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Design and evaluation of real-time GNSS attitude determination systems using low cost receivers

Transactions of the Korean Institute of Electrical Engineers 2014年第9期63卷 1259-1265页

作者： Chae, Jeong Geun Lee, Dong Sun Kang, In-Suk Park, Chansik Dept. of Control and Robot Engineering Research Institute of Computer Information and Communication Chungbuk National University Korea Republic of SAMYUNG ENC Co. Ltd. Korea Republic of

In this paper, the real-time attitude determination based Matlab using low-cost receivers was designed and evaluated. The GNSS attitude determination system was implemented to operation in real-time by TimerCailback in MATLAB. The TTM(Transniission Time Misalignment) of U-blox receiver was confirmed through zero baseline tests and this problem was revised, The computed attitude by the high-cost NovAtel receiver was compared to the computed attitude by the low-cost U-blox receiver. As a result of this, the performance of attitude determination systems by low-cost receiver was confirmed. To determine baseline, LAMBDA and BC-LAMBDA for integer ambiguities search methods were used. To confirm suitable integer ambiguity search method in real-time attitude determination algorithm, determined baselines by two methods were compared, and it was confirmed that BC-LAMBDA is more suitable. As a result of this, the operation of real-time attitude determination system was confirmed using 3 low-cost receivers.

关键词： Costs

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Haptic intelligent interfaces for NAO robot hand control

Haptic intelligent interfaces for NAO robot hand control

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International Conference on Advanced Mechatronic Systems (ICAMechS)

作者： Octavian Melinte Luige Vladareanu Ligia Munteanu Hongnian Yu Shuang Cang Zeng-Guang Hou Gui-Bin Bian Hongbo Wang Dept. Robotics and Mechatronics Institute of Solid Mechanics of Romanian Academy Bucharest Romania Engineering and Computing Bournemouth University Dorset UK State Key Laboratory of Management and Control for Complex Systems Chinese Academy of Sciences Beijing China Parallel Robot and Mechatronic Sys. Lab. Yanshan University Qinhuangdao China

The paper presents a new approach on haptic interface control for NAO robotic hand. The haptic teleoperation of NAO robot hand raises some issues, mapping the haptic device dynamic being the most important. The mapping was achieved through Neural Network by determining a dynamic gain of robot haptic feedback. The results lead to the achievement of the haptic intelligent interfaces for the NAO robot hand control which can be integrated into an innovative haptic robot control system.

关键词： Decision support systems Humanoid robots Haptic interfaces Economic indicators Joints Mechatronics

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Navigation control for an exploration rover with microwave Doppler sensors (Fabrication of third prototype rover and experiments)

Navigation control for an exploration rover with microwave D...

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International Symposium on Micromechatronics and Human Science (MHS)

作者： Masahiro Isogai Yasuhiko Nawa Toru Iijima Dept. of Electronic Control and Robot Engineering Aichi University of Technology Gamagori JAPAN College of Environmental Technology Muroran Institute of Technology Muroran JAPAN

Microwave Doppler sensors commonly used in automatic-door systems have been used in a rover navigation system. A collimated microwave beam with an angular width of ±3° at a frequency of 24 GHz was emitted from a sensor (A) on a dish antenna 30 cm in diameter. Another sensor (B), which works as a detector, was installed on the rover. The rover was programmed to make a right turn when the microwave signal was above a specified level and to make a left turn when the signal was than that level. In this study, we fabricated the third prototype rover. To confirm the effectiveness of the proposed method, we performed the experiments on the strength distribution of the microwave beam, and on the navigation control with the fabricated rover..

