• KOREAN POULTRY JOURNAL
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• v.38 no.6 s.440
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• pp.124-125
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• 2006

(주)CKF 사료공장이 지난 5월 18일 충북 옥천군 옥천읍 삼청리에 새롭게 터전을 마련하고 본격적인 가동에 들어갔다. 최근 DDA 및 한미 FTA협상 등 국내외적으로 어려움이 예상되는 가운데 축산업의 경쟁력 향상을 통해 축산업 발전을 기하기 위해 경쟁대열에 합류한 CKF의 대농가 서비스 및 앞으로의 비젼을 들어보았다.

• Journal of Positioning, Navigation, and Timing
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• v.6 no.3
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• pp.105-116
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• 2017

Several wireless localization algorithms are evaluated for the IR-UWB-based indoor location with the assumption that the ranging measurements contain the channelwise Non-Calibration Error (NCE). The localization algorithms can be divided into the Model-free Localization (MfL) methods and Model-based Kalman Filtering (MbKF). The algorithms covered in this paper include Iterative Least Squares (ILS), Direct Solution (DS), Difference of Squared Ranging Measurements (DSRM), and ILS-Common (ILS-C) methods for the MfL methods, and Extended Kalman Filter (EKF), EKF-Each Channel (EKF-EC), EKF-C, Cubature Kalman Filter (CKF), and CKF-C for the MbKF. Experimental results show that the DSRM method has better accuracy than the other MfL methods. Also, it demands smallest computation time. On the other hand, the EKF-C and CKF-C require some more computation time than the DSRM method. The accuracy of the EKF-C and CKF-C is, however, best among the 9 methods. When comparing the EKF-C and CKF-C, the CKF-C can be easily used. Finally, it is concluded that the CKF-C can be widely used because of its ease of use as well as it accuracy.

• Journal of Positioning, Navigation, and Timing
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• v.6 no.4
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• pp.167-179
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• 2017

In this paper, a simplified Cubature Kalman Filter (SCKF) is proposed to reduce the computation load of CKF, which is then used as a filter for transfer alignment of shipboard INS. CKF is an approximate Bayesian filter that can be applied to non-linear systems. When an initial estimation error is large, convergence characteristic of the CKF is more stable than that of the Extended Kalman Filter (EKF), and the reliability of the filter operation is more ensured than that of the Unscented Kalman Filter (UKF). However, when a system degree is large, the computation amount of CKF is also increased significantly, becoming a burden on real-time implementation in embedded systems. A simplified CKF is proposed to address this problem. This filter is applied to shipboard inertial navigation system (INS) transfer alignment. In the filter design for transfer alignment, measurement type and measurement update rate should be determined first, and if an application target is a ship, lever-arm problem, flexure of the hull, and asynchronous time problem between Master Inertial Navigation System (MINS) and Slave Inertial Navigation System (SINS) should be taken into consideration. In this paper, a transfer alignment filter based on SCKF is designed by considering these problems, and its performance is validated based on simulations.

• Monthly Korean Chicken
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• s.132
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• pp.66-68
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• 2006

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.973-978
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• 2005

In this paper, we investigate an improved mobile robot localization method using Kalman filter. The highlight of the paper lies in the formulation of combined Kalman filter and its application to mobile robot experiment. The combined Kalman filter is a kind of extended Kalman filter which has an extra degree of freedom in Kalman filtering recursion. It consists of the standard Kalman filter, i.e., the predictor-corrector and the perturbation estimator which reconstructs unknown dynamics in the state transition equation of mobile robot. The combined Kalman filter (CKF) enables to achieve robust localization performance of mobile robot in spite of heavy perturbation such as wheel slip and doorsill crossover which results in large odometric errors. Intrinsically, it has the property of integrating the innovation in Kalman filtering, i.e., the difference between measurement and predicted measurement and thus it is so much advantageous in compensating uncertainties which has not been reflected in the state transition model of mobile robot. After formulation of the CKF recursion equation, we show how the design parameters can be determined and how much beneficial it is through simulation and experiment for a two-wheeled mobile robot under indoor GPS measurement system composed of four ultrasonic satellites. In addition, we discuss what should be considered and what prerequisites are needed to successfully apply the proposed CKF in mobile robot localization.

