• Journal of Institute of Control, Robotics and Systems
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• v.4 no.1
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• pp.76-81
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• 1998

This paper presents an on-line scheme for parameter estimation of continuous-time systems, based on the model adjustment technique and the genetic algorithm technique. To deal with the initialisation and unmeasurable signal problems in on-line parameter estimation of continuous-time systems, a discrete-time model is obtained for the linear differential equation model and approximations of unmeasurable states with the observable output and its time-delayed values are obtained for the nonlinear state space model. Noisy observations may affect these approximation processes and degrade the estimation performance. A digital prefilter is therefore incorporated to avoid direct approximations of system derivatives from possible noisy observations. The parameters of both the model and the designed filter are adjusted on-line by a genetic algorithm, A set of simulation works for linear and nonlinear systems is carried out to demonstrate the effectiveness of the proposed method.

• Journal of the Korea Computer Industry Society
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• v.8 no.2
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• pp.123-130
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• 2007

In this paper, the design requirement and the electrical circuit analysis are performed to construct the multi-channel cardiac activation pre-amplifier necessary for a signal conditioning circuit. The general 64 channel configuration is expanded into 128 channels to enhance the spatial resolution on the mapped surface of the heart. The 128 channels pre-amplifier consists of input circuit, differential amplifier, right leg driven circuit and main-amplifier with notch filter part.

• Journal of Welding and Joining
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• v.19 no.2
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• pp.208-214
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• 2001

In this study, we constructed a visual sensor system for weld seam tracking in real time in GMA welding. A sensor part consists of a CCD camera, a band-pass filter, a diode laser system with a cylindrical lens, and a vision board for inter frame process. We used a commercialized robot system which includes a GMA welding machine. To extract the weld seam we used a inter frame process in vision board from that we could remove the noise due to the spatters and fume in the image. Since the image was very reasonable by using the inter frame p개cess, we could use the simplest way to extract the weld seam from the image, such as first differential and central difference method. Also we used a moving average method to the successive position data or weld seam for reducing the data fluctuation. In experiment the developed robot system with visual sensor could be able to track a most popular weld seam. such as a fillet-joint, a V-groove, and a lap-joint of which weld seam include planar and height directional variation.

• Fibers and Polymers
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• v.3 no.2
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• pp.73-79
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• 2002

Nanoscaled PVA fibers were prepared by electrospinning. This paper described the electrospinning process, the processing conditions fiber morphology, and some potential applications of the PVA nato-fibers. PVA fibers with various diameters (50-250 nm) were obtained by changing solution concentration, voltage and tip to collector distance (TCD). The major factor was the concentration of PVA solution which affected the fiber diameter evidently. Increasing the concentration, the fiber diameter was increased, and the amount of beads was reduced even to 0%. The fibers were found be efficiently crosslinked by glyoxal during the curing process. Phosphoric acid was used as a catalyst activator to reduce strength losses during crosslinking. Scanning electron micrograph (SEM) and differential scanning calorimetric (DSC) techniques were employed to characterize the morphology and crosslinking of PVA fibers. It was fecund that the primary factor which affected the crosslinking density was the content of chemical crosslinking agent.

• Journal of Institute of Control, Robotics and Systems
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• v.16 no.7
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• pp.617-624
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• 2010

This article describes the system architecture of KUVE (KIST Unmanned Vehicle Electric) and unmanned autonomous navigation of it in KIST. KUVE, which is an electric light-duty vehicle, is equipped with two laser range finders, a vision camera, a differential GPS system, an inertial measurement unit, odometers, and control computers for autonomous navigation. KUVE estimates and tracks the boundary of road such as curb and line using a laser range finder and a vision camera. It follows predetermined trajectory if there is no detectable boundary of road using the DGPS, IMU, and odometers. KUVE has over 80% of success rate of autonomous navigation in KIST.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.14 no.1
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• pp.41-48
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• 2014

This paper analyzes the Monte Carlo localization (MCL) method, which estimates the pose of an indoor mobile robot. A mobile robot must know where it is to navigate in an indoor environment. The MCL technique is one of the most influential and popular techniques for estimation of robot position and orientation using a particle filter. For the analysis, we perform experiments in an indoor environment with a differential drive robot and ultrasonic range sensor system. The analysis uses MATLAB for implementation of the MCL and investigates the effects of the control parameters on the MCL performance. The control parameters are the uncertainty of the motion model of the mobile robot and the noise level of the measurement model of the range sensor.

• Journal of the Korean Institute of Telematics and Electronics S
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• v.35S no.4
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• pp.128-138
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• 1998

This paper describes a principle of the conducted noise separator which can separate the conducted noise to the common mode and differential mode(normal mode), and presents the transfer characteristics of the separator designed and manufactured. We separated the conducted noise generated from switched mode converter to the CM and DM conducted noise, and also analyzed the source and path of conducted noise in the converter by the conducted noise separator. Since we could easily get the characteristics of the CM and DM conducted noise by the separator, we could efficiently determine the contermeasures for the reduction of the conducted noise and establish the foundation of the systematic procedure for the design of low pass filter.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2436-2438
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• 2000

In this paper, field test results of a new efficient integer ambiguity resolution algorithm for precision Carrier Differential GPS(CDGPS) positioning are presented. The new algorithm is based on a reconfiguration Kalman filter which is designed to be used for the real-time precise positioning with low cost, single frequency, conventional C/A code GPS receivers. The tests were performed both in static and kinematic environment

• The Journal of Information Technology
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• v.10 no.4
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• pp.27-39
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• 2007

Object tracking in a real time environment is one of challenging subjects in computer vision area during past couple of years. This paper proposes a method of object detection and tracking using adaptive background estimation in real time environment. To obtain a stable and adaptive background, we combine 3-frame differential method and running average single gaussian background model. Using this background model, we can successfully detect moving objects while minimizing false moving objects caused by noise. In the tracking phase, we propose a matching criteria where the weight of position and inner brightness distribution can be controlled by the size of objects. Also, we adopt a Kalman Filter to overcome the occlusion of tracked objects. By experiments, we can successfully detect and track objects in real time environment.

• Journal of Institute of Control, Robotics and Systems
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• v.11 no.4
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• pp.378-384
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• 2005

This paper proposes a theoretically rigorous analysis procedure that compares the position domain and range domain carrier-smoothed-code filters for differential GNSS positioning. Utilizing consistent error covariance formulation, it is shown that filtering in the position domain is, in theory, more advantageous than range domain carrier-smoothed-code filtering. It is also shown that if the visible satellite set does not change during a sufficiently long time interval the performances of position and range domain filters are similar.