• Journal of Positioning, Navigation, and Timing
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• 제4권1호
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• pp.33-41
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• 2015

Compact Network Real-Time Kinematic (RTK) is a method that combines compact RTK and network RTK, and it can effectively reduce the time and spatial de-correlation errors. A network RTK user receives multiple correction information generated from reference stations that constitute a network, calculates correction information that is appropriate for one's own position through a proper combination method, and uses the information for the estimation of the position. This combination method is classified depending on the method for modeling the GPS error elements included in correction information, and the user position accuracy is affected by the accuracy of this modeling. Among the GPS error elements included in correction information, tropospheric delay is generally eliminated using a tropospheric model, and a combination method is then applied. In the case of a tropospheric model, the estimation accuracy varies depending on the meteorological condition, and thus eliminating the tropospheric delay of correction information using a tropospheric model is limited to a certain extent. In this study, correction information modeling accuracy performances were compared focusing on the Low-Order Surface Model (LSM), which models the GPS error elements included in correction information using a low-order surface, and a modified LSM method that considers tropospheric delay characteristics depending on altitude. Both of the two methods model GPS error elements in relation to altitude, but the second method reflects the characteristics of actual tropospheric delay depending on altitude. In this study, the final residual errors of user measurements were compared and analyzed using the correction information generated by the various methods mentioned above. For the performance comparison and analysis, various GPS actual measurement data were collected. The results indicated that the modified LSM method that considers actual tropospheric characteristics showed improved performance in terms of user measurement residual error and position domain residual error.

• 제어로봇시스템학회논문지
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• 제13권7호
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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.

• 응용통계연구
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• 제35권4호
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• pp.485-499
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• 2022

표본오차와 비표본오차를 포함하는 총오차(total survey error)를 관리하는 것은 표본설계에서 매우 중요하다. 무응답으로 인해 발생한 비표본오차는 총오차에서 차지하는 비중이 매우 크며 이를 해결하는 방법인 무응답 대체에 관한 다수의 연구가 수행되었다. 최근 전통적 통계학 관련 기법에 추가하여 기계학습 관련 기법을 이용한 무응답 대체법이 다수 연구되고 실질적으로 사용되고 있다. 기존에 발표된 다수의 방법은 MCAR(missing completely at random) 또는 MAR(missing at random) 가정을 사용하고 있다. 그러나 관심변수에 영향을 받는 MNAR(missing not at random) 또는 무시할 수 없는 무응답(non-ignorable non-response; NN)은 편향을 발생시켜 대체 결과의 정확성을 크게 떨어뜨리지만 이에 관한 연구는 상대적으로 미미하다. 본 연구에서는 무시할 수 없는 무응답이 발생한 경우에 적용 가능한 무응답 대체법을 제안하였다. 특히 편향을 추정한 후 이를 제거하는 방법을 이용하여 무응답 대체 결과의 정확성을 향상하는 방법을 제안하였다. 또한, 모의실험을 이용하여 제안된 방법의 타당성을 확인하였다.

• 자동차안전학회지
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• 제14권2호
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• pp.57-69
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• 2022

Recently, as interest in self-driving cars has increased worldwide, research and development on the Advanced Driver Assist System is actively underway. Among them, the purpose of Adaptive Cruise Control (ACC) is to minimize the driver's driving fatigue through the control of the vehicle's longitudinal speed and relative distance. In this study, for the research of the ACC test in the real environment, the real-road test was conducted based on domestic-road test scenario proposed in preceding study, considering ISO 15622 test method. In this case, the distance measurement method using the dual camera was verified by comparing and analyzing the result of using the dual camera and the result of using the measurement equipment. As a result of the comparison, two results could be derived. First, the relative distance after stabilizing the ACC was compared. As a result of the comparison, it was found that the minimum error rate was 0.251% in the first test of scenario 8 and the maximum error rate was 4.202% in the third test of scenario 9. Second, the result of the same time was compared. As a result of the comparison, it was found that the minimum error rate was 0.000% in the second test of scenario 10 and the maximum error rate was 9.945% in the second test of scenario 1. However, the average error rate for all scenarios was within 3%. It was determined that the representative cause of the maximum error occurred in the dual camera installed in the test vehicle. There were problems such as shaking caused by road surface vibration and air resistance during driving, changes in ambient brightness, and the process of focusing the video. Accordingly, it was determined that the result of calculating the distance to the preceding vehicle in the image where the problem occurred was incorrect. In the development stage of ADAS such as ACC, it is judged that only dual cameras can reduce the cost burden according to the above derivation of test results.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1997년도 한국자동제어학술회의논문집; 한국전력공사 서울연수원; 17-18 Oct. 1997
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• pp.253-256
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• 1997