• Weed & Turfgrass Science
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• v.5 no.4
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• pp.260-267
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• 2016

Amino acids in the plant were intermediate metabolites which produced by uptake and assimilation of nitrogen and these extracts which gained by bio-chemical digestion from protein of plant or animal were a source of functional fertilizer. This study was conducted to evaluate effects of keratin amino acid fertilizer (KAF) gained from animal hair or hoof on changes of turfgrass quality and growth by investigating turf color index, chlorophyll index, shoot number, clipping yield, and nutrient content in the turfgrass tissue. Treatments were designed as follows; non-fertilizer (NF), compound fertilizer (CF), keratin amino acid fertilizer treatments [CF + KAF $0.26ml\;m^{-2}$ (CKF), CF + KAF $0.52ml\;m^{-2}$ (2CKF)], and only keratin amino acid fertilizer treatment (KF). Shoot number, clipping yield, and nitrogen uptake of KF were higher than those of CF. As compared with CF, soil chemical properties, turf color index, chlorophyll index and clipping yield of keratin amino acid fertilizer were not significant, but shoot number and uptake of N and K were increased significantly. These results show that the application of keratin amino acid fertilizer increased shoot number and growth by increased uptake of nitrogen and potassium.

• Monthly Korean Chicken
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• s.132
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• pp.41-43
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• 2006

• Journal of Positioning, Navigation, and Timing
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• v.4 no.4
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• pp.181-186
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• 2015

A High-degree Cubature Kalman Filter (CKF) is proposed to deal with the Strapdown Inertial Navigation System (SDINS) alignment problem. In-flight Alignment (IFA) is an effective method to compensate for attitude errors of the navigation system. While providing precise attitude error compensation, however, the external source aided alignment often creates a nonlinear filtering problem caused by a large misalignment angle. Introduced recently, Cubature Kalman Filter is a suitable technique for various nonlinear problems. In this paper, a higher degree CKF is applied to this accuracy-is-everything SDINS IFA problem. The simulation results show that the proposed technique outperformed a traditional nonlinear filter in terms of precision and alignment time.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.45 no.10
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• pp.53-58
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• 2008

This paper proposes a new set of instructions to improve the packet processing capacity of a network processor. The proposed set of instructions is able to achieve more efficient packet processing by accelerating integration of packet headers. Furthermore, a hardware configuration dedicated to processing overlay instructions was designed to reduce additional hardware cost. For this purpose, the basic architecture for the network processor was designed using LISA and the overlay block was optimized based on the barrel shifter. The block was synthesized to compare the area and the operation delay, and allocated to a C-level macro function using the compiler known function (CKF). The improvement in performance was confirmed by comparing the execution cycle and the execution time of an application program. Experiments were conducted using the processor designer and the compiler designer from Coware. The result of synthesis with the TSMC ($0.25{\mu}m$) from Synopsys indicated a reduction in operation delay by 20.7% and an improvement in performance of 30.8% with the proposed set of instructions for the entire execution cycle.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.34 no.9B
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• pp.939-946
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• 2009

In this paper, we propose a new network ASIP(Application Specific Instruction-set Processor) which was designed for simulation models by a machine descriptions language LISA(Language for Instruction Set Architecture). This network ASIP is aimed for an exclusive engine undertaking packet processing in a router. To achieve the purpose, we added a new necessary instruction set for processing a general ASIP based on MIPS(Microprocessor without Interlock Pipeline Stages) architecture in high speed. The new instructions can be divided into two groups: a classification instruction group and a modification instruction group, and each group is to be processed by its own functional unit in an execution stage. The functional unit was optimized for area and speed through Verilog HDL, and the result after synthesis was compared with the area and operation delay time. Moreownr, it was allocated to the Macro function ana low-level standardized programming language C using CKF(Compiler Known Function). Consequently, we verified performance improvement achieved by analysis and comparison of execution cycles of application programs.