• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.7
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• pp.1447-1456
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• 2011

In this paper, we propose a T-S fuzzy feedback linearization method for controlling a non-linear system with multi-input, and the method is applied for trajectory tracking control of wheeled mobile robot. First, an error dynamic equation of wheeled mobile robot is represented by a T-S fuzzy model, and then the T-S fuzzy model is transformed to a linear control system through the nonlinear fuzzy coordinate change and the nonlinear state feedback input. Simulation results showed that the trajectory tracking controller by using the proposed multi-input feedback linearization method gives better performance than the trajectory tracking controller by using the PDC(Parallel Distributed Compensation) method for controlling the T-S Fuzzy system.

• Journal of Korean Society of Rural Planning
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• v.14 no.4
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• pp.11-19
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• 2008

The layer technique is to produce many memorable scenes by generating layers of new experiences on the existing ones as it is adding the cognitive layers on to the visually seen landscape. Its need is high for places whose landscape itself influences perception, value or expression and which determines the spatial and quality standards. The existing floor plan-based design methods have failed to be useful in generating complex visual experiences. In order to maximize the aesthetical landscape experiences in landscape planning, cognitive layers are needed which complement the input of adequate cognitive elements and the inter-element relationships. Here, layers are utilized to change the arrangement of the landscape elements and coordinate the cognitive flow so that the images could be connected and imagination could occur. A case in point is Anhyun Village in Gochang where physically distinctive layers are additionally set to make a visual experience enriching. The new landscape layers discover the fact that it provides diversity in experiencing the village landscape and forming the sense of beauty and that it is deeply immersed into the daily life of the village. Meanwhile, Guwau Village in Taebaek is an example showing the usefulness of various-layer setting in landscape planning in setting effective circulation planning. That is, the bottom line is the spacing-starting where and making it stay where for a few seconds, and the visual layers. It is also critical to encourage inducing circulation so that layers of the senses stimulating five senses could intervene. Lastly, Mulgeon-ri in Namhae is a case which directly made a parallel of the physical layers of the landscape composition and the cognitive layers of the landscape experience. Artificial landscape planning is mostly about manipulating of visual traits that people feel beautiful, but the layer technique is linked to how to make experiences enriching and renewed.

• Journal of Electrical Engineering and Technology
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• v.11 no.1
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• pp.157-166
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• 2016

In this paper, a new sag and peak voltage detector is proposed for a single-phase inverter using delta square operation. The conventional sag detector is from a single-phase digital phase-locked loop (DPLL) that is based on d-q transformations using an all-pass filter (APF). The d-q transformation is typically used in the three-phase coordinate system. The APF generates a virtual q-axis voltage component with a 90° phase delay, but this virtual phase cannot reflect a sudden change in the grid voltage at the instant the voltage sag occurs. As a result, the peak value is drastically distorted, and it settles down slowly. A modified APF generates the virtual q-axis voltage component from the difference between the current and the previous values of the d-axis voltage component in the stationary reference frame. However, the modified APF cannot detect the voltage sag and peak value when the sag occurs around the zero crossing points such as 0° and 180°, because the difference voltage is not sufficient to detect the voltage sag. The proposed algorithm detects the sag voltage through all regions including the zero crossing voltage. Moreover, the exact voltage drop can be acquired by calculating the q-axis component that is proportional to the d-axis component. To verify the feasibility of the proposed system, the conventional and proposed methods are compared using simulations and experimental results.

• Transactions of the Korean Society of Automotive Engineers
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• v.23 no.5
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• pp.463-470
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• 2015

When a camera installed on a vehicle is used, estimation of the camera pose including tilt, roll, and pan angle with respect to the world coordinate system is important to associate camera coordinates with world coordinates. Previous approaches using huge calibration patterns have the disadvantage that the calibration patterns are costly to make and install. And, previous approaches exploiting multiple vanishing points detected in a single image are not suitable for automotive applications as a scene where multiple vanishing points can be captured by a front camera is hard to find in our daily environment. This paper proposes a camera pose estimation method. It collects multiple images of lane markings while changing the horizontal angle with respect to the markings. One vanishing point, the cross point of the left and right lane marking, is detected in each image, and vanishing line is estimated based on the detected vanishing points. Finally, camera pose is estimated from the vanishing line. The proposed method is based on the fact that planar motion does not change the vanishing line of the plane and the normal vector of the plane can be estimated by the vanishing line. Experiments with large and small tilt and roll angle show that the proposed method outputs accurate estimation results respectively. It is verified by checking the lane markings are up right in the bird's eye view image when the pan angle is compensated.

• KIISE Transactions on Computing Practices
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• v.20 no.12
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• pp.694-699
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• 2014

In mobile ad-hoc networks (MANET), the network topology and neighboring nodes change frequently, since MANET is composed of nodes that have mobility without a fixed network infrastructure. The AODV routing protocol is advantageous for MANET, but AODV has a delay in the transmission of data packets because AODV can not transmit data during route recovery. This paper proposes solving the above problem of AODV by using a bypass generation mechanism for data transmission during route recovery. For further improvement, additional mechanisms that coordinate the reception threshold of a hello packet are proposed in order to improve the accuracy of the information obtained from the neighboring nodes when the bypass is generated due to a link failure and the immediacy of the route recovery. Simulation results show that the proposed technique improves the performance in terms of the delay in transmission compared to traditional AODV.

