• KSII Transactions on Internet and Information Systems (TIIS)
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• 제14권4호
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• pp.1603-1623
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• 2020

Multiple Mobile Robots System (MMRS) has shown many attractive features in lots of real-world applications that motivate their rapid and wide diffusion. In MMRS, the Cooperative Localization (CL) is the basis and premise of its high-performance task. However, the statistical characteristics of the system noise should be already known in traditional CL algorithms, which is difficult to satisfy in actual MMRS because of the numerous of disturbances form the complex external environment. So the CL accuracy will be reduced. To solve this problem, an improved Adaptive Active Cooperative Localization (A²CL) algorithm based on information optimization strategy for MMRS is proposed in this manuscript. In this manuscript, an adaptive information fusion algorithm based on the variance component estimation under Extended Kalman filter (VCEKF) method for MMRS is introduced firstly to enhance the robustness and accuracy of information fusion by estimating the covariance matrix of the system noise or observation noise in real time. Besides, to decrease the effect of observation uncertainty on CL accuracy further, an observation optimization strategy based on information theory, the Model Predictive Control (MPC) strategy, is used here to maximize the information amount from observations. And semi-physical simulation experiments were carried out to verity the A²CL algorithm's performance finally. Results proved that the presented A²CL algorithm based on information optimization strategy for MMRS cannot only enhance the CL accuracy effectively but also have good robustness.

• 한국지능시스템학회논문지
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• 제22권1호
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• pp.56-61
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• 2012

본 논문에서는 이중여자 유도발전기 기반 가변속도 풍력발전 시스템의 퍼지 모델링 및 안정도 해석에 관하여 다루고자 한다. 일반적인 풍력발전 시스템은 복잡한 비선형성 기반 동적방정식으로 구성되며, 플랜트를 구성하는 각 파라미터 수치 역시 주변 환경에 의해 변화할 여지가 있다. 풍력발전 시스템의 해석을 위하여 본 논문에서는 비선형성 및 불확실성에 강인한 퍼지 제어 기법을 기반으로 제어이론을 구성하고자 한다. 이중여자 유도발전기 기반 풍력발전 시스템의 퍼지 모델링 및 시스템 안정화를 위한 퍼지 제어기 설계 기법이 제안된다. 해당 제어 기법은 리아푸노프 기반 안정도 해석에 의해 점근 안정도를 보장받게 되며, 가상 시뮬레이션을 통한 시스템 효율성을 입증하게 된다.

• 한국통신학회논문지
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• 제25권7A호
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• pp.967-977
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• 2000

본 논문은 도립전자 시스템을 LFR(Linear Fractional Representation)로 표현하여 얻어진 일반화 제어대상에 대하여 혼합 ${H_2}/H_{\infty}$ 제어기법을 적용한다. 먼저, 일반화 제어대상을 얻기 위하여, LFR로 표현한 도립진자의 선형 모델을 유도한다. LFR에서 고려한 구체적인 불확실성은 3개의 비선형 성분과 1개의 진자질량 불확실성이다. 유도된 선형모델에 하중함수를 더하여 LFR 모델을 확대함으로써 일반화된 제어대상을 얻는다. 다음으로, 이 일반화 제어대상에 대하여 혼합 ${H_2}/H_{\infty}$ 제어기를 설계한다. 혼합 ${H_2}/H_{\infty}$ 제어기 설계를 위해서 LMI(Linear Matrix Inequalities) 기법을 이요한다. 설계된 혼합 ${H_2}/H_{\infty}$ 제어기의 제어성능과 강건 안정성을 평가하기 위해서 모의실험과 실물실험을 통하여 $H_{\infty}$ 제어기와 비교한다. 실험결과, $H_{\infty}$ 제어때 보다 적은 피드백 정보만으로도 혼합 ${H_2}/H_{\infty}$ 제어기는 도립진자의 진자각도 측면에서 $H_{\infty}$ 제어기보다 나은 강건 안정성과 제어 성능을 보인다.

• 한국지능시스템학회논문지
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• 제22권3호
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• pp.267-272
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• 2012

본 논문에서는 6 방향 자유도를 지닌 능동 자기베어링 시스템의 강인 디지털 퍼지 제어에 대한 내용을 다루고자 한다. 6방향 자유도에 대한 기본 모델은 회전자 구조와 원뿔형의 능동 자기베어링 시스템의 자기력 간의 상관관계에 의해 결정된다. 구성된 모델은 비선형 동적방정식으로 구성되기 때문에, 제어 목적을 달성하기 위한 제어 입력 신호의 설계가 어려우며, 외부 환경의 영향에 따른 시스템 파라미터 변화율에도 많이 민감한 편이다. 이를 보완하기 위하여, 획득한 동적방정식을 기반으로 TS 퍼지 모델에 기반 한 디지털 제어 목적에 적합한 구조로의 변환이 이루어진다. 여기서 말하는 제어 목적이란, 회전자의 회전을 외부의 물리적 접촉 없이 자기장의 힘만으로 동작하도록 베어링의 위치를 최대한 센터에 위치케 하는 것을 말한다. 본 논문에서는 6자유도를 지닌 능동 자기베어링 시스템의 비선형성에 대한 해석 방안으로 퍼지 모델링을 통해 시스템을 재해석하게 되며, 외부 파라미터 변화에 따른 대응을 위하여 강인 제어기 설계를 목적으로 한다. 제안된 강인 제어 알고리즘은 시뮬레이션 과정을 통해 검증된다.

