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Impact of Kalman Filtering in Battery Management Systems
Nashatar Singha,Kil To Chong(정길도) 제어로봇시스템학회 2014 제어로봇시스템학회 각 지부별 자료집 Vol.2014 No.12
This paper analyzes the stability of a battery management system (BMS) in hybrid electrical vehicles. The purpose of the BMS is to guarantee safe and reliable battery operation. It is shown that the internal resistance and internal voltage of the battery affect system stability. Variations in these parameters may occur due to aging. Using average-value modeling, this problem is framed into a nonlinear system formulation and the region of stability as a function of the internal resistance and the internal voltage of the battery is determined. This paper also extends its results in determining the configuration of a battery pack in terms of the number of battery cells in series and parallel to prevent instability while meeting demand power requirements. The findings are useful both in the design and operation stages of large-scale battery storage systems in the grid. To maintain this purpose, state monitoring and evaluation, state of charge (SoC), state of health (SoH), remaining useful life (RUL) and cell balancing are functionalities that have been implemented in BMS. The uncertainty of a battery’s performance poses a challenge to the implementation of these functions. Through reviewing the latest methodologies for the state evaluation of batteries, the future challenges for BMSs are presented and possible solutions are proposed as well.
Fuzzy logic based Obstacle Avoidance system for Mobile Robot
Subbash Panati,Kil to Chong(정길도) 제어로봇시스템학회 2014 제어로봇시스템학회 각 지부별 자료집 Vol.2014 No.12
Mobile robot navigation in real world environment is a key research area related to autonomous robots. Path planning and obstacle avoidance play a key role in mobile robot navigation. This paper proposes a sensor based path planning method which utilizes fuzzy logic for mobile robot obstacle avoidance. The ultrasonic sensors are used to acquire the information about the environment around the mobile robot, based on the sensor readings the fuzzy rules are fired to make a decision on the angular velocity of the left and right wheels of mobile robot. The fuzzy rules and membership functions are constructed based on human reasoning and are tuned by iterative simulations. The simulation results show the effectiveness of the proposed method.
Multi-Robots and Robot Sensor Network Applications
Bayanjargal Baasandorj,Kil To Chong(정길도) 제어로봇시스템학회 2014 제어로봇시스템학회 각 지부별 자료집 Vol.2014 No.12
The interaction of distributed robotics and wireless sensor networks has led to the creation of mobile sensor networks. Mobile sensor networks are a class of networks where small sensing devices move in a space over time to collaboratively monitor physical and environmental condition. They are the growing popular class of WSN in which mobility plays a key role in the execution of the application. By introducing mobility to nodes in WSN, we can enhance its capability and flexibility to support multiple mansions and to handle the aforementioned problems. The decreasing costs and the increasing capabilities make mobile sensor networks possible and practical. More and more researches focus on the development of mobile wireless sensor networks (MWSNs) due to its favorable advantages and applications. The research on mobile sensor networks has been plenty worldwide. Robotics can be used in wireless sensor networks to solve many problems such as node repositioning, node localization, acting as data mules, detecting and reacting to sensor failure, aggregate sensor data and even provide mobile battery chargers for the nodes. And also wireless sensor networks can help solve many problems in robotics, such as path planning, robot localization sensing, mapping. Most of the problems in traditional sensor networks may be addressed by incorporating intelligent, mobile robots directly into it. Mobile robots provide the means to explore and interact with the environment in a dynamic and decentralized way. In addition to enabling mission capabilities well beyond those provided by sensor networks, these new systems of networked sensors and robots allow for the development of new solutions to classical problems such as localization and navigation. In this paper we present a overview of multi-robots systems its uses and in the second part reviewed Robotic Sensor network applications.
Use of GPS carrier phase single and double differences
Jhabindra Khanal,Kil To Chong(정길도) 제어로봇시스템학회 2014 제어로봇시스템학회 각 지부별 자료집 Vol.2014 No.12
GPS carrier phase single and double characteristics are studied. For same satellite with two receivers are used to eliminated the satellite clock error, tropospheric range error, ionosphere range error satellite hardware delay and initial phase error generated by the satellite are presented. On the other hand, two receivers with respect to two satellites (double difference) to eliminate the receiver’s clock error by the algorithm have been shown.
Xian Zang,Kil To Chong(정길도) 제어로봇시스템학회 2012 제어로봇시스템학회 각 지부별 자료집 Vol.2012 No.12
A clustering method using fast global kernel fuzzy c-means is developed to segment the speech signal into small non-overlapping blocks for consonant/vowel segmentation. This method proceeds in an incremental way attempting to optimally add new cluster center at each stage through kernel fuzzy c-means. It overcomes the well-known shortcomings of the most popular clustering method, fuzzy c-means, and improves the clustering accuracy. Due to the speeding up scheme, the complexity is lowered and the convergence speed is improved. Simulation results demonstrate the effectiveness of the proposed method in consonant/vowel segmentation.
PD Control For Quadrotor Hovering
Ang Zhang,Kil To Chong(정길도) 제어로봇시스템학회 2014 제어로봇시스템학회 각 지부별 자료집 Vol.2014 No.12
In this paper, a Proportional-Derivative (PO) control method is investigated for a quadrotor to solve attitude control problems. The main target is to design controllers that provide required performances during the quadrotor hovering. A complete simulation model of the angel system dynamic was developed and used to tune controllers in Matlab and Simulink. Simulations results are carried out to prove the effectiveness of the proposed strategy.
김동원,한병성,정길도,김용준,김명순,임태영,채석,Kim, Dong-Won,Han, Byung-Sung,Chong, Kil-To,Kim, Yong-Jun,Kim, Myoung-Soon,Lim, Tae-Yeong,Chae, Seok 대한산업공학회 1998 산업공학 Vol.11 No.3
The agriculture and fishery share in the Korean GDP is continuously decreasing after 1960s. Furthermore the proportion of these industries in the GDP has diminished as low as 10 percent in recent years. However, the stockbreeding sector in these industries are considerably expanded. More than 50 percent of the whole farmhouses are involved in the livestock farming, and the stock farming portion is steadily increased in its size and scope. Thus, the mechanization and the automization of stockbreeding equipments are greatly required to reduce down production cost, as well as to win the competitiveness in the global market. From this aspect, developed in this paper is a stockbreeding management system (SMS) for dairy cattle, which can be used in small and medium sized dairy farms. First, the basic schema of the stockbreeding management system are addressed in view of stockbreeding management for individual dairy cattle. Electronic identification (EI) systems and sensory devices have changed stockbreeding management strategy from group stock control into individual stock control manner. The SMS receives stock body measurement data through the sensory devices such as weight, temperature, and milk conductivity meters. A common database then integrates those measuring data together so that the SMS can determine the appropriate solution on each stock's breeding such as feeding and milking. Thus, each stock can be supervised by a sophisticated SMS that provides the best solution to the stockbreeding throughout the stock's whole life-cycle. Secondly. six major submodules of the SMS, based on the EI and sensory devices, are proposed. They are individual stock management, disease management, health management, feeding management, milking management, and a propagation management submodule. Finally, a prototype system for the SMS is demonstrated. The system is developed using Delphi 2 client-server system run under the Windows 95 environment.