• Journal of Biosystems Engineering
• /
• 제15권2호
• /
• pp.79-87
• /
• 1990

An automatic guidance system based upon two position-measurement systems was designed to record where the tractor traveled and to guide the tractor along the predetermined path. An algorithm, using the kinematic behavior of tractor movement, was developed to determine the steering angle to reduce lateral position error. The algorithm was based upon constant travel speed, constant steering rate, and zero slip angles of the tractor wheels. The algorithm was evaluated through use of computer simulation and verified in field experiments. Results showed that the distance interval between position measurements was an important factor in guidance system performance. The position-measurement error of the guidance system must be less than 5 cm to be acceptably precise for field operations. An algorithm based upon a variable steering rate might improve the stability of the guidance system. More accurate measurement of tractor position and yaw angle, and faster error processing are required to improve the field performance of the guidance system.

• 디지털융복합연구
• /
• 제13권11호
• /
• pp.165-170
• /
• 2015

어휘 인식 시스템은 구성되어진 모델에서 벗어난 어휘의 입력과 유사한 어휘의 입력은 인식하지 못하거나 유사한 어휘로 인식되어 인식률 저하가 나타나며, 기존의 시스템은 벡터 값을 모델로 만들어 데이터베이스로 구성하여 어휘 인식에 사용하였다. 어휘 인식을 위한 탐색 중에 형성되는 모델은 데이터베이스로 구성되어 있지 않아 인식할 수 없는 단점이 존재한다. 따라서 본 논문에서는 특징 벡터 모델을 기반으로 바타챠랴 거리 측정법을 이용한 베이시안 인식 모델을 구성하여 탐색 중에 형성되는 벡터 모델을 인식할 수 있도록 유도하였으며, 위너 필터를 적용하여 인식률을 향상시켰다. 2 방법을 융합하여 실험한 결과 향상된 신뢰도로 인해 높은 인식 성능을 확인하였으며, 본 논문에서 제안한 측정법을 이용하여 기존의 방법들에 비하여 평균 98.2%의 성능을 나타내었다.

• 한국컴퓨터산업학회논문지
• /
• 제3권9호
• /
• pp.1145-1156
• /
• 2002

스테레오 비전 시스템을 이용하여 이동 물체의 거리와 속도를 측정하기 위한 방법을 제안하였다. 이동 물체의 거리와 속도 측정에 있어서 가장 중요한 요소 중 하나는 물체 추적의 정확성이다. 따라서 빠르게 움직이는 물체 추적을 위해 배경 영상 기법을 이용하였고, 물체의 그림자와 잡음을 제거하기 위해 지역 Opening 연산을 이용하였다. 적응형 임계치를 적용하여 자기 변화에 상관없이 이동 물체의 추출 효율을 높이도록 하였다. 좌, 우 중심점 위치를 보정하여 더 정확한 물체의 속도와 거리를 측정할 수 있도록 하였다. 배경 영상 기법과 지역 Opening 연산을 사용하여 계산 과정을 줄임으로써 이동 물체의 거리와 속도의 실시간 처리가 가능하도록 하였다. 실험 결과, 배경 영상 기법은 다른 알고리즘과는 달리 빠르게 움직이는 물체를 추적할 수 있음을 보여준다. 적응형 임계치를 적용하여 후보 영역을 줄임으로써 목표물 추출 효율이 개선되었다. 양안 시차를 이용하여 목표물의 중심점을 보정함으로써 거리와 속도 측정 오차가 감소하였다. 스테레오 카메라에서부터 이동 물체까지의 거리 측정 오차율은 2.68%, 이동 물체의 속도 측정 오차율은 3.32%로 본 시스템의 향상된 효율성을 나타냈다.

• 제어로봇시스템학회논문지
• /
• 제17권2호
• /
• pp.149-156
• /
• 2011

This paper reveals a distance estimation algorithm based on multi-code ultrasonic and wireless sensor network. For measuring the distances among the sensor nodes, each ultrasonic transmitter transmits multi-code ultrasonic signal simultaneously. Receivers use cross correlation method to separate the coded signals. The information of measured distances is broadcasted to each sensor node by wireless sensor network. The wireless sensor network measures the distance among the sensor nodes using the received signal strength of the broadcasting. The multi-code ultrasonic have a limitation of measurable distance. And the received signal strength is affected from an environment. This paper measures a distance using ultrasonic and a received signal strength in short range. These measured data are applied to the least square estimation algorithm. By the expansion of the fitting curve, a distance measurement in long range using the received signal strength is compensated. The coupled system reduce the error to an acceptable level.