• 한국항공우주학회지
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• 제37권3호
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• pp.301-306
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• 2009

본 연구에서는 축소형 로터 실험 장치에서 로터 회전면에 수직으로 작용하는 추력(Fz)과 평행으로 작용하는 2축 모멘트(Mx, My)를 측정할 수 있는 3분력 Rotating Balance를 설계, 제작하고 성능실험을 통하여 검증하였다. Rotating Balance에 장착된 스트레인게이지의 미세신호는 로터와 함께 회전하는 신호증폭기를 거쳐 증폭되어 slip ring을 통하여 데이터 취득장치로 전달되어진다. 정적 보정법을 통하여 얻어진 보정행렬식의 적합성 여부를 판단하기 위하여 기존에 개발된 reaction type balance를 사용하여, 로터가 회전시 발생하는 추력을 비교함으로서 측정 정밀도를 확인하였다. 또한, Rotating Balance의 확장 불확도는 A형 불확도와 B형 불확도를 계산하였고, 계산 결과로 부터 $2.82\times10^{-1}$의 값을 얻음으로서 신뢰성을 확인하였다.

• 한국음향학회지
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• 제38권2호
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• pp.145-153
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• 2019

적응빔형성 기법은 부엽을 줄이고 약한 신호에 대한 탐지 성능을 향상시킨다. MVDR(Minimum Variance Distortionless Response)과 같은 일반적인 적응빔형성 기법은 설계한 가중벡터와 실제 입사신호의 조향벡터의 불일치에 대해 매우 민감하다. 또한 센서 수가 많은 어레이를 이용하여 광대역 적응빔형성을 할 경우 공분산행렬을 산출하기 위해 긴 관측시간과 많은 연산량이 요구된다. 본 논문은 센서 수가 많은 수동 선배열 소나의 광대역 적응빔형성 성능향상 및 안정성을 위해 WBRCB(Wideband Robust Capon Beamforming)를 적용하였다. 불일치 요소에 강인한 WBRCB 구현을 위해 다양한 불일치 요소를 반영하여 최적의 불일치 파라미터를 도출하였다. 도출된 파라미터를 반영한 WBRCB 기법을 시뮬레이션 및 실험데이터에 적용하여 수동 선배열 소나의 광대역 적응빔형성 성능 향상을 검증하였다.

• Journal of Radiation Protection and Research
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• 제48권2호
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• pp.90-99
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• 2023

Background: Quantitative risk assessments should be accompanied by uncertainty analyses of the risk models employed in the calculations. In this study, we aim to develop a computational code named SUMRAY for use in cancer risk projections from radiation exposure taking into account uncertainties. We also aim to make SUMRAY publicly available as a resource for further improvement of risk projection. Materials and Methods: SUMRAY has two versions of code written in R and Python. The risk models used in SUMRAY for all-solid-cancer mortality and incidence were those published in the Life Span Study of a cohort of the atomic bomb survivors in Hiroshima and Nagasaki. The confidence intervals associated with the evaluated risks were derived by propagating the statistical uncertainties in the risk model parameter estimates by the Monte Carlo method. Results and Discussion: SUMRAY was used to calculate the lifetime or time-integrated attributable risks of cancer under an exposure scenario (baseline rates, dose[s], age[s] at exposure, age at the end of follow-up, sex) specified by the user. The results were compared with those calculated using another well-known web-based tool, Radiation Risk Assessment Tool (RadRAT; National Institutes of Health), and showed a reasonable agreement within the estimated confidential interval. Compared with RadRAT, SUMRAY can be used for a wide range of applications, as it allows the risk projection with arbitrarily specified risk models and/or population reference data. Conclusion: The reliabilities of SUMRAY with the present risk-model parameters and their variance-covariance matrices were verified by comparing them with those of the other codes. The SUMRAY code is distributed to the public as an open-source code under the Massachusetts Institute of Technology license.

