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Limit-cycle 항법과 모서리 검출을 기반으로 하는 UGV를 위한 계획 경로 알고리즘
임윤원(Yun-Won Lim),정진수(Jin-Su Jeong),안진웅(Jin-Ung An),김동한(Dong-Han Kim) 제어로봇시스템학회 2011 제어·로봇·시스템학회 논문지 Vol.17 No.5
This UGV (Unmanned Ground Vehicle) is not only widely used in various practical applications but is also currently being researched in many disciplines. In particular, obstacle avoidance is considered one of the most important technologies in the navigation of an unmanned vehicle. In this paper, we introduce a simple algorithm for path planning in order to reach a destination while avoiding a polygonal-shaped static obstacle. To effectively avoid such an obstacle, a path planned near the obstacle is much shorter than a path planned far from the obstacle, on the condition that both paths guarantee that the robot will not collide with the obstacle. So, to generate a path near the obstacle, we have developed an algorithm that combines an edge detection method and a limit-cycle navigation method. The edge detection method, based on Hough Transform and IR sensors, finds an obstacle’ edge, and the limit-cycle navigation method generates a path that is smooth enough to reach a detected obstacle’ edge. And we proposed novel algorithm to solve local minima using the virtual wall in the local vision. Finally, we verify performances of the proposed algorithm through simulations and experiments.This UGV (Unmanned Ground Vehicle) is not only widely used in various practical applications but is also currently being researched in many disciplines. In particular, obstacle avoidance is considered one of the most important technologies in the navigation of an unmanned vehicle. In this paper, we introduce a simple algorithm for path planning in order to reach a destination while avoiding a polygonal-shaped static obstacle. To effectively avoid such an obstacle, a path planned near the obstacle is much shorter than a path planned far from the obstacle, on the condition that both paths guarantee that the robot will not collide with the obstacle. So, to generate a path near the obstacle, we have developed an algorithm that combines an edge detection method and a limit-cycle navigation method. The edge detection method, based on Hough Transform and IR sensors, finds an obstacle’ edge, and the limit-cycle navigation method generates a path that is smooth enough to reach a detected obstacle’ edge. And we proposed novel algorithm to solve local minima using the virtual wall in the local vision. Finally, we verify performances of the proposed algorithm through simulations and experiments.
Evaluation of RFID System for Location Based Services in the Building
남상엽,안진웅,김동한,Nam, Sang-Yep,An, Jin-Ung,Kim, Dong-Han The Institute of Electronics and Information Engin 2011 電子工學會論文誌 IE (Industry electronics) Vol.39 No.4
본 논문에서는 UHF RFID 시스템을 콘크리트 블록에 매립하기 위해 다양한 종류의 RFID tag를 선택하여 실험한다. 매립된 tag의 수신율을 측정하기 위해 매립 깊이를 달리하고, 재질을 바꿔가며 감쇄율을 측정한다. 실험결과에서 콘크리트의 혼합비율은 성능에 큰 영향을 주지 않는 것을 알 수 있다. 본 연구는 GPS 신호를 사용할 수 없는 유비쿼터스 환경의 실내에서 위치기반의 서비스를 위해서 필요한 위치정보를 얻어 내는 방법인 RFID 시스템의 기반시설 매립에 초점을 맞춰 진행한다. In this paper, different RFID tag types compliant with UHF frequency based RFID system were chosen to build RFID tag embedded concrete blocks. Then, by placing the tags in systematically varied depths of a concrete block, we could measure the RF signal attenuation pattern as the performance indicator of a specific concrete embedded RFID system. Experiments show that the concrete mixing ratio makes no significant difference in tag detection performance level. The significance of the developed RFID system lies in its capability of eliminating GPS's error and shadow area as well as providing smart infrastructure for supporting truly pervasive ubiquitous computing applications especially in outdoor environment.
