• 한국항공우주학회지
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• 제44권4호
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• pp.308-315
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• 2016

본 논문은 관성 항법 시스템(Inertial Navigation System)을 활용한 자세 및 방향 결정시스템(Attitude & Heading Reference System)의 성능을 향상시키기 위한 새로운 기법인, 순차적 측정 오차 공분산(Sequential Measurement Noise Covariance) 기법을 제시하였다. 관성 센서는 시간이 지남에 따라 발생하는 적분오차와 진동이나 가속구간과 같은 외란이 가해 졌을 때 성능이 저하된다는 단점이 있다. 특히, 저가의 관성 센서의 경우 이러한 현상이 더욱 두드러지게 나타난다. 이를 극복하기 위한 알고리즘들은 많이 존재한다. 하지만 가장 일반적으로 사용되는 확장 칼만 필터의 경우 가속도계를 사용할 때 측정값(Measurement)이 일정 범위를 넘어가면 센서값을 배제하는 방법을 사용한다. 본 논문에서 제안하는 기법은 범위를 설정하지 않고 과거의 데이터를 순차적으로 활용하여 측정값의 가중치를 변화하는 기법이다. 최종적으로 제안된 기법을 수치 시뮬레이션을 통해 검증하였다.

• IEIE Transactions on Smart Processing and Computing
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• 제4권1호
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• pp.1-9
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• 2015

Template matching is used for many applications in image processing. One of the most researched topics is object tracking. Normalized Cross Correlation (NCC) is the basic statistical approach to match images. NCC is used for template matching or pattern recognition. A template can be considered from a reference image, and an image from a scene can be considered as a source image. The objective is to establish the correspondence between the reference and source images. The matching gives a measure of the degree of similarity between the image and the template. A problem with NCC is its high computational cost and occasional mismatching. To deal with this problem, this paper presents an algorithm based on the Sum of Squared Difference (SSD) and an adaptive template matching to enhance the quality of the template matching in object tracking. The SSD provides low computational cost, while the adaptive template matching increases the accuracy matching. The experimental results showed that the proposed algorithm is quite efficient for image matching. The effectiveness of this method is demonstrated by several situations in the results section.

• Journal of Electrical Engineering and Technology
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• 제8권6호
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• pp.1520-1529
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• 2013

In this paper, we propose and assess the performance of "H infinity filter ($H_{\infty}$, HIF)" and "cost reference particle filter (CRPF)" in the problem of tracking a target based on the measurements of the range and the bearing of the target. HIF and CRPF have the common advantageous feature that we do not need to know the noise statistics of the problem in their applications. The performance of the extended Kalman filter (EKF) is also compared with that of the proposed filters, but the noise information is perfectly known for the applications of the EKF. Simulation results show that CRPF outperforms HIF, and is more robust because the tracking of HIF diverges sometimes, particularly when the target track is highly nonlinear. Interestingly, when the tracking of HIF diverges, the tracking of the EKF also tends to deviate significantly from the true track for the same target track. Therefore, CRPF is very effective and appropriate approach to the problems of highly nonlinear model, especially when the noise statistics are unknown. Nonetheless, HIF also can be applied to the problem of timevarying state estimation as the EKF, particularly for the case when the noise statistcs are unknown. This paper provides a good example of how to apply CRPF and HIF to the estimation of dynamically varying and nonlinearly modeled states with unknown noise statistics.

• International Journal of Control, Automation, and Systems
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• 제1권2호
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• pp.243-251
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• 2003

In this paper, a new model for mobile soccer robot, a type of linear system, is presented. A controller, consisting of two loops the one of which is the inner state feedback loop designed for stability and plant be well conditioned and the outer loop is a well-known PI controller designed for tracking the reference input, is suggested. Because the plant, the soccer robot, is parameter dependent, it requires the controller to be insensitive to the parameter variation. To achieve this objective, the pole-sensitivity as a pole-variation with respect to the parameter variation is defined and design algorithms for state-feedback controllers are suggested, consisting of two matrices one of which is for general pole-placement and other for parameter insensitive. This paper shows that the PI controller is equivalent to the state feedback and the cost function for reference tracking is equivalent to the LQ cost. By using these properties, we suggest a tuning procedure for the PI controller. We that the control algorithm in this paper, based on the linear system theory, is well work by simulation, and the LPD system modeling and control are more easy treatment for soccer robot.

• 한국측량학회지
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• 제12권2호
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• pp.155-161
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• 1994

저렴한 가격의 GPS 모듈로 정확한 위치를 측정하기 위해서 differential GPS 기술을 적용하였다. 2대의 C/A코드 GPS모듈을 이용한 DGPS 위치측정실험결과 위성셀의 PDOP가 2-3 정도인 경우 5 미터 이내의 정확도, PDOP가 9 정도인 경우에도 필터를 통해 10 미터 정도의 정확도를 얻었다. 또한 약 140km 떨어진 국민대(서울)에서 한국표준과학연구원(대전)의 기준수신기의 보정데이타를 이용한 DGPS 실험결과 약 10미터 이내의 정밀도를 갖고 있었다. 이는 GPS 모둔 자체의 위치측정 정밀도에 비해 10배 이상 좋은 정밀도이다. 국내에서는 1개의 기준국의 DGPS 서비스고 거의 실시간, 약 10 미터의 정차도로 위치측정이 가능하다.