关键词： Sensors Microwave circuits Microwave antennas Navigation Base stations Microwave amplifiers

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A study on design of control device on small wind generator using 2-level boost converter

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Transactions of the Korean Institute of Electrical Engineers 2013年第10期62卷 1481-1486页

作者： Moon, Chae-Joo Chang, Young-Hak So, Soon-Youl Park, Tae-Sik Jeong, Moon-Seon Youn, Young-Chan Dept. of Control Robot Engineering Mokpo National University Korea Republic of Dept. of Electrical Engineering College of Mokpo National University Korea Republic of SeolTech Korea Republic of

The small wind generator with existing mechanical control system has a frequent failure and malfunction, and its maintenance is difficult. In this paper, an electric control method using a boost converter for small wind generator was suggested. The suggested 2-level boost converter control device was manufactured and its experimental operation were conducted on a wind generator with 200 [W] capacity. As a result of experimental device, the control by a boost converter was executed at the point that the output voltage of a wind generator became 36 [V] so it could be identified that the output voltage of a wind generator diminished and then it became 0 [V] after 5 [sec]. Besides, in case of applying the method suggested in this paper to a small wind power generation facility for street lights, it is expected to reduce its maintenance by preventing a frequent failure of a generator and to improve its utilization rate.

关键词： Wind turbines

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3D motion analysis of national rider athletes by riding types in horse simulator

3D motion analysis of national rider athletes by riding type...

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2013 3rd International Conference on Innovative Computing Technology, INTECH 2013

作者： Lee, Myung-Won Kwak, Keun-Chang Dept. of Control and Instrumentation Engineering Chosun University Gwangju Korea Republic of Dept. of Control Instrumentation and Robot Engineering Chosun University Gwangju Korea Republic of

ISBN: (纸本)9781479900473

This paper presents a three-dimensional (3D) motion analysis, motion database construction, and 3D motion visualization of national rider athletes under horse simulator environments. The 3D motion database captured from national rider athletes are constructed by four riding types such as walking, trotting, cantering, and galloping. Finally we cover the motion analysis and evaluation based on the flexion angle of elbow, knee, and backbone, the y-axis position of hip by each riding type for 3D motion analysis of national rider athletes in horse simulator. © 2013 IEEE.

关键词： Simulators

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The PCA-based long distance face recognition using multiple distance training images for intelligent surveillance system

The PCA-based long distance face recognition using multiple ...

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International Conference on Information and Communication Technology, ICT-EurAsia 2013

作者： Moon, Hae-Min Pan, Sung Bum Dept. of Information and Communication Engineering Chosun Univ. Korea Republic of Dept. of Control Instrumentation and Robot Engineering Chosun Univ. Korea Republic of

ISBN: (纸本)9783642368172

In this paper, PCA-based long distance face recognition algorithm applicable to the environment of intelligent video surveillance system is proposed. While the existing face recognition algorithm uses the short distance images for training images, the proposed algorithm uses face images by distance extracted from 1m to 5m for training images. Face images by distance, which are used for training images and test images, are normalized through bilinear interpolation. The proposed algorithm has improved face recognition performance by 4.8% in short distance and 16.5% in long distance so it is applicable to the intelligent video surveillance system. © 2013 Springer-Verlag.

关键词： Principal component analysis

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A study on the wind power grade selection of the wind power generator for the west coast of korea

A study on the wind power grade selection of the wind power ...

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European Wind Energy Conference and Exhibition, EWEC 2013

作者： Jeong, Moon-Seon Moon, Chae-Joo Kim, Tae-Gon Park, Byeong-Ju Chang, Young-Hak Dept. of Electrical Engineering College of Mokpo National University 61 Dorim-ri Cheonggye-myeon Muan-gun Jeonnam Korea Republic of Dept. of Control Robot Engineering College of Mokpo National University 61 Dorim-ri Cheonggye-myeon Muan-gun Jeonnam Korea Republic of

