• 한국정밀공학회지
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• 제16권7호
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• pp.125-131
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• 1999

In this paper, the algorithms which can track the two dimensional moving circular object using simple vision system are described. In order to track the moving object, the process of finding the object feature points - such as centroid of the object, corner points, area - is indispensable. With the assumption of two-dimensional circular moving object, the centroid of the circular object is computed from three points on the object circumference. Different kinds of algorithms for computing three edge points - simple x directional detection method, stick method. T-shape method are suggested. Through the computer simulation and experiments, three algorithms are compared from the viewpoint of detection accuracy and computational time efficiency.

• 로봇학회논문지
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• 제15권2호
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• pp.169-176
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• 2020

This paper studied the collision detection of robot manipulators for safe collaboration in human-robot interaction. Based on sensor-based collision detection, external torque is detached from subtracting robot dynamics. To detect collision using joint torque sensor data, a comparative study was conducted using data-based machine learning algorithm. Data was collected from the actual 3 degree-of-freedom (DOF) robot manipulator, and the data was labeled by threshold and handwork. Using support vector machine (SVM), decision tree and k-nearest neighbors KNN method, we derive the optimal parameters of each algorithm and compare the collision classification performance. The simulation results are analyzed for each method, and we confirmed that by an optimal collision status detection model with high prediction accuracy.

• International Journal of Aeronautical and Space Sciences
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• 제1권1호
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• pp.81-91
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• 2000

The mechanization of navigation equation is depending on the designer according to the orientation vector relating the body frame to a chosen to inertial and navigation frames for its purposes. This paper considers the appropriate Earth Fixed frame for short range vehicle and develops a mechanization and algorithm for Strapdown Inertial Navigation System(SDINS). This mechanization consists of two parts : translational mechanization and rotational mechanization{attitude determination). The accuracy, availability and performance of this SDINS mechanization are verified on the simulation and the numerical method for integration attitude propagation is compared with a well-known method in a precession motion.

• 로봇학회논문지
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• 제15권1호
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• pp.24-31
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• 2020

Alternative navigation in underwater environments is essential to prevent accumulating drift error of dead reckoning. In case of using an external positioning system, the installation and management process of the transmission station is cumbersome, and the operation range of underwater vehicle is limited. In order to solve this problem, navigation using geophysical information such as terrain, geomagnetic field and gravity can be used. Unlike the terrain, geomagnetic field and gravity are composed of 3-D information, so continuation process is required. In this paper, we present a integrated navigation algorithm using multiple geophysical information for long-term operation of UUV. The proposed algorithm is verified through numerical simulation in an artificially generated environments. As a result, integrated navigation showed higher navigation accuracy than single alternative navigation.

• 한국군사과학기술학회지
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• 제4권2호
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• pp.157-178
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• 2001

In this paper, the nonlinear control of high precision pointing stabilization system using feedback-linearization design methodology based on system parameter identification is discussed. Modern nonlinear servomechanism theory is adapted to cope with the hard nonlinearities inherent in the turret system. The mathematical models of electrical turret driving system to develop a high performance control algorithm are derived, and the parameter estimation algorithm identifying the unknown system parameters such as vicious and coulomb frictions, stiffness and inertia is developed. Through computer simulation and experiments, it is shown that pointing and tracking accuracy and stabilization against the wideband stochastic disturbance induced by vehicle running on the bump course are improved. Therefore, it is considered the proposed nonlinear control technique is effective in counteracting the nonlinearities and disturbances.

• 한국통신학회논문지
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• 제30권9A호
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• pp.822-829
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• 2005

본 논문에서는 LBT-Random Searching 방식을 채용한 RFID 시스템의 트래픽 처리시간 및 주파수 채널 용량 분석을 위한 알고리즘을 제시하였다. 서비스 시간, 주파수 채널 탐색시간, 연속적인 주파수 채널 사용에 따른 지연시간, 연속적인 동일 주파수 채널 사용에 따른 지연시간을 고려하여 정상상태에서의 트래픽 처리 지연시간을 산출하였다. 시뮬레이션을 통하여 최대처리 가능한 트래픽 용량 및 주파수 채널수를 평가하고, 제안된 분석 알고리즘 정확성을 입증하였다.

• 한국통신학회논문지
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• 제31권12A호
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• pp.1246-1252
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• 2006

본 논문에서는 random FHSS, synchronous FHSS 방식을 채용한 RFID 시스템의 충돌 확률, 트래픽 처리시간 및 주파수 채널 용량 분석을 위한 알고리즘을 제시하였다. 평균 서비스 시간, duty cycle, traffic intensity, 충돌이 발생하여 재전송 시도를 하기 위한 지연시간을 고려하여 정상상태에서의 충돌 확률 및 트래픽 처리 지연시간을 산출하였다. 모의실험을 통하여 최대처리 가능한 트래픽 용량 및 주파수 채널수를 평가하고, 제안된 분석 알고리즘 정확성을 입증하였다.

• 한국철도학회:학술대회논문집
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• 한국철도학회 2004년도 춘계학술대회 논문집
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• pp.1321-1324
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• 2004

Unbalanced systems, such as distribution systems, have difficulties in fault locations due to single-phase laterals and loads. In this paper, a novel fault location algorithm is suggested for a line to line faults using inverse theorem of matrix on electric power lines. The fault location for balanced systems has been studied using the current distribution factor, by a conventional symmetrical transformation, but that for unbalanced systems has not been investigated due to their high complexity The proposed algorithms overcome the limit of the conventional algorithm using the conventional symmetrical transformation, which requires the balanced system and are applicable to any electric power system but are particularly useful for unbalanced distribution systems. The simulation results oriented by the real distribution system are presented to show its effectiveness and accuracy.

• 소성∙가공
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• 제12권3호
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• pp.194-201
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• 2003

An automatic quadrilateral mesh generator for large deformation finite element analysis such as metal forming simulation was developed. The NURBS interpolation method is used for modeling arbitrary 2-D free surface. This mesh generation technique is the modified paving algorithm, which is an advancing front technique with element-by-element resolving method for paving boundary intersection problem. The mesh density for higher analysis accuracy and less analysis time can be easily controlled with high-density points, maximum and minimum element size. A couple of application to large deformation finite element analysis is given as an example, which shows versatility and applicability of the proposed approach and the developed mesh generator for large deformation finite element analysis.

• Journal of Positioning, Navigation, and Timing
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• 제8권4호
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• pp.193-200
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• 2019

The auto-encoder network which is a good candidate to handle the modeling of the signal strength attenuation is designed for denoising and compensating the distortion of the received data. It provides a non-linear mapping function by iteratively learning the encoder and the decoder. The encoder is the non-linear mapping function, and the decoder demands accurate data reconstruction from the representation generated by the encoder. In addition, the adaptive network width which supports the automatic generation of new hidden nodes and pruning of inconsequential nodes is also implemented in the proposed algorithm for increasing the efficiency of the algorithm. Simulation results show that the proposed method can improve the neural network training surface to achieve the highest possible accuracy of the signal modeling compared with the conventional modeling method.