• Journal of Korea Water Resources Association
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• v.43 no.10
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• pp.921-932
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• 2010

In this study, the adjustment processes of the disturbed channels by sand or gravel mining were investigated by a two dimensional numerical model in the generalized coordinate system. As a numerical scheme, the CIP (cubic interpolated pseudoparticle method) method was used to calculate the advection term in the flow field and central difference method was used to the diffusion term in it. The pit of the channel was partially filled with sediment at the toe of the pit upstream. As time increased, the headcut erosion upstream in the pit was decreased due to the sediment inflow. The almost inflow sediment upstream was trapped into the pit and the sediment deposit wedge migrated downstream in the pit with the steep submerged angle of repose. The numerical model was reproduced well the evolution processes of the channel. The mining pit migrated with speed as the channel was steep, and the numerical results were in overall agreement with the experimental results.

• The Journal of Advanced Prosthodontics
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• v.5 no.3
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• pp.262-269
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• 2013

PURPOSE. Perceived color of ceramics changes by the spectral power distribution of ambient light. This study aimed to quantify the amount of shifts in color and color coordinates of clinically simulated seven all-ceramics due to the switch of three ambient light sources using a human vision simulating spectroradiometer. MATERIALS AND METHODS. CIE color coordinates, such as $L^*$, $a^*$ and $b^*$, of ceramic specimens were measured under three light sources, which simulate the CIE standard illuminant D65 (daylight), A (incandescent lamp), and F9 (fluorescent lamp). Shifts in color and color coordinate by the switch of lights were determined. Influence of the switched light (D65 to A, or D65 to F9), shade of veneer ceramics (A2 or A3), and brand of ceramics on the shifts was analyzed by a three-way ANOVA. RESULTS. Shifts in color and color coordinates were influenced by three factors (P<.05). Color shifts by the switch to A were in the range of 5.9 to 7.7 ${\Delta}E{^*}_{ab}$ units, and those by the switch to F9 were 7.7 to 10.2; all of which were unacceptable (${\Delta}E{^*}_{ab}$ > 5.5). When switched to A, CIE $a^*$ increased (${\Delta}a^*$: 5.6 to 7.6), however, CIE $b^*$ increased (${\Delta}b^*$: 4.9 to 7.8) when switched to F9. CONCLUSION. Clinically simulated ceramics demonstrated clinically unacceptable color shifts according to the switches in ambient lights based on spectroradiometric readings. Therefore, shade matching and compatibility evaluation should be performed considering ambient lighting conditions and should be done under most relevant lighting condition.

• Atmosphere
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• v.26 no.3
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• pp.401-412
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• 2016

A 3D sonic anemometer has been installed at Yongpyong alpine slope since Oct. 23th 2014 to observe the slope winds and to analyze turbulent characteristics with the change in surface cover (grass and snow) and the synoptic wind strength. Eddy covariance method has been applied to calculate the turbulent quantity after coordinate transformation of a planar-fit rotation. We have carefully selected 3 good episodes in the winter season (23 October 2014 to 28 February 2015) for each category (9 days in total), such as grass and snow covers in case of weak synoptic wind condition, and grass cover of strong synoptic wind. The diurnal variations of the slope winds were well developed like the upslope wind in the daytime and downslope wind in the nighttime for both surface covers (grass and snow) in the weak synoptic forcing, when accordingly both heat and momentum fluxes significantly increased in the daytime and decreased in the nighttime. Meanwhile, diurnal variation of heat flux was not present on the snow cover probably in associated with significant fraction of sunlight reflection due to high albedo especially during the daytime in comparison to those on the grass cover. In the strong synoptic regime, the most dominant feature at Yongpyong, only the southeasterly downslope winds were steadily generated irrespective of day and night with significant increases in momentum flux and turbulent kinetic energy as well, which could suggest that local circulations are suppressed by the synoptic scale forcing. In spite of only one season analysis applied to the limited domain, this kind of an observation-based study will provide the basis for understanding of the local wind circulation in the complex mountain domain such as Gangwon in Korea.

• Fire Science and Engineering
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• v.30 no.6
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• pp.92-98
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• 2016

This study evaluated thermal image real-time estimation and fire alarm using by a CCD camera, which has been a seamless feature-point analysis method, according to the angle and position and image fusion by a vector coordinate point set-up of equal shape. The system has higher accuracy, fixing data value of temperature sensing and fire image of 0~255, and sensor output-value of 0~5,000. The operation time of a flame specimen within 500 m, 1000 m, and 1500 m from the test report specimen took 7 s, 26 s, and 62 s, respectively, and image creation was proven. A diagnosis of fire accident was designated to 3 steps: Caution/Alarm/Fire. Therefore, a series of process and the transmission of SNS were identified. A light bulb and fluorescent bulb were also tested for a false alarm test, but no false alarm occurred. The possibility that an unwanted alarm will be reduced was verified through a forecast of the fire progress or real-time estimation of a thermal image by the change in the image of a time-based flame and an analysis of the diffusion velocity.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.7 no.2
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• pp.13-25
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• 2008

In this paper, we propose the Location Awareness System adjusting Ranging Technology for CSS(Chirp Spread Spectrum) which is adopted on 2.45GHz standard in IEEE 802.15.4a and TOA(Time-of-Arrival) algorithm. The conventional methods have adopted RSSI, ultrasonic waves and infrared rays in Zigbee. RSSI measures strength indication of received signal and recognizes the position of nodes in RF boundary. However, this technology has the following problems; lots of error by the change of the channel environment and much power consumption. In this paper, adopting chirp pulse on 2.45GHz standard in IEEE 802.15.4a and SDS-TWR(Symmetrical Double Side-Two Way Ranging) method using the characteristic of Spread Spectrum, a new Location Awareness System is suggested. The distance and the coordinate are measured within ${\pm}\;5cm$ by TOA(Time of Arrival) algorithm and proposed algorithm and the data in error rate is decreased less than 1%. Through these results, the algorithm suggested in this paper is verified for its performance in a computer simulation.