• Journal of the Korean Institute of Intelligent Systems
• /
• v.26 no.3
• /
• pp.208-217
• /
• 2016

This paper describes a simulation method to generate sensor measurements for location estimation of an underwater robot. Field trial of a navigation method of an underwater robot takes much time and expenses and it is difficult to change the environment of the field trial as desired to test the method in various situations. Therefore, test and verification of a navigation method through simulation is inevitable for underwater environment. This paper proposes a method to generate sensor measurements of range, depth, velocity, and attitude taking the uncertainties of measurements into account through simulation. The uncertainties are Gaussian noise, outlier, and correlation between the measurement noise. Also, the method implements uncertainty in sampling time of measurements. The method is tested and verified by comparing the uncertainty parameters calculated statistically from the generated measurements with the designed uncertainty parameters. The practical feasibility of the measurement data is shown by applying the measurement data for location estimation of an underwater robot.

• Journal of Korean Society of Industrial and Systems Engineering
• /
• v.38 no.2
• /
• pp.82-90
• /
• 2015

Location selection of distribution centers is a crucial task for logistics operators and key decision makers of an organization. This is a multi-criteria decision making (MCDM) process which includes both quantitative and qualitative criteria. In order to propose an optimized location selection model, this research suggests a hierarchical group of evaluation criteria : 5 major criteria with 15 sub-criteria. The MCDM approach presented in this research, by integrating Grey Relational Analysis (GRA) with Analytic Hierarchy Process (AHP), tends to rectify the overall quality and uncertainty of the values of evaluation criteria. An example of a location selection case in Korea is illustrated in this study to show the effectiveness of this method.

• Structural Monitoring and Maintenance
• /
• v.5 no.3
• /
• pp.379-390
• /
• 2018

In this paper, a novel and effective damage diagnosis algorithm is proposed to detect and estimate damage using two stages least squares support vector machine (LS-SVM) and limited number of attached sensors on structures. In the first stage, LS-SVM1 is used to predict the unmeasured mode shapes data based on limited measured modal data and in the second stage, LS-SVM2 is used to predicting the damage location and severity using the complete modal data from the first-stage LS-SVM1. The presented methods are applied to a three story irregular frame and cantilever plate. To investigate the noise effects and modeling errors, two uncertainty levels have been considered. Moreover, the performance of the proposed methods has been verified through using experimental modal data of a mass-stiffness system. The obtained damage identification results show the suitable performance of the proposed damage identification method for structures in spite of different uncertainty levels.

• Journal of Agricultural Extension & Community Development
• /
• v.16 no.3
• /
• pp.643-668
• /
• 2009

The purpose of this study is to estimate the value of the sociocultural multifunctionality of rural areas in Korea. The sociocultural multifunctionality of rural areas consists of emotional comfort, green landscape, cultural heritage, and rural viability values. The value of the sociocultural multifunctionality was assessed by contingent valuation method incoporating preference uncertainty. The log-logit models indicated that households were willing to pay 14,027~26,757 won per month and the model with preference uncertainty gave the highest WTP. WTP was affected by respondent's sex, location, awareness of relation with multifunctionality and others. The total value of sociocultural multifunctionality of rural areas in Korea estimated to 2,691~5,134 billion won per year.

• Proceedings of the Korean Society of Soil and Groundwater Environment Conference
• /
• 2005.04a
• /
• pp.316-319
• /
• 2005

Contaminated area should be identified for designing polluted groundwater cleanup plan. A methodology was suggested to identify a contaminant plume distribution geostatistically. James & Gorelick (1994) suggested a methodology to evaluate data worth as expected reducing remediation cost. In this study, their methodology was modified to evaluate data worth as expected reducing uncertainty of the contaminant plume distribution. In suggested methodology, the source identification model by Mahar & Datta (2001) using a forward solute transport model is integrated. Suggested methodology was assessed by two simple example problems and its result represented reducing uncertainties of contaminant plume distribution successfully.

• The Transactions of The Korean Institute of Electrical Engineers
• /
• v.58 no.11
• /
• pp.2136-2141
• /
• 2009

Transmission planning is an important part of power system planning to meet an increasing demand for electricity. The objective of transmission expansion is to minimize operational and construction costs subject to system constraints. There is inherent uncertainty in transmission planning due to errors in forecasted demand and fuel costs. Therefore, transmission planning process is not reliable if the uncertainty is not taken into account. The paper presents a systematic method to find the optimal location and amount of transmission expansion using Cross-Entropy (CE) incorporating uncertainties about future power system conditions. Numerical results are presented to demonstrate the performance of the proposed method.

• Journal of the military operations research society of Korea
• /
• v.22 no.1
• /
• pp.30-42
• /
• 1996

This study deals with an optimal firecar location and allocation models under uncertain enemy attack at the airforce base. It allocates just one firecar on the runaway and the other firecars on the headquarter of firecar company in usual situation. It is possible for several facilities at the airforce base to be attacked simultaneously by missiles enemy air attacker, other things under uncertain enemy attack. We formulate two stochastic LP location-allocation models to deal with uncertainty. One model is to locate all firecars on one site like present situation. We generate a new firecar location with a weighted average method. We call this model "centralized allocation model". The other model is to distribute firecars on several possible sites. We call this model "distributed allcoation model". Finally, we compare two models with computer experimentations on 8 airforce bases.on 8 airforce bases.

• The Journal of the Korea institute of electronic communication sciences
• /
• v.7 no.2
• /
• pp.391-399
• /
• 2012

This paper proposes a particle filter approach for SLAM(Simultaneous Localization and Mapping) of a mobile robot. The SLAM denotes estimation of both the robot location and map while the robot navigates in an unknown environment without map. The proposed method estimates robot location simultaneously with the locations of the ultrasonic beacons which constitute landmarks for navigation. The particle filter method represents the locations of the robot and landmarks in probabilistic manner by the distribution of particles. The method takes care of the uncertainty of the landmarks' location as well as that of the robot motion. Therefore, the locations of the landmarks are updated including uncertainty at every sampling time. Performance of the proposed method is verified through simulation and experiments. The method yields practically useful mapping information even if the range data from the landmarks include random noise. Also, it provides more accurate and robust estimation of the robot location than the usual least squares methods or dead-reckoning method.

• Convergence Security Journal
• /
• v.8 no.4
• /
• pp.97-104
• /
• 2008

Recently, the wireless positioning techniques and mobile computing techniques have rapidly developed to use location data of moving objects. The more the number of moving objects is numerous and the more periodical sampling of locations is frequent, the more location data of moving objects become very large. Hence the system should be able to efficiently manage mass location data, support various spatio-temporal queries for LBS, and solve the uncertainty problem of moving objects. Therefore, in this paper, innovating the location data of moving object effectively, we propose Rend 3DR-tree method to decrease the dead space and complement the overlapping of nodes by utilizing 3DR-tree with the indexing structure to support indexing of current data and history data.

• ETRI Journal
• /
• v.42 no.1
• /
• pp.108-117
• /
• 2020

This study proposes a robust range-only beacon mapping method for registering the locations of range-only beacons automatically. The proposed method deals with the multipath propagation of signals from range-only beacons using the range-only measurement association (RoMA) and an unscented Kalman filter (UKF). The RoMA initially predicts the candidate positions of a range-only beacon. The location of the range-only beacon is then updated using the UKF. With the proposed method, the locations of range-only beacons are accurately estimated in a multipath environment. The proposed method also provides the location uncertainty of each range-only beacon. Simulation results using the model for multipath propagation and experimental results in a real indoor environment verify the performance of the proposed method.