• Journal of Mechanical Science and Technology
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• 제20권12호
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• pp.2189-2196
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• 2006

The present work is concerned with the development of a procedure for adaptive computations of shear localization problems. The maximum jump of equivalent strain rates across element boundaries is proposed as a simple error indicator based on interpolation errors, and successfully implemented in the adaptive mesh refinement scheme. The time step is controlled by using a parameter related to the Lipschitz constant, and state variables in target elements for refinements are transferred by $L_2$-projection. Consistent tangent moduli with a proper updating scheme for state variables are used to improve the numerical stability in the formation of shear bands. It is observed that the present adaptive mesh refinement procedure shows an excellent performance in the simulation of shear localization problems.

• Current Research on Agriculture and Life Sciences
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• 제16권
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• pp.1-14
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• 1998

As a result of the execution of the import liberalization and local autonomy with WTO system launching, centralized rural extension service converted to localized rural extension service. This advent of globalization and localization era affects our over all agricultural condition, moreover the duty and role of rural extension organization which take complete of rural extension, is compelled to diversified and specified technology. In this study, first we will investigate the change of agricultural, rural community, and local rural extension service in globalization and localization era. Second we will analyze the confronted problems of local rural extension service. With this study's outcome for basis, we will present new role and direction of local rural extension service which can contribute to local agricultural development.

• 항공우주시스템공학회지
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• 제12권6호
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• pp.32-40
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• 2018

본 연구에서는 error-outlier 기반의 충격위치탐지 알고리즘과 다중화된 FBG 센서를 이용하여 탄소섬유 강화 플라스틱 복합재 평판 구조물에 대한 충격위치탐지를 수행하였다. 알고리즘의 주요 변수인 오차 임계값(ET)이 0.3 nm, 상수 수준(CL)이 110일 때 최적의 충격위치탐지 결과(최대 오차= 31.82 mm, 평균 오차= 6.31 mm)가 도출되었다. 또한 주어진 최적의 변수 조건에서의 충격위치탐지 과정과 결과를 상세히 분석하였다. 본 연구에서 제시된 다중화된 FBG 센서와 error-outlier 기반의 충격탐지 알고리즘은 복합재 구조물에 대한 충격탐지에 적합한 것으로 판단되며, 향후 다양한 구조 건전성 감시에 활용될 것으로 기대된다.

• 한국해양공학회지
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• 제19권2호
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• pp.82-89
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• 2005

This study deals with the development of the extended Kalman filter(EKF) algorithm for the localization of underwater mining vehicles. Both simulation and experimental studies in a test bed are carried out. For the experiments, a scale dawn tracked vehicle is run in a soil bin containing cohesive soil of bentonite-water mixture. To develop the EKF algorithm, we use a kinematic model including the inner/outer track slips and the slip angle for the vehicle. The measurements include the inner and outer wheel speeds from encoders, the heading angle from a compass sensor and a fiber optic rate gyro, and x and y coordinate position values from a vision system. The vision sensor replaces the LBL(Long Base Line) sonar system used in the real underwater positioning situations. Artificial noise signals mimicking the real LBL noise signal are added to the vision sensor information. To know the mean slip values of the tracks in both straight and cornering maneuver, several trial running experiments are executed before applying the EKF algorithm. Experimental results show the effectiveness of the EKF algorithm in rejecting the sensor measurements noise. Also, the simulation and experimental results show close correlations.

• 제어로봇시스템학회논문지
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• 제17권7호
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• pp.674-684
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• 2011

More and more elderly and disabled people are using electric scooters instead of electric wheelchairs because of higher mobility. However, people with high levels of impairment or the elderly still have difficulties in driving the electric scooters safely. Semi-autonomous electric scooter system is one of the solutions for the safety: Either manual driving or autonomous driving can be used selectively. In this paper, we implement a semi-autonomous electric scooter system with functions of localization and path following. In order to recognize the pose of electric scooter in outdoor environments, we design an outdoor localization system based on the extended Kalman filter using DGPS (Differential Global Positioning System) and wheel encoders. We added an accelerometer to make the localization system adaptable to road condition. Also we propose a path following algorithm using two arcs with current pose of the electric scooter and a given path in the map. Simulation results are described to show that the proposed algorithms provide the ability to drive an electric scooter semi-autonomously. Finally, we conduct outdoor experiments to reveal the practicality of the proposed system.

