• Journal of Institute of Control, Robotics and Systems
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• v.13 no.7
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• pp.637-648
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• 2007

This paper presents a sensor fusion method based on indirect Kalman filter(IKF) for error compensation of low-cost inertial sensors and its application to the determination of attitude and position of small flying robots. First, the analysis of the measurement error characteristics to zero input is performed, focusing on the bias due to the temperature variation, to derive a simple nonlinear bias model of low-cost inertial sensors. Moreover, from the experimental results that the coefficients of this bias model possess non-deterministic (stochastic) uncertainties, the bias of low-cost inertial sensors is characterized as consisting of both deterministic and stochastic bias terms. Then, IKF is derived to improve long term stability dominated by the stochastic bias error, fusing low-cost inertial sensor measurements compensated by the deterministic bias model with non-inertial sensor measurement. In addition, in case of using intermittent non-inertial sensor measurements due to the unreliable data link, the upper and lower bounds of the state estimation error covariance matrix of discrete-time IKF are analyzed by solving stochastic algebraic Riccati equation and it is shown that they are dependant on the throughput of the data link and sampling period. To evaluate the performance of proposed method, experimental results of IKF for the attitude determination of a small flying robot are presented in comparison with that of extended Kaman filter which compensates only deterministic bias error model.

• Journal of Korea Technical Association of The Pulp and Paper Industry
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• v.46 no.2
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• pp.46-56
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• 2014

The aim of this reviews is to introduce the information concerning design of the UV-curable jet ink composition in order to provide a good adhesive property on non-porous surface. In order to clarify the viscosity dependence of flying speed for the UV curable jet ink, rheological analysis and observation of the flying state of the ink were carried out. The relationship between ink formulas and adhesive property on non-porous surface was investigated. It was examined the adhesive property of radical polymerization type UV curable jet ink included hydrogen abstraction type photo-initiator, it was expected that the strong adhesive strength can be obtained between the ink and non-porous surface in this study. UV curable jet ink with a slight amount of water was prepared. Optimum ratio of the cationic polymerization type UV curable jet ink shows an adequate adhesive strength towards two kinds of non-porous surface such as glass, poly(vinyl chloride) when tests were conducted on the ink jet-printing test machine.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.14 no.6
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• pp.2670-2685
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• 2020

Flying ad-hoc networks (FANETs) is a vibrant research area nowadays. This type of network ranges from various military and civilian applications. FANET is formed by micro and macro UAVs. Among many other problems, there are two main issues in FANET. Limited energy and high mobility of FANET nodes effect the flight time and routing directly. Clustering is a remedy to handle these types of problems. In this paper, an efficient clustering technique is proposed to handle routing and energy problems. Transmission range of FANET nodes is dynamically tuned accordingly as per their operational requirement. By optimizing the transmission range packet loss ratio (PLR) is minimized and link quality is improved which leads towards reduced energy consumption. To elect optimal cluster heads (CHs) based on their fitness we use k-means. Selection of optimal CHs reduce the routing overhead and improves energy consumption. Our proposed scheme outclasses the existing state-of-the-art techniques, ACO based CACONET and PSO based CLPSO, in terms of energy consumption and cluster building time.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.36 no.6
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• pp.565-573
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• 2008

The behavior-based decentralized approach is considered for multi-UAV formation flight. It is assumed that each UAV has its own mission of flying to a specified region, while the distances between UAVs should be maintained. These two requirements may conflict with each other. To design the controller, coupled dynamics approach is applied to multi-UAVs with an assumption that each UAV can communicate with each other to share the state-information. Control gain matrices are optimized to acquire better performances of formation flying. To validate the proposed control approach, numerical simulation is performed for the waypoint-passing mission of multi-UAVs.

• Journal of the Korea Computer Industry Society
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• v.9 no.1
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• pp.29-38
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• 2008

This treatise analyzed theoretical principle of Cellular Automata systematically. Specially, Cellular Automata is hinting that can handle function of various form using transition rule. Cellular Automata can embody various and complicated principle with simple identifying marks that is "State", "Neighborhood", "Program Rules". Specially, have eminent cognitive faculty in image processing field. Examined closely that the ability excels flying important Edge Detection in image processing using this Cellular Automata in treatise that see therefore.