• 한국연소학회지
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• 제18권3호
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• pp.44-53
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• 2013

In this study, the economic evaluation for imported coals was conducted for power plant based on thermo-dynamical performance analysis. The number of coal types considered was 1,755 imported by five power generation companies in Korea during the 2010-2012. The higher heating value (HHV) of the coals ranged 4,000-6,500 kcal/kg, mostly sub-bituminous. The 1D thermo-dynamical performance modeling was performed for a 500 MWe standard power plant using PROATES code. It was founded that the low rank coals had negative effects on the plant efficiency mainly due to the increased heat loss by moisture, hydrogen and flue gas. Based on the performance analysis, the economic performance of the coals was evaluated. The apparent price of low-rank coals tended to be significantly lower than design coal; for example, the unit price of coal with a HHV of 4,000 kcal/kg was 57% of the reference coal having 6,080 kcal/kg. Considering the negative effects leading to a decrease in the thermal performance, heating value compensation, and increased parasite load, the corrected unit cost for the coal with 4,000 kcal/kg was 90.7% of the reference coal. Overall, the cost saving by imported coals was not high as expected.

• 전력전자학회논문지
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• 제19권1호
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• pp.71-79
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• 2014

In this paper, a new grid voltage estimation algorithm without voltage sensors is proposed for the three-phase vienna rectifier. Generally, input voltage sensor circuits increase size and cost of the PWM rectifier In order to reduce the cost and size and in order to increase reliability from the electrical noise, grid voltage estimation scheme without input voltage sensor is highly required. In this paper, the grid voltage estimation algorithm is proposed by a simple MRAS(Model Reference Adaptive System) observer without input voltage sensors. The validity of the proposed method is proven by simulation and experiment on the three-phase vienna rectifier system.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 추계학술대회 논문집
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• pp.976-979
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• 2005

This paper is about the development of automatic FPC(flexible printed circuit) punching instrument for the improvement of working condition and cost saving. FPC is used to detect the contact position of keyboard and button like a cellular phone. Depending on the quality of the printed ink and position of reference punching point to the FPC, the resistance and current are varied to the malfunctioning values. The size of reference punching point is 2mm and the above. Because the punching operation Is done manually, the accuracy of the punching degree is varied with operator's condition. To improve this manual punch ing operation to the FPC, automatic FPC punching system is introduced. Test algorithms and programs showed good results to the designed automatic punching system and led to the increasement of productivity and huge cost down to law material like FPC by avoiding bad quality.

• 대한건축학회논문집:구조계
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• 제35권10호
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• pp.225-234
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• 2019

The purpose of this paper is to analyze the additional construction cost of G-SEED certification for domestic office building reflecting the latest standard(G-SEED 2016-2), and to derive cost impact by category and level. Therefore, it is intended to provide quantitave cost data according to G-SEED certification at the planning phase of the project, estimate the additional construction cost per level according to G-SEED Certification of similar project to be carried out in the future, and encourage G-SEED certification by supporting the decision of the owners. Method: The Process and method of this study are summarized in five steps, 1) Review of previous research, 2) Selection of target project, 3) Scenario setting by level, 4) Additional construction cost for each evaluation category, 5) Extraction of additional construction cost ratio by level. Result: This paper analyzed the cost impact by deriving the additional construction cost of detailed category for level improvement according to the revised G-SEED certification(G-SEED 2016-2). In conclusion, an additional construction cost(ratio) of G-SEED projects to the reference building is drawn as good level; 157,426,241 KWN(+0.43%), very good level; 321,907,802 KWN(+0.88%), excellent level; 999,371,478 KWN(+2.74%), and outstanding level; 1,467,047,718 KWN(+4.02%).

• 한국철도학회:학술대회논문집
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• 한국철도학회 2010년도 춘계학술대회 논문집
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• pp.1310-1319
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• 2010

This paper has shown that Linear Induction Motor(LIM) and Rack and pinion type are efficient in selecting railway routes and systems after considering time, geo-spatial characteristics and the floating population by benchmarking domestic and overseas mountain trains. The benefit-cost analysis through the use of modeling on user's willingness to pay is conducted as a means that provides access to tourism resources. this paper concludes that the benefit-cost varies in response to changes in the amount of user's willingness to pay by age. It is expected that this paper serves as a reference data in the introduction stage of the mountain train project implemented by central or local governments with tourism resources in mountainous areas as the mountain train has turned out to be economically efficient while various potential benefits that have not been included in the benefit-cost analysis need to be quantified and remain to be studied further.