• Journal of Advanced Marine Engineering and Technology
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• 제39권2호
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• pp.187-194
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• 2015

Accurate relative location estimation is a key requirement in indoor localization systems based on wireless sensor networks (WSNs). However, although these systems have applied not only various optimization algorithms but also fusion with sensors to achieve high accuracy in position determination, they are difficult to provide accurate relative azimuth and locations to users because of cumulative errors in inertial sensors with time and the influence of external magnetic fields. This paper based on ultra-wideband positioning system, which is relatively suitable for indoor localization compared to other wireless communications, presents an indoor localization system for estimating relative azimuth and location of location-unaware nodes, referred to as target nodes without applying any algorithms with complex variable and constraints to achieve high accuracy. In the proposed method, the target nodes comprising three mobile nodes estimate the relative distance and azimuth from two reference nodes that can be installed by users. In addition, in the process of estimating the relative localization information acquired from the reference nodes, positioning errors are minimized through a novel modified rounding estimation technique in which Kalman filter is applied without any time consumption algorithms. Experimental results show the feasibility and validity of the proposed system.

• 로봇학회논문지
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• 제10권1호
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• pp.1-8
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• 2015

This paper proposes a study for accurate surface localization system using DWT(Discrete Wavelet Transform) and GPS/INS fusion algorithm. Because the propagation in the underwater is not passed by characteristics of the medium unlike the ground, the sonar system like DVL is used instead of GPS. But since these systems are installed on the seafloor and operated, a long time is required for installation and navigation systems are limited outside of the range area. And it is difficult to estimate position in a three-dimensional considering the depth in actual marine environment. In this paper, before the development of underwater localization system, precisely estimated position system is proposed in a two-dimensional by developing surface localization system using removing noise and disturbance with DWT and relatively inexpensive GPS and INS sensor.

• 대한기계학회논문집A
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• 제31권4호
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• pp.517-524
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• 2007

This paper presents a global localization method using circular correlation of an omni-directional image. The localization of a mobile robot, especially in indoor conditions, is a key component in the development of useful service robots. Though stereo vision is widely used for localization, its performance is limited due to computational complexity and its narrow view angle. To compensate for these shortcomings, we utilize a single omni-directional camera which can capture instantaneous $360^{\circ}$ panoramic images around a robot. Nodes around a robot are extracted by the correlation coefficients of CHL (Circular Horizontal Line) between the landmark and the current captured image. After finding possible near nodes, the robot moves to the nearest node based on the correlation values and the positions of these nodes. To accelerate computation, correlation values are calculated based on Fast Fourier Transforms. Experimental results and performance in a real home environment have shown the feasibility of the method.

• 정보교육학회논문지
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• 제12권1호
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• pp.49-56
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• 2008

초등학교 사회과 교육의 가장 큰 특징은 전 과정에서의 지역화라고 설명할 수 있다. 그 중 3학년 사회과의 내용은 지역의 성격과 생활 경험을 강조하고 있으며 제7차 교육과정 사회과에서는 최근 컴퓨터 통신과 인터넷의 발달로 새로운 형태의 지역화 자료의 유형과 활용 방안이 중요시되고 있다. 본 연구에서 개발한 웹 기반 지역화 학습 시스템은 이러한 정보화 시대의 요구에 부응하여 초등학교 3학년 사회과 교육과정을 중심으로 경기도 평택 지역의 내용을 학습할 수 있도록 하였다. 또한 현재 학교 현장에서 주된 학습 자료로 쓰이고 있는 초등학교 3학년 지역화 보조 교과서 외에 학생들이 자기 주도적으로 웹에서 활용할 수 있는 학습 시스템을 제작함으로써 부족한 지역 자료를 제공하고자 한다.

• 농촌지도와개발
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• 제2권2호
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• pp.163-173
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• 1995

Agricultural extension services in Korea has experienced various system changes and accomplishments. The biggest achievement of extension was rice self-suffiency in the 1970s and abundant vegetable and animal production in the 1980s. The emerging challenges of international competition and localization are contributing to significant changes such as the decentralization of activities and shared responsibilities between the central government and local governments. Change, while it threatens the status quo, is a challenge and an opportunity to review and revamp ensconced and often rigid structures. In this sense, it is time to start a new era in agricultural extension. The development of agricultural extension requires keen appraisals and cogent analysis based on the realities of each specific regional situation. In order to develop agricultural extension services, the various aspects, the synthetic identification of its environments, the clarification of the client, the program development, and the effective mechanisms between research and extension must be considered. Especially, agricultural extension systems should be flexible and adjust to changing environments and the farmers' needs.