• Journal of Navigation and Port Research
• /
• v.37 no.5
• /
• pp.447-452
• /
• 2013

Vessel traffic system uses multiple sea surveillance radars as a primary sensor to obtain maritime traffic information like as ship's position, speed, course. The systematic errors such as the range bias and the azimuth bias of the two-dimensional radar system can significantly degrade the accuracy of the radar image and target tracking information. Therefore, the systematic errors of the radar system should be corrected precisely in order to provide the accurate target information in the vessel traffic system. In this paper, it is proposed that the method compensates the range bias and the azimuth bias using AtoN information installed at VTS coverage. The radar measurement residual error model is derived from the standard error model of two-dimensional radar measurements and the position information of AtoN, and then the linear Kalman filter is designed for estimation of the systematic errors of the radar system. The proposed method is validated via Monte-Carlo runs. Also, the convergence characteristics of the designed filter and the accuracy of the systematic error estimates according to the number of AtoN information are analyzed.

• Nuclear Engineering and Technology
• /
• v.17 no.4
• /
• pp.247-255
• /
• 1985

This paper describes a new method for the design of variable structure model-following control systems(VSMFC). This design concept is developed using the theory of variable structure systems (VSS) and slide mode. The new results are presented on the sliding control methodology to achieve accurate tracking for a class of nonlinear, multi-input multi-output(MIMO), time varying systems in the presence of parameter variations. The design requires little computational effort. The dynamic response is insensitive to parameter variations. The feasibility and the advantages of the method are illustrated by applying it to a 1000 MWe boiling water reactor(BWR). The control is studied in the range of 85%∼90% of rated power for load-following control. A set of 12 nonlinear differential equations is used to simulate the total plant. A 6-th order linear model has been developed from these equations at 85% of rated power. The obtained controller is shown by simulations to be able to compensate for a plant parameter variation over a wide power range.

• Journal of Korea Multimedia Society
• /
• v.12 no.8
• /
• pp.1089-1098
• /
• 2009

Recently, many researches of making more comfortable input device based on gaze detection technology have been performed in human computer interface. Previous researches were performed on the computer environment with a large sized monitor. With recent increase of using mobile device, the necessities of interfacing by gaze detection on mobile environment were also increased. In this paper, we research about the gaze detection method by using UMPC (Ultra-Mobile PC) and an embedded camera of UMPC based on face and facial feature detection by AAM (Active Appearance Model). This paper has following three originalities. First, different from previous research, we propose a method for tracking user's gaze position in mobile device which has a small sized screen. Second, in order to detect facial feature points, we use AAM. Third, gaze detection accuracy is not degraded according to Z distance based on the normalization of input features by using the features which are obtained in an initial user calibration stage. Experimental results showed that gaze detection error was 1.77 degrees and it was reduced by mouse dragging based on the additional facial movement.

• Journal of the Korea Computer Graphics Society
• /
• v.27 no.5
• /
• pp.1-11
• /
• 2021

The purpose of our research is to efficiently deform a 3D models which is composed of a triangular mesh and a skeleton. We designed a novel inverse kinematics (IK) solver that calculates the updated positions of mesh vertices with fewer computing operations. Through our user interface, one or more markers are selected on the surface of the model and their target positions are set, then the system updates the positions of surface vertices to construct a deformed model. The IK solving process for updating vertex positions includes many computations for obtaining transformations of the markers, their affecting joints, and their parent joints. Many of these computations are often redundant. We precompute those redundant terms in advance so that the 3-nested loop computation structure was improved to a 2-nested loop structure, and thus the computation time for a deformation is greatly reduced. This novel IK solver can be adopted for efficient performance in various research fields, such as handling 3D models implemented by LBS method, or object tracking without any markers.

• The Journal of the Acoustical Society of Korea
• /
• v.29 no.7
• /
• pp.458-467
• /
• 2010

In this paper, a new audio reproduction system was developed in which the cross-talk signals would be reasonably cancelled at an arbitrary listener position. To adaptively remove the cross-talk signals according to the listener's position, a method of tracking the listener position was employed. This was achieved using the two microphones, where the listener direction was estimated using the time-delay between the two signals from the two microphones, respectively. Moreover, room reverberation effects were taken into consideration where linear prediction analysis was involved. To remove the cross-talk signals at the left-and right-ears, the paths between the sources and the ears were represented using the KEMAR head-related transfer functions (HRTFs) which were measured from the artificial dummy head. To evaluate the usefulness of the proposed listener tracking system, the performance of cross-talk cancellation was evaluated at the estimated listener positions. The performance was evaluated in terms of the channel separation ration (CSR), a -10 dB of CSR was experimentally achieved although the listener positions were more or less deviated. A real-time system was implemented using a floating-point digital signal processor (DSP). It was confirmed that the average errors of the listener direction was 5 degree and the subjects indicated that 80 % of the stimuli was perceived as the correct directions.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.29 no.12B
• /
• pp.1022-1036
• /
• 2004

