet transform is more effective to diagnosis than Fourier Transform, further for the general welding defects which are not a periodic based, but a transient, non-stationary and time-varying phenomena.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2003년도 추계학술대회 논문집(III)
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• pp.3-7
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• 2003

The dynamics of the pantograph motion and contact forces of the high-speed railway are investigated through signals. acquired during a test run. The signals are obtained from accelerometers, load cells, and strain gauges attached to various positions of the pantograph, and they are processed in time-and frequency-domains to evaluate the dynamic characteristics and load forces. The natural frequencies of the pantograph is found to be 8.5Hz. There also are frequency components varying linearly with the train speed. The signal frequency components above 40Hz are attenuated as they pass through the primary and secondary suspensions.

• 한국철도학회논문집
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• 제7권3호
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• pp.232-238
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• 2004

The dynamic characteristics of the current collection process of the high-speed railway are investigated through signals acquired during a test run. The signals are obtained from accelerometers, load cells, and strain gauges attached to various positions of the pantograph, and they are processed in time-and frequency-domains to obtain the dynamic characteristics. The main natural frequency of the pantograph is found to be 8.5Hz. There also are components at low frequencies varying linearly with the train speed. The contact frequency components above 20Hz is attenuated as they pass through the secondary suspension. The main frequency component of the load cell signal is found to be related with the rolling motion of the panhead generated by the stagger in the catenary.