ISBN: (纸本)9781632663146

The world is largely interested in the new regenerative energy development as the alternative of the high oil prices and especially, the wind generation is gaining a large fame as a newly developing power among the new regenerative energy sources. Currently, Korea is building onshore wind farms in many areas and the number is expected to increase. The designed lifespan of the wind generator is over 20 years as required by the international regulations, but Korea has very little information on the grades of the wind generators. This study performed the research on the safety levels of wind generators using the measured data in the West Coast of Korea. The targeted areas are 4 sites on the west coast and the Met mast is installed for the future offshore wind farms. The data were accumulated for a year and the safety level of the wind turbine was set based on the international regulation of IEC 61400-1. The turbulence intensity analysis was carried out based on the values and equations selected by IEC 61400-1 and the actual data while the extreme wind speeds were analyzed using the Gumbel distribution. As a result, the WangDeungYeo area was Class II-C, DaeNoNokDo area was Class III-C, BiGeumDo area was Class III-C, and Jukdo are was Class III-C. When the offshore wind farms are established in the future, this will be provided as the basic data for the wind turbine selection.

关键词： Offshore wind farms

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A new target recognition scheme using 24GHz microwave RADAR

A new target recognition scheme using 24GHz microwave RADAR

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International Conference on Fuzzy Theory and it's Applications (iFUZZY)

作者： Baehoon Choi Beomseong Kim Euntai Kim Heejin Lee KwangWoong Yang School of Electrical & Electronic Engineering Yonsei University Seoul Korea Dept. of Electrical Electronic and Control Engineering Hankyong National University Kyonggi-do Korea Division for Applied Robot Technology Korea Institute of Industrial Technology Ansan Korea

In this paper, the target recognition system using 24GHz radar for intelligent vehicle is represented. Several kind of radar measurement features are included to get performance. The proposed method is verified by experiments. The support vector machine based classification system is implemented. The result of the system is compared with other previous methods.

关键词： Radar Intelligent vehicles Microwave theory and techniques Vehicles Sensors Position measurement Educational institutions

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A localization system of mobile robots using artificial landmarks

A localization system of mobile robots using artificial land...

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2011 7th IEEE International Conference on Automation Science and engineering, CASE 2011

作者： Heo, Dong-Hyeog Oh, Ah-Reum Park, Tae-Hyoung Dept. of Control and Robot Eng. CBITRC Chungbuk National University Cheongju Chungbuk 361-763 Korea Republic of

ISBN: (纸本)9781457717307

This paper proposes a localization system for indoor mobile robots. The localization system includes a camera and artificial landmarks for global positioning, and encoders and gyro sensors for local positioning. The Kalman filter is applied to take into account the stochastic errors of all sensors. Also, we develop a dead reckoning system to estimate the global position when the robot moves into blind spots, where it cannot see artificial landmarks. Learning engines using modular networks are designed to improve the performance of the dead reckoning system. The experimental results are then presented to verify the usefulness of the proposed localization system. © 2011 IEEE.

关键词： Mobile robots

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Locomotion mechanism and control method for a microrobot using the difference in the vibration characteristics of the legs (fabrication of a prototype microrobot;preliminary experiments and experiments in turning control)

Locomotion mechanism and control method for a microrobot usi...

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22nd Annual Symp. on Micro-Nano Mechatronics and Human Science, MHS 2011, Held Jointly with the Symp. on COE for Education and Research of Micro-Nano Mechatronics, Micro-Nano GCOE 2011, Symp. on Hyper Bio Assembler for 3D Cellular System Innovation

作者： Isogai, Masahiro Dept. of Electronic Control and Robot Engineering Aichi University of Technology 50-2 Manori Nishihazamacho Gamagori 443-0047 Japan

ISBN: (纸本)9781457713613

Recently, microrobots have been the subject of a large number of studies, and contests are held throughout the year with the aim of developing microrobot technologies. As a result, various types of microrobots have been proposed including motor-type, piezoelectric-element-type, and electromagnet-type microrobots. This study considers a novel locomotion mechanism and a control method for an electromagnet-type microrobot that can not only travel in a straight line, but can also turn using just a single electromagnet that utilizes the difference in the vibration characteristics of the left and right legs. In this study, a control method to change the turning radius is proposed, and a prototype microrobot and controller are fabricated. In addition, the characteristics of the turning radius are investigated and the effectiveness of the proposed control method is verified through experiments. © 2011 IEEE.

关键词： Vibration analysis

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