시뮬레이션에 기반한 휴머노이드 로봇 두 대의 안정적인 물체 운반 및 제어 연구
김한근(Han-Guen Kim),김형진(Hyung-Jean Kim),박원만(Won-Man Park),김윤혁(Yoon-Hyuk Kim),김동한(Dong-Han Kim),안진웅(Jin-Ung An) 제어로봇시스템학회 2010 제어·로봇·시스템학회 논문지 Vol.16 No.2
This paper proposes an intelligent PID/Fuzzy control system for two humanoid robots to transport objects stably. When a robot transports an object while walking, a whole body system of a robot may not be stable due to vibration or external factors from a different departure speed error and a body movement of walking robots. Therefore, it is necessary to measure the horizontal and vertical locations and speeds of object, then calibrate the difference of departure speed between robots with PID/Fuzzy control. The results of simulation with two robots indicated that a proposed controller makes robots to transport an object stably.
PVPCS DC/DC 컨버터 모델링 및 2중 루프 제어와 단일 루프 제어의 특성 비교
김동환,정승환,송승호,최주엽,최익,안진웅,이상철,이동하,Kim, Dong-Hwan,Jung, Seung-Hwan,Song, Seung-Ho,Choi, Ju-Yeop,Choi, Ick,An, Jin-Ung,Lee, Sang-Chul,Lee, Dong-Ha 한국태양에너지학회 2012 한국태양에너지학회 논문집 Vol.32 No.suppl3
In photovoltaic system, the characteristics of photovoltaic module such as open circuit voltage and short circuit current will be changed because of cell temperature and solar radiation. Therefore, the boost converter of a PV system connects between the output of photovoltaic system and DC link capacitor of grid connected inverter as controlling duty ratio for maximum power point tracking(MPPT). This paper shows the dynamic characteristics of the boost converter by comparing single-loop and two-loop control algorithm using both analog and digital control. Both proposed compensation methods have been verified with computer simulation to demonstrate the validity of the proposed control schemes.
"PV Converter 모델링”을 적용한 MPPT제어기법
최주엽(Choi Ju-Yeop),최익(Choy Ick),송승호(Song Seung-Ho),안진웅(An Jin-ung),이동하(Lee Dong-Ha) 한국태양에너지학회 2009 한국태양에너지학회 논문집 Vol.29 No.6
Photovoltaic conditioning systems normally use a maximum power point tracking (MPPT) technique to deliver the highest possible power to the load continuously when variations occur in the insolation and temperature. A unique method of tracking the maximum power points (MPPs) and forcing the boost converter system to operate close to these points is presented through deriving small-signal model and transfer function of boost converter considering input capacitor. This paper aims at modeling boost converter including fairly large equivalent series resistance(ESR) of input reservoir capacitor by state-space-averaging method and PWM switch model and compares both methods using Bode plots. In the future, properly designed controller for compensation will be constructed in 3kw real system for maximum photovoltaic power tracking control.
주의력결핍장애(ADD) 아동 및 일반아동의주의력 특성 중 반응속도와 정확성에 관한 연구
이효신 ( Hyo Shin Lee ),신윤희 ( Yun Hee Shin ),윤주연 ( Ju Yeon Yun ),안진웅 ( Jin Ung An ),이승현 ( Seung Hyen Lee ),조정연 ( Jung Yeon Jo ),임난희 ( Nan Hee Im ) 한국정서.행동장애아교육학회(구.한국정서학습장애아교육학회) 2010 정서ㆍ행동장애연구 Vol.26 No.4
