• 한국정보통신학회논문지
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• 제25권10호
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• pp.1416-1426
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• 2021

Scanning 타입 다채널 LiDAR 센서의 경우 수신되는 신호의 세기의 차이에 의한 walk error라는 거리 오차가 발생할 수 있다. 이러한 오차는 다수의 LiDAR 센서를 기반으로 주변 환경을 스캐닝할 경우 같은 물체에 대해 서로 다른 거리 값을 출력하게 한다. 다수의 LiDAR 센서를 이용하여 전방향 스캐닝할 경우, 센서의 시야각이 겹치는 구간에서 발생하는 walk error를 최소화하기 위해 외부 시스템 상에서 센서의 각 채널에 대한 convolution을 수행하고 오차를 최소화하고자 한다. 약 6×6 m 환경의 중앙에 4개의 LiDAR 센서들을 배치하고 주변 환경을 스캐닝 하였으며, 필터링을 적용한 결과, 거리 오차를 평균 0.5125m에서 0.16m까지 약 68% 개선할 수 있었으며, 표준 편차는 평균 0.0591에서 0.030675까지 약 48% 개선할 수 있었다.

• 한국정밀공학회지
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• 제17권5호
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• pp.137-144
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• 2000

In this paper, a longitudinal control of the lead vehicle for a platoon in IVHS Regulation Layer is proposed. The backstepping method has been used for the controller design. This method has an advantage in that its stability need not be proven since the controller is designed based on the Lyapunov Function. The control object is that the lead vehicle tracks a reference velocity and maintains a safe distance between the inter-platoons while the followers are keeping the speed of the lead vehicle of a platoon. The coordinate of system is transformed to a new coordinate system for its convenience to design controller. The new coordinate system is composed of error and new error variable. The error is the difference between the safe distance and the actual distance of inter-platoons. A new error variable is the difference between the velocity of vehicle and the estimated state of a system operated by the virtual input. The Lyapunov function is obtained based on the variables of new coordinate system. In the computer simulation, several cases have been studied such as when the lead vehicle is tracking the optimal speed. or a lead vehicle of the following platoon tracks the velocity of the previous platoon while maintaining a safe distance. Also a nonlinear engine time constant case has been investigated. All the simulation results show that the designed controller satisfies the control object sufficiently.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.130.4-130
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• 2001

In this paper, a measurement system of moving distance is developed. The error compensation method is also proposed using the characteristics of walking motion. As personal navigation systems and multimedia systems are emerging into the commericial market, men´s moving distance is considered as one of the important information. GPS offers the information easily but GPS can be used only when the satellites are visible. INS can calculate the moving distance anywhere but error is increased with time due to the sensor bias. In this paper, to detect the human walking distance a measurement system of moving distance only using low-cost accelerometer is developed. The sensor bias is estimated and compensated using the walking motion characteristics. The performanced of the proposed system is verified by experiment.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부A
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• pp.208-210
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• 1998

A high speed digital distance relaying algorithm based on a modified least square error method is proposed. To obtain stable phasor values very Quickly, first, a lowpass filter which has very short transient period and no overshoot is used. Secondly, the conventional least square error method is modified to the one having the data window of 3 samples by applying a FIR filter which removes the DC-offset component in current relaying signals.

• 대한기계학회논문집A
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• 제29권9호
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• pp.1217-1224
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• 2005

To improve the accuracy of a metamodel, additional sample points can be selected by using a specified criterion, which is often called sequential sampling approach. Sequential sampling approach requires small computational cost compared to one-stage optimal sampling. It is also capable of monitoring the process of metamodeling by means of identifying an important design region for approximation and further refining the fidelity in the region. However, the existing critertia such as mean squared error, entropy and maximin distance essentially depend on the distance between previous selected sample points. Therefore, although sufficient sample points are selected, these sequential sampling strategies cannot guarantee the accuracy of metamodel in the nearby optimum points. This is because criteria of the existing sequential sampling approaches are inefficient to approximate extremum and inflection points of original model. In this research, new sequential sampling approach using the sensitivity of metamodel is proposed to reflect the response. Various functions that can represent a variety of features of engineering problems are used to validate the sensitivity approach. In addition to both root mean squared error and maximum error, the error of metamodel at optimum points is tested to access the superiority of the proposed approach. That is, optimum solutions to minimization of metamodel obtained from the proposed approach are compared with those of true functions. For comparison, both mean squared error approach and maximin distance approach are also examined.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.554-557
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• 1993

The error analysis for the Time-in-Flight Laser Range Finder with Multiple Tone Amplitude Modulation relevant to the phase detection error is made. The distance can be estimated to solve the formulate which express the relationship between the absolute distance from the range finder to the object and the wavenumbers and the phases of the modulated waves by the optimization technique. The main cause of the estimation error can be considered as the phase detection error induced from the amplitude modulator and the phase detector. To clarify the phase detection error and the optimal amplitude frequency set, the numerical analysis are made.

