• 제어로봇시스템학회논문지
• /
• 제16권4호
• /
• pp.368-373
• /
• 2010

A new indoor mobile robot localization method is presented. Robot recognizes well designed single color landmarks on the ceiling by vision system, as reference to compute its precise position. The proposed likelihood prediction based method enables the robot to estimate its position based only on the orientation of landmark.The use of single color landmarks helps to reduce the complexity of the landmark structure and makes it easily detectable. Edge based optical flow is further used to compensate for some landmark recognition error. This technique is applicable for navigation in an unlimited sized indoor space. Prediction scheme and localization algorithm are proposed, and edge based optical flow and data fusing are presented. Experimental results show that the proposed method provides accurate estimation of the robot position with a localization error within a range of 5 cm and directional error less than 4 degrees.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 2007년도 심포지엄 논문집 정보 및 제어부문
• /
• pp.281-282
• /
• 2007

We address a new representation of DCT/DFT/Wavelet matrices via one hybrid architecture. Based on an element inverse matrix factorization algorithm, we show that the OCT, OFT and Wavelet which based on Haar matrix have the similarrecursive computational pattern, all of them can be decomposed to one orthogonal character matrix and a special sparse matrix. The special sparse matrix belongs to Jacket matrix, whose inverse can be from element-wise inverse or block-wise inverse. Based on this trait, we can develop a hybrid architecture.

• Ocean Systems Engineering
• /
• 제6권4호
• /
• pp.325-344
• /
• 2016

Using 3D computational fluid dynamics techniques in recent years have shed significant light on the Vortex Induced Vibrations (VIV) encountered by deep-water marine risers. The fatigue damage accumulated due to these vibrations has posed a great concern to the offshore industry. This paper aims to present an algorithm to predict the crossflow and inline fatigue damage for very long (L/D > $10^3$) marine risers using a Finite-Analytical Navier-Stokes (FANS) technique coupled with a tensioned beam motion solver and rainflow counting fatigue module. Large Eddy Simulation (LES) method has been used to simulate the turbulence in the flow. An overset grid system is employed to mesh the riser geometry and the wake field around the riser. Risers from NDP (2003) and Miami (2006) experiments are used for simulation with uniform, linearly sheared and non-uniform (non-linearly sheared) current profiles. The simulation results including inline and crossflow motion, modal decomposition, spectral densities and fatigue damage rate are compared to the experimental data and useful conclusions are drawn.

• Journal of Mechanical Science and Technology
• /
• 제19권spc1호
• /
• pp.377-387
• /
• 2005

The equations of motion of two-wheeled vehicles, e.g. bicycles or motorcycles, are developed by using Lagrange's equations for quasi-coordinates. The pure rolling constraints between the ground and the two wheels are considered in the dynamical equations of the system. For each wheel, two nonholonomic and two holonomic constraints are introduced in a set of differential-algebraic equations (DAE). The constraint Jacobian matrix is obtained by collecting all the constraint equations and converting them into the velocity form. Equilibrium, an algorithm for searching for equilibrium points of two-wheeled vehicles and the associated problems are discussed. Formulae for calculating the radii of curvatures of ground-wheel contact paths and the reference point are also given.

• Journal of information and communication convergence engineering
• /
• 제18권1호
• /
• pp.8-15
• /
• 2020

Internet-of-Things (IoT) technologies are used everywhere, and communication is one of its core and essential aspect. To solve the networking and communication of small IoT terminals, in this paper, a communication scheme based on low-cost WiFi is proposed, which also has the advantages of good compatibility and low power consumption. At the same time, it has a convenient one-key configuration mode, which reduces the technical requirements for operators. In this study, a communication protocol is designed that mainly aims at up to dozens of domestic IoT terminals, in which the amount of data is not large, data exchange is not high, and network is unstable. According to the alarm data, update data, and equipment or network fault, the protocol can respectively transmit in real time, regularly and repeatedly. This protocol is open and easy to integrate, and after cooperating with tiny encryption algorithm, information can be safely transmitted.

• Journal of Power Electronics
• /
• 제17권5호
• /
• pp.1278-1287
• /
• 2017

Inverters are widely used in distributed power generation and other applications. However, their lack of inertia and variable impedance may cause system instability and power transfer inaccuracy. This paper proposes a control scheme for a single phase voltage-controlled inverter with some grid-friendly characteristics. The proposed control algorithm enables the inverter to function as a voltage source with an inner output impedance in both the islanded and grid-connected modes. Virtual inertia and rotor equations are embedded in the PLL part. Thus, the frequency stability can remain. The inner output impedance can be adjusted freely, which helps to accurately decouple and transmit the output active and reactive power. The proposed inverter operates like a traditional synchronous generator. Simulations and experiments are designed and carried out to verify the proposed control strategy.

• Journal of the Korean Statistical Society
• /
• 제32권4호
• /
• pp.425-448
• /
• 2003

Meta-analysis refers to quantitative methods for combining results from independent studies in order to draw overall conclusions. We consider hierarchical models including selection models under a skewed heavy tailed error distribution proposed originally by Chen et al. (1999) and Branco and Dey (2001). These rich classes of models combine the information of independent studies, allowing investigation of variability both between and within studies, and incorporate weight function. Here, the testing for the skewness parameter is discussed. The score test statistic for such a test can be shown to be expressed as the posterior expectations. Also, we consider the detail computational scheme under skewed normal and skewed Student-t distribution using MCMC method. Finally, we introduce one example from Johnson (1993)'s real data and apply our proposed methodology. We investigate sensitivity of our results under different skewed errors and under different prior distributions.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• 제11권2호
• /
• pp.945-958
• /
• 2017

This paper proposes a novel method of reversible data hiding in JPEG images. After analyzing the JPEG features, we provide a new algorithm of selecting appropriate blocks and coefficients to carry secret messages. Instead of embedding data into the histogram of all coefficients, we propose a strategy of ordered embedding to hide data by histogram shifts in several rounds. On the recipient end, secret messages can be exactly extracted, and the original JPEG image can be losslessly recovered. Experimental results show that high embedding rate can be achieved with limited distortions. Most importantly, the marked JPEG file generated by the proposed method requires less storage size than state-of-the-art works.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• 제10권4호
• /
• pp.1661-1678
• /
• 2016

Clustering is one of the key technologies in vehicular networks. Constructing and maintaining stable clusters is a challenging task in high mobility environments. DWCM (Distributed and Weighted Clustering based on Mobility Metrics) is proposed in this paper based on the d-hop dominating set of the network. Each vehicle is assigned a priority that describes the cluster relationship. The cluster structure is determined according to the d-hop dominating set, where the vehicles in the d-hop dominating set act as the cluster head nodes. In addition, cluster maintenance handles the cluster structure changes caused by node mobility. The rationality of the proposed algorithm is proven. Simulation results in the NS-2 and VanetMobiSim integrated environment demonstrate the performance advantages.

• KSII Transactions on Internet and Information Systems (TIIS)
• /
• 제11권11호
• /
• pp.5324-5337
• /
• 2017

In this paper, we investigate the feasibility of interference alignment(IA) in signal space in the scenario of multiple cell and multiple user cellular networks, as the feasibility issue is closely related to the solvability of a multivariate polynomial system, we give the mathematical analysis to support the constraint condition obtained from the polynomial equations with the tools of algebraic geometry, and a new distribute IA algorithm is also provided to verify the accessibility of the constraint condition for symmetric system in this paper. Simulation results illustrate that the accessibility of the constraint condition is hold if and only if the degree of freedom(DoF) of each user can be divided by both the transmit and receive antenna numbers.