본 연구는 주의력결핍장애(ADD) 아동과 일반아동들 간의 멀티미디어를 통한 주의력 특성을 확인하기 위하여 포커스 된 주의력과 지속적인 주의력, 선택적인 주의력을 함께 요하는 멀티미디어 과제를 주고 반응시간과 답에 대한 정확성을 체크하여 주의력의 특성을 알아보고자 하였다. 대상 집단은 대구 및 경상도 소재의 초등학교 고학년 총 9명을 대상으로 ADHD를 선별하여 연구를 진행하였으며 각 데이터는 비모수통계의 Mann-Whitney검정으로 실시하였다. 그 결과 총 반응시간에서는 두 집단 간 차이가 없었으나 과제의 전/중/후반으로 나누었을 때 난이도가 높은 지속적 주의집중과제에서만 차이가 나타났다. 또한 과제의 정확성의 경우에는 난이도가 높은 선택적 주의집중과제에서 차이가 나타났으며 과제의 전/중/후반으로 나누었을 때 과제의 중반에서만 차이가 나타났다. 그러므로 과제의 난이도가 어려워질수록 주의력결핍장애(ADD) 아동들은 일반아동에 비해 과제의 초기에 주의집중이 떨어지고 정확성에 있어서도 평균적으로 과제를 해내지 못함으로 주의력결핍장애(ADD) 아동 중재 시 일반아동과는 다른 과제 수행 정확성을 점검하는 동시에 과제 제시 초기 및 후기에 주의집중을 할 수 있는 중재전략이 제공될 필요가 있다. The purposes of this study were to examine of attention traits (accuracy and response time) of ADD children in Focused attention, Sustained attention and Selective attention in contrast with normal children. The participants were 9 elementary school students who live in Daegu and Gyeongsang-do (5 in ADHD, 4 in Controls). We gave the participants 5 multi-media tasks (1 Focused attention task, 2 Sustained attention tasks, 2 Selective attention tasks). Accuracy and response time (RT) of tasks were assessed by 2 observers using checklist. We analyzed using Mann-Whitney U as non-parametric statistics. The results of this study were as follows. Firstly, the children with ADD showed not significant mean difference from total of response time, but they only showed significant mean difference in the first part of more difficult sustained attention task from controls. Secondly, the children with ADD showed significant mean difference in total of accuracy of selective attention task. Also they have significant difference in the medium part of selective attention task from controls. So, we suggested developing education programs consist of intervention of when they attend on, what kind of task they take for ADD children.
임지훈(Im Ji-Hoon),최주엽(Choi Ju-Yeop),송승호(Song Seung-Ho),최익(Choy Ick),정승환(Jeong Seung-Hwan),안진웅(An Jin-Ung),이동하(Lee Dong-Ha) 한국태양에너지학회 2010 한국태양에너지학회 논문집 Vol.30 No.6
In photovoltaic system, the specifications of solar array is changed as open circuit voltage and short circuit current because of cell temperature and solar radiation. A boost converter of this system connects between output of photovoltaic system and DC link capacitor of grid connected inverter as controlling duty ratio. Therefore to supply stable voltage to the grid, a boost converter is need to keep certain voltage output. Considering the capacitance and the resistance of boost converter, this paper designed proper digital controller.
단독운전방지를 위한 능동적 주파수 변환기법의 출력전력 분석
이기옥(Lee Ki-Ok),최주엽(Choi Ju-Yeop),최익(Choy Ick),유권종(Yu Gwon-Jong),안진웅(An Jin-ung) 한국태양에너지학회 2009 한국태양에너지학회 논문집 Vol.29 No.6
Recently, as the grid-connected photovoltaic power conditioning systems (PVPCS) are installed in many residential areas, these have raised potential problems of network protection on electrical power system. One of the numerous problems is an Islanding phenomenon. In this paper, active frequency drift (AFD) method, one of the anti-islanding methods which is analyzed by current magnitude compensation and calculation of RMS value of the output power is proposed and verified by simulation.
이기옥(Lee Ki-Ok),최주엽(Choi Ju-Yeop),최익(Choy Ick),유권종(Yu Gwon-Jong),안진웅(An Jin-ung) 한국태양에너지학회 2010 한국태양에너지학회 논문집 Vol.30 No.1
As many grid-connected photovoltaic power conditioning systems(PVPCS)are installed in many residential areas simultaneously, these have raised potential problems of network protection on electrical power system. One of the numerous problems is an Islanding phenomenon. In this paper, active frequency drift(AFD)method, one of the anti-islanding methods which is analyzed by current magnitude compensation and calculation of the fundamental component. Both harmonic component and RMS value of the output current for THD analysis are provided and verified by simulation.