• Journal of Electrical Engineering and Technology
• /
• 제12권2호
• /
• pp.533-540
• /
• 2017

Distance relay identifies the type and location of fault by measuring the transmission line impedance. However any other factors that cause miss calculating the measured impedance, makes the relay detect the fault in incorrect location or do not detect the fault at all. One of the important factors which directly changes the measured impedance by the relay is series capacitive compensation (SCC). Another factor that changes the calculated impedance by distance relay is fault resistance. This paper provides a method based on the combination of distance and differential protection. At first, faulty transmission line is detected according to the current data of buses. After that the fault location is calculated using the proposed algorithm on the transmission line. This algorithm is based on active power calculation of the buses. Fault resistance is calculated from the active powers and its effect will be deducted from calculated impedance by the algorithm. This method measures the voltage across SCC by phasor measurement units (PMUs) and transmits them to the relay location via communication channels. The transmitted signals are utilized to modify the voltage signal which is measured by the relay. Different operating modes of SCC and as well as different faults such as phase-to-phase and phase-to-ground faults are examined by simulations.

• 한국정보전자통신기술학회논문지
• /
• 제6권3호
• /
• pp.174-182
• /
• 2013

The power wheelchair is an important and convenient mobility device. The demand of power wheelchair is increasing for assistance in mobility. In this paper we proposed a robotic wheelchair for mobility aid to reduce the burden from the disabled. The main issue in an autonomous wheelchair is the automatic detection and avoidance of obstacles and going to the pre-designated place. The proposed algorithm detects the obstacles and avoids them to drive the wheelchair to the desired place safely with panning scan from sensors of distance measurement and fuzzy control. By this way, the disabled will not always have to worry about paying deep attention to the surroundings and his path.

• 대한의용생체공학회:학술대회논문집
• /
• 대한의용생체공학회 1989년도 춘계학술대회
• /
• pp.13-14
• /
• 1989

Prolongation in QT corrected interval (QTc), measured in surface ECG, has been shown in the majority af patients to be marker of bad prognosis in postmyocardial infarction patients (PMIP). Hence it would seem logical that dynamic QTc interval measurement can be a very usefull indicator to stratify prognosis in PMIP. We present a new algorithm for QT as well as for QTP (distance value from Q wave onset to T wave peak) intervals measurement in 24 hour ECG Holter tapes. Validation of the algorithm by hand measurement has been done on first beats of 18 Holter tapes, resulting in a magnitude of deviations between 10 and 15 ms. Application on 24 hour Holter ECG signal has also been done.

• 전기학회논문지
• /
• 제57권12호
• /
• pp.2139-2146
• /
• 2008

This paper presents a numerical algorithm for fault location estimation which used to data from both end of the transmission line. The proposed algorithm is also based on the synchronized voltage and current phasor measured from the PMUs(Phasor Measurement Units) in the time-domain. This paper has separated from two part of with/without shunt capacitance(short/long distance). Most fault was arc one-ground fault which is 75% over [1]. so most study focused with it. In this paper, the numerical algorithm has calculated to distance for ground fault and line-line fault. In this paper, the algorithm is given with/without shunt capacitance using II parameter line model, simple impedance model and estimated using DFT(Discrete Fourier Transform) and the LES(Least Error Squares Method). To verify the validity of the proposed algorithm, the EMTP(Electro- Magnetic Transient Program) and MATLAB did used.

• Journal of information and communication convergence engineering
• /
• 제16권3호
• /
• pp.142-147
• /
• 2018

We present a practical design algorithm for quantizers at nodes in distributed systems in which each local measurement is quantized without communication between nodes and transmitted to a fusion node that conducts estimation of the parameter of interest. The benefits of vector quantization (VQ) motivate us to incorporate the VQ strategy into our design and we propose a low-complexity design technique that seeks to assign vector codewords into sets such that each codeword in the sets should be closest to its associated local codeword. In doing so, we introduce new distance metrics to measure the distance between vector codewords and local ones and construct the sets of vector codewords at each node to minimize the average distance, resulting in an efficient and independent encoding of the vector codewords. Through extensive experiments, we show that the proposed algorithm can maintain comparable performance with a substantially reduced design complexity.

• 대한임베디드공학회논문지
• /
• 제6권5호
• /
• pp.327-333
• /
• 2011

Intelligent robots are widely needed in various areas of industry from extremely dangerous environments to service tasks. For autonomous mobile robots, it is significant to move itself safely to a destination point, recognizing its surroundings. Advances in sensor technology and its applications are achieved in order to develop an intelligent robot. In this paper, a mobile robot with a path-finding algorithm is presented. The path-finding algorithm is the one that does not only find a path to designated destination and also recognizes obstacles on the way, calculating its distance. 10 ultrasonic sensor are mounted on the front and rear of the mobile robot to figure out its position. Specular reflection and wide viewing angle, which are inherent characteristics of ultrasonic waves, cause errors in measuring distance.