In mobile cellular network the ever-changing location of a mobile host necessitates the continuous tracking of its current position and efficient management of location information. A database called Home Location Register(HLR) plays a major role in location management in this distributed environment, providing table management, index management, and backup management facilities. The objectives of this paper are to identify the p개blems of the current HLR system through rigorous analysis, to suggest solutions to them, and to propose a new architecture for the HLR system. In the HLR system, a main memory database system is used to provide real-time accesses and updates of subscriber's information. Thus it is suggested that the improvement bemade to support better real-time facilities, to manage subscriber's information more reliably, and to accommodate more subscribers. In this paper, I propose an efficient backup method that takes into account the characteristics of HLR database transactions. The retrieval speed and the memory usage of the two-level index method are better than those of the T-tree index method. Insertion md deletion overhead of the chained bucket hashing method is less than that of modified linear hashing method. In the proposed backup method, I use two kinds of dirty flags in order to solve the performance degradation problem caused by frequent registration-location operations. Performance analysis has been performed to evaluate the proposed techniques based on a system with subscribers. The results show that, in comparison with the current techniques, the memory requirement is reduced by more than 62%,directory operations, and backup operation by more than 80%.

• Transactions of the Korean Society of Mechanical Engineers A
• /
• v.24 no.4 s.175
• /
• pp.1007-1015
• /
• 2000

This paper proposes an adaptive trajectory generation strategy of using on-line ZMP information and an impedance control method for biped robots. Since robots experience various disturbances during their locomotion, their walking mechanism should have the robustness against those disturbances, which requires an on-line adaptation capability. In this context, an on-line trajectory planner is proposed to compensate the required moment for recovering stability. The ZMP equation and sensed ZMP information are used in this trajectory generation strategy. In order to control a biped robot to be able to walk stably, its controller should guarantee stable footing at the moment of feet contacts with the ground as well as maintaining good trajectory tracking performance. Otherwise, the stability of robot will be significantly compromised. To reduce the magnitude of an impact and guarantee a stable footing when a foot contacts with the ground, this paper. proposes to increase the damping of the leg drastically and to modify the reference trajectory of the leg. In the proposed control scheme, the constrained leg is controlled by impedance control using the impedance model with respect to the base link. Computer simulations performed with a 3-dof environment model that consists of combination of a nonlinear and linear compliant contact model show that the proposed controller performs well and that it has robustness against unknown uneven surface. Moreover, the biped robot with the proposed trajectory generator can walk even when it is pushed with a certain amount of external force.

• The Journal of Engineering Geology
• /
• v.26 no.1
• /
• pp.1-13
• /
• 2016

Groundwater flow paths and groundwater ages at a radioactive waste repository located in a coastal area of South Korea were evaluated using the hydrochemical and hydrogeological characteristics of groundwater, surface water, rain water, and seawater, as well as by numerical modeling. The average groundwater travel time in the top layer of the model, evaluated by numerical modeling and groundwater age (34 years), approximately corresponds to the groundwater age obtained by chlorofluorocarbon (CFC)-12 analysis (26-34 years). The data suggest that the groundwater in wells in the study area originated up-gradient at distances of 140-230 m. Results of CFC analyses, along with seasonal variations in the δ¹⁸O and δD values of groundwater and the relationships between ²²²Rn concentrations and δ¹⁸O values and between ²²²Rn concentrations and δD values, indicate that groundwater recharge occurs in the summer rainy season and discharge occurs in the winter dry season. Additionally, a linear relationship between dissolved SiO₂ concentrations and groundwater ages indicates that natural mineralization is affected by the dilution of groundwater recharge in the rainy summer season.

• Journal of the HCI Society of Korea
• /
• v.5 no.2
• /
• pp.1-6
• /
• 2010

In this research, we designed the head mouse system for disabled and gamers, a mouse controller which can be controlled by head movements and eye blinks only, and compared its performance with other regular mouse controller systems. The head mouse was moved by a gyro-sensor, which can measure an angular rotation of a head movement, and the eye blink was used as a clicking event of the mouse system. Accumulated errors caused by integral, which was a problem that previous head mouse system had, were removed periodically, and treated as dead zones in the non-linear relative point graph, and direct mouse point control was possible using its moving distance and acceleration calculation. We used the active light sources to minimize the influence of the ambient light changes, so that the head mouse was not affected by the change in external light source. In a comparison between the head mouse and the gazing tracking mouse (Quick Glance), the above method resulted about 21% higher score on the clicking event experiment called "20 clicks", about 25% higher on the dasher experiment, and about 37% higher on on-screen keyboard test respectively, which concludes that the proposed head mouse has better performance than the standard mouse system.

• Journal of the Korean Institute of Intelligent Systems
• /
• v.19 no.3
• /
• pp.408-414
• /
• 2009

A GPS/INS system is widely used in the UGV to estimate position during the mission. However, there are few restrictions when a GPS/INS system used alone. For example, GPS provides precise location information but easily interrupted by external factors like weather, environment, etc. INS provides continuous location data but positioning errors grew very rapidly with time. Therefore, it is necessary to integrating multi-sensors for more continuous and correct position estimation. In this paper, we propose location estimation algorithm of the UGV for GPS/INS integrated system that combines Fuzzy Inference and Unscented Particle Filter(UPF) to improve navigation. Fuzzy inference provides the simplest method integrating GPS/INS and UPF is non-linear estimation filter well suited to the correction of errors. The performance of the proposed algorithm was tested to compare with other algorithms. the results show that the proposed algorithm is more accuracy in position estimation and ensures continuous position tracking.