This paper proposes a control strategy of position and force control in the same direction based on hybrid position/force control. In order to control position and force in the same direction, a weighting matrix is introduced instead of a selection matrix suggested by Raibert and Craig. The major part of the controller output comes from the position controller when a position control error is large, from the force controller when a position control error is large. The proposed algorithm is implemented by the simulation and experiment focusing on the peg-in-hole task where friction exist significantly and is not constant. It also adopts and event control scheme for more efficient performance.

• 한국유체기계학회 논문집
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• 제3권4호
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• pp.15-21
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• 2000

An anemometer employing the bulk PTC thermistor as the sensing element is investigated in this study. The numerical and experimental works are carried out to improve the sensitivity problem of the element by focusing fluid dynamics point of view. The typical shape of the sensing element has been used as a rectangular type, but this shape has a sensitivity problem because of flow separations on the sharp edge when the flow direction is different from that of the sensing element. In order to reduce the reading error, the installer has to be very careful about the flow direction. The reading error fluctuation by time as well as the sensitivity problem can be improved considerably through this study. It can be concluded that the small change of the sensor shape can improve the performance of the flow sensor.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1989년도 한국자동제어학술회의논문집; Seoul, Korea; 27-28 Oct. 1989
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• pp.972-978
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• 1989

Proposed is improved compact self-mixing type semiconductor-laser range finder, which measures mode-hop time interval (MHI). Measurement error caused by the fluctuation of MHI is greatly reduced by averaging many contiguous MHI's. The main cause of measurement error 1.5% at ranges from 0.1m to 0.8m is attributed to the optical phase change of a returned light from a focusing lens. Accuracy improvement by stabilization of the returned light is suggested.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 1996년도 추계학술대회 논문집
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• pp.490-495
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• 1996

Though the increment of using computer vision system in modern industry, there are lots of difficulties to measure precisely because of measurement error distortion phenomenon. Among these reasons, the distortion of edge is dominant reason which is occurred by the blurred image. The blurred image is happened when camera can not discriminate its precise focus. To calibrate and generalize distortion phenomenon is important. Thus, we must fix the discrimination criteria which is collected by image recognition of precise focus. Also, radial distortion causes an inward or outward displacement of a given image point from its ideal location. This type of distortion is mainly caused by flawed radial curvature curve of the elements. Thus, we were analyzed the distortion in terms of the changed with lens magnification.

• East Asian mathematical journal
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• 제27권2호
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• pp.163-180
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• 2011

The purpose of this study is to look for the plan of reconstructing a textbook through error analysis and the process of its correction in numbers and operations of the first grade. The Research materials are collected and analyzed through the journal about every lessons, the recording sheets of students' activity, the recording videotapes during lessons, the individual interview and observation. This study investigated 4 errors which are useful for reconstructing textbook, the errors of understanding relation between numerical expression and number line, the errors of drawing-strategy, the errors of understanding relation between additive expression and subtractive expression, the errors of subtraction has to be regrouped. The errors are classified into some types and analyzed focusing on content of each error. Reinstructing are carried out based on material analyzed for correcting errors.

• Current Optics and Photonics
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• 제5권4호
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• pp.402-408
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• 2021

An off-axis system refers to an optical system in which the optical axis and normal vector at the vertex of each surface do not match. The most important specification in an optical system is its focal length. Among the various methods for measuring the focal length, the most suitable method for the off-axis system is the method that adopts magnification. However, head-mounted display (HMD) optics must be measured while considering the virtual image distance, which is not infinity owing to product characteristics. For the virtual image distance, a camera with a focusing function was used. By measuring HMD optics via this magnification method, the error generated in this measurement was 0.68% of the HMD's focal length, which is within the 1%-3% range of the conventionally permitted design error for the focal length allowed at the optical design stage. Therefore, it can be verified that the measurement accuracy of the method proposed in this study is sufficiently feasible in practice.