• Proceedings of the IEEK Conference
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• 2004.06a
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• pp.143-146
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• 2004

Signals of the short wave part of centimetre, millimetre and optic wave length ranges are being broadly used in the communication, location and remote sensing systems with space channels. In this case the presence of discrete non-uniform mediums like orbital debris, space dust and other discrete formations in the propagation channel may have substantial influence upon the characteristics of wave processes. and thus upon the data system quality. Mathematical models for studying the discrete non-uniform mediums effect on the characteristics of electromagnetic wave propagation are analyzed in this paper.

• Journal of Astronomy and Space Sciences
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• v.26 no.1
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• pp.99-110
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• 2009

The main purpose of the current research is to developments a real-time Hardware In-the-Loop (HIL) simulation testbed for the satellite formation flying navigation and orbit control. The HIL simulation testbed is integrated for demonstrations and evaluations of navigation and orbit control algorithms. The HIL simulation testbed is composed of Environment computer, GPS simulator, Flight computer and Visualization computer system. GPS measurements are generated by a SPIRENT GSS6560 multi-channel RF simulator to produce pseudorange, carrier phase measurements. The measurement date are transferred to Satrec Intiative space borne GPS receiver and exchanged by the flight computer system and subsequently processed in a navigation filter to generate relative or absolute state estimates. These results are fed into control algorithm to generate orbit controls required to maintain the formation. These maneuvers are informed to environment computer system to build a close simulation loop. In this paper, the overall design of the HIL simulation testbed for the satellite formation flying navigation and control is presented. Each component of the testbed is then described. Finally, a LEO formation navigation and control simulation is demonstrated by using virtual scenario.

• Journal of Korea Game Society
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• v.10 no.3
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• pp.93-102
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• 2010

This paper is to design and implement the system to simulate spontaneously the group behaviors for the various states of doves. To do this, the group behaviors of doves were divided into the four action models such as 'Flying', 'Landing', 'Eating' and 'Taking off'. The steering forces composing of each action model were found and each action model was designed by using the finite state machine. The designed system was implemented by integrating the Ogre engine. From the simulations of the implemented system, the values of the parameters for the steering forces were found so that it can represent the spontaneous group behaviors of doves.

• Journal of Biomedical Engineering Research
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• v.23 no.1
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• pp.73-79
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• 2002

The goals of this study are twofold: To investigate non-phobics'and Phobics'Physiological response in virtual environments. and to analyze the trend of phobics' Physiology during virtual reality treatment. As a measure of Physiology. heart rate, skin resistance. and skin temperature were acquired. The data of two group subjects were analyzed: twenty-two non-Phobic subjects (M=32.94 years). thirty-six subjects with fear of flying (M=40.12 yearn) who met the DSM-lV criteria for a fear of flying. As a result. skin resistance showed significant differences between non-Photics and phobics. T(56) =2.978, P〈0.01 And the physiological responses of 33 subjects among the Phobics. who succeed to fly without medicine after virtual reality treatment, showed a gradual trend toward the non-Phobics Physiological responses as therapy sessions went on. In this study. Physiological monitoring. skin resistance appeared to be useful both in understanding the Physiological state of Phobic individuals and in evaluating the results of treatment in virtual reality Psychotherapy.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.2
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• pp.158-163
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• 2013

The fusion of the GPS (Global Positioning System) and DR (Dead Reckoning) is widely used for position and latitude estimation of vehicles such as a mobile robot, aerial vehicle and marine vehicle. Among the many types of aerial vehicles, grater focus is given on the quad-rotor and accuracy of the position information is becoming more important. In order to exactly estimate the position information, we propose the fusion method of GPS and Gyroscope sensor using the DEKF (Dual Extended Kalman Filter). The DEKF has an advantage of simultaneously estimating state value and a parameter of dynamical system. It can also be used even if state value is not available. In order to analyze the performance of DEKF, the computer simulation for estimating the position, the velocity and the angle in a circle trajectory of quad-rotor was done. As it can be seen from the simulation results using own proposed DEKF instead of EKF on own fusion method in the navigation of a quad-rotor gave better performance values.