• 마케팅과학연구
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• 제19권2호
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• pp.17-26
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• 2009

As the lifestyle of consumers changes and the need for various products increases, new products are being developed in the market. Each household owns various home appliances which are purchased through the choice of a decision maker. These appliances include not only large-sized products such as TV, refrigerator, and washing machine, but also small-sized products such as microwave oven and air cleaner. There exists latent correlation among possession of home appliances, even though they are purchased independently. The purpose of this research is to analyze the effect of demographic factors on the purchase and possession of each home appliances, and to derive some relationships among various appliances. To achieve this purpose, the present status on the possession of each home appliances are investigated through consumer survey data on the electric and energy product. And a multivariate probit(MVP) model is applied for the empirical analysis. From the estimation results, some appliances show a substitutive or complementary pattern as expected, while others which look apparently unrelated have correlation by co-incidence. This research has several advantages compared to previous literatures on home appliances. First, this research focuses on the various products which are purchased by each household, while previous researches such as Matsukawa and Ito(1998) and Yoon(2007) focus just on a particular product. Second, the methodology of this research can consider a choice process of each product and correlation among products simultaneously. Lastly, this research can analyze not only a substitutive or complementary relationship in the same category, but also the correlation among products in the different categories. As the data on the possession of home appliances in each household has a characteristic of multiple choice, not a single choice, a MVP model are used for the empirical analysis. A MVP model is derived from a random utility model, and has an advantage compared to a multinomial logit model in that correlation among error terms can be derive(Manchanda et al., 1999; Edwards and Allenby, 2003). It is assumed that the error term has a normal distribution with zero mean and variance-covariance matrix ${\Omega}$. Hence, the sign and value of correlation coefficients means the relationship between two alternatives(Manchanda et al., 1999). This research uses the data of 'TEMEP Household ICT/Energy Survey (THIES) 2008' which is conducted by Technology Management, Economics and Policy Program in Seoul National University. The empirical analysis of this research is accomplished in two steps. First, a MVP model with demographic variables is estimated to analyze the effect of the characteristics of household on the purchase of each home appliances. In this research, some variables such as education level, region, size of family, average income, type of house are considered. Second, a MVP model excluding demographic variables is estimated to analyze the correlation among each home appliances. According to the estimation results of variance-covariance matrix, each households tend to own some appliances such as washing machine-refrigerator-cleaner-microwave oven, and air conditioner-dish washer-washing machine and so on. On the other hand, several products such as analog braun tube TV-digital braun tube TV and desktop PC-portable PC show a substitutive pattern. Lastly, the correlation map of home appliances are derived using multi-dimensional scaling(MDS) method based on the result of variance-covariance matrix. This research can provide significant implications for the firm's marketing strategies such as bundling, pricing, display and so on. In addition, this research can provide significant information for the development of convergence products and related technologies. A convergence product can decrease its market uncertainty, if two products which consumers tend to purchase together are integrated into it. The results of this research are more meaningful because it is based on the possession status of each household through the survey data.

• 한국대기환경학회지
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• 제33권5호
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• pp.497-514
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• 2017

This study quantitatively analyzes the effects of emission inventory choices on the simulated particulate matter (PM) concentrations and the domestic/foreign contributions in the Seoul Metropolitan Area (SMA) with an air quality forecasting system. The forecasting system is composed of Weather Research and Forecasting (WRF)-Sparse Matrix Operator Kernel Emissions (SMOKE)-Community Multi-Scale Air Quality (CMAQ). Different domestic and foreign emission inventories were selectively adopted to set up four sets of emissions inputs for air quality simulations in this study. All modeling cases showed that model performance statistics satisfied the criteria levels (correlation coefficient >0.7, fractional error <50%) suggested by previous studies. Notwithstanding the apparently good model performance of total PM concentrations by all emission cases, annual average concentrations of simulated total PM concentrations varied up to $20{\mu}g/m^3$ (160%) depending on the combination of emission inventories. In detail, the difference in simulated annual average concentrations of the primary PM coarse (PMC) was up to $25.2{\mu}g/m^3$ (6.5 times) compared with other cases. Furthermore, model performance analyses on PM species showed that the difference in the simulated primary PMC led to gross model overestimation in general, which indicates that the primary PMC emissions need to be improved. The contribution analysis using model direct outputs indicated that the domestic contributions to the annual average PM concentrations in the SMA vary from 44% to 67%. To account for the uncertainty of the simulated concentration, the contribution correction factor method proposed by Bae et al. (2017) was applied, which resulted in converged contributions(from 48% to 57%). We believe this study shows that it is necessary to improve the simulated concentrations of PM components in order to enhance the accuracy of the forecasting model. It is deemed that these improvements will provide more accurate contribution results.

• 한국지역지리학회지
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• 제3권2호
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• pp.151-162
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• 1997

본 연구는 전통적인 농업입지론에 기초한 생산지향 모델에서 시장원리를 고려하여 토지이용에서 변화와 농작물 가격의 변화를 고찰하기 위한 이론 연구이다. 본 연구에서 제시된 균형모델은 생산비용, 운송률, 수요의 측면에서 생산지향모델과 비교된다. 시장(도시)의 규모가 농업토지이용에 미치는 영향을 시나리오를 통해 분석하였다. 또한 제시된 균형모델이 농업에서 불확실성이란 요소를 그 모델에서 어떻게 수용하는가를 제시하였다.