• 한국콘크리트학회:학술대회논문집
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• 한국콘크리트학회 2003년도 봄 학술발표회 논문집
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• pp.175-180
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• 2003

Ultrasonic pulse velocity method is applied many times for measuring surface crack depth of concrete in case of diagnosis of concrete structures. By the way, this method has an error accompanying measured surface crack depth of concrete because there are many uncertainty factors. So, it is necessary to study for an error of this method affected by these uncertainty factors. Two error factors(uncertainty factors) are tested and analyzed in this study. One is for an error according to measuring the propagation time of ultrasonic wave and the arrangement distance of transducers. Another is for an error according to positioning the transducer as a distance to surface crack from the transducer.

• International journal of advanced smart convergence
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• 제12권4호
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• pp.171-176
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• 2023

This study is about a speech recognition error correction system designed to detect and correct speech recognition errors before natural language processing to increase the success rate of intent analysis in natural language processing with optimal efficiency in various service domains. An encoder is constructed to embedded the correct speech token and one or more error speech tokens corresponding to the correct speech token so that they are all located in a dense vector space for each correct token with similar vector values. One or more utterance tokens within a preset Manhattan distance based on the correct utterance token in the dense vector space for each embedded correct utterance token are detected through an error detector, and the correct answer closest to the detected error utterance token is based on the Manhattan distance. Errors are corrected by extracting the utterance token as the correct answer.

• 한국컴퓨터정보학회논문지
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• 제15권6호
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• pp.73-80
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• 2010

어휘 인식 시스템은 부정확한 어휘 제공과 유사한 음소 인식으로 인식률이 저하되며 이는 유사한 음소인식 오인식과 효율적 특징 추출 처리를 위한 방법을 필요로 한다. 따라서 본 논문에서는 음소가 갖는 특징을 기반으로 바타챠랴 거리 측정법을 이용한 음소 유사율 오류 보정 개선 시스템을 제안하였다. 음소 유사율은 모노폰으로 훈련시킨 훈련 데이터의 음소에 HMM 특징 추출 방법을 이용하였으며 유사한 음소는 바타챠랴 거리 측정법을 이용하여 정확한 음소로 인식할 수 있도록 유도하여 인식률 향상 효과를 얻을 수 있었다. 이를 유클리디안 거리 측정법과 동적타임 워핑 시스템에 비교한 시스템 성능 평가 결과 1.2%의 향상된 97.91% 인식률을 보였다.

• Journal of Advanced Marine Engineering and Technology
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• 제37권2호
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• pp.213-219
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• 2013

최근 정보 통신 기술의 발전에 따라 GPS를 이용한 실외 위치 기반 서비스와 더불어 정밀한 위치추적이 필요한 실내 위치 기반 서비스에 대한 연구가 활발히 진행되고 있다. 하지만 철골 구조로 이루어진 선박은 전파의 회절 및 굴절에 의한 레인징 오차로 인하여 정확한 위치 측정이 어렵다. 이러한 실내 환경에서 발생하는 위치측정 오차를 줄이기 위하여 본 논문에서는 다중경로에 강인하고 자유공간에서 수 센티미터의 오차를 가지는 UWB(Ultra-wide-band)를 이용하여 어떠한 부가적인 센서 없이도 선내 복도와 같은 좁은 통로에 적합한 거리 개선 알고리즘을 제안한다. 이 개선 방법은 고정노드 배치로 인한 거리 오차는 피타고라스 이론과 근접노드기법으로 해결하고 복도의 코너 구역에서 크게 발생하는 레인징 오차는 거리변화량분석기법을 적용하여 보정하였다. 실험결과 제안한 방법이 기존의 CSS(Chirp spread spectrum) 방법과 비교할 때 노드 수와 거리오차를 각각 66%와 57.41%로 줄였다.