• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1458-1463
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• 2004

Tracking is one of the most important pre-required task for many application such as human-computer interaction through gesture and face recognition, motion analysis, visual servoing, augment reality, industrial assembly and robot obstacle avoidance. Recently, 3D information of object is required in realtime for many aforementioned applications. 3D tracking is difficult problem to solve because during the image formation process of the camera, explicit 3D information about objects in the scene is lost. Recently, many vision system use stereo camera especially for 3D tracking. The 3D feature based tracking(3DFBT) which is on of the 3D tracking system using stereo vision have many advantage compare to other tracking methods. If we assumed the correspondence problem which is one of the subproblem of 3DFBT is solved, the accuracy of tracking depends on the accuracy of camera calibration. However, The existing calibration method based on accurate camera model so that modelling error and weakness to lens distortion are embedded. Therefore, this thesis proposes 3D feature based tracking method using SVM which is used to solve reconstruction problem.

• 대한임베디드공학회논문지
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• 제3권2호
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• pp.102-108
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• 2008

This paper describes a mapping and localization based on wave algorithm[11] and Kalman filter for effective SLAM. Each robot in a multi robot system has its own task such as building a map for its local position. By combining their data into a shared map, the robot scans actively seek to verify their relative locations. For simultaneous localization the algorithm which is well known as Kalman Filter (KF) is used. For modelling the robot position we wish to know three parameters (x, y coordinates and its orientation) which can be combined into a vector called a state variable vector. The Kalman Filter is a smart way to integrate measurement data into an estimate by recognizing that measurements are noisy and that sometimes they should ignored or have only a small effect on the state estimate. In addition to an estimate of the state variable vector, the algorithm provides an estimate of the state variable vector uncertainty i.e. how confident the estimate is, given the value for the amount of error in it.

• Computers and Concrete
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• 제15권6호
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• pp.903-919
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• 2015

The flow of freshly mixed cement-based material shows thixotropy, which implies some difficulties on robust measurement of its rheological properties: The flow curve of thixotropic materials depends on the used protocol. For examples, higher viscosity is obtained when the rate of shear strain is more quickly increased. Even though precise measurement and modelling of the concrete rheology needs to consider the thixotropic effect, engineers in the concrete field prefer considering as a non-thixotropic Herschel-Bulkley fluid, even more simply Bingham fluid. That is due to robustness of the measurement and application in casting process. In the aspect of simplification, this papers attempts to mimic the thixoropic flow by the non-thixotropic Herschel-Bulkley model. Disregarding the thixotropy of cement based materials allows us to adopt the rheological concept in the field. An optimized protocol to measure the Bingham parameters was finally found based on the accuracy and reproducibility test of cement paste samples, which minimizes the error of simulation stemming from the assumption of non-thixotropy.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국제학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.339-344
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• 1993

An H$_{\infty}$ control system design for a magnetic levitation system is presented. In the control system design, we consider the influence of both disturbances and uncertainties in the model. The main disturbances stem from the position sensors.The uncertainties are divided into electromagnetic and mechanical ones: the former are due to the gain change in the current amplifier, the influence of leakage flux and modelling error in the magnetic circuit and the latter are due to the changes of the mass and the moments of inertia of the vehicle. Therefore, the designed controller is indispensable to guarantee the robustness of this system for both stability and performance. The controller design is based on the standard H$_{\infty}$ optimal control problem. As the novel features in this paper :(1) there are two poles on j.omega.-axis in the control model;(2) an integrator is included in the controller so that equivalently there are three poles on j.omega.-axis in the model. Finally, several experiments and simulations are carried out to verify the high performance and robustness of the designed control system.m.

• Journal of Radiation Protection and Research
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• 제16권1호
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• pp.53-72
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• 1991

An integrated model is developed in this paper for the performance assessment of high level radioactive waste repository. This integrated model consists of two simple mathematical models. One is a multiple-barrier failure model of the repository system based on constant failure rates which provides source terms to biosphere. The other is a biosphere model which has multiple pathways for radionuclides to reach to human. For the parametric uncertainty and sensitivity analysis for the risk assessment of high level radioactive waste repository, Latin hypercube sampling and rank correlation techniques are applied to this model. The former is cost-effective for large computer programs because it gives smaller error in estimating output distribution even with smaller number of runs compared to crude Monte Carlo technique. The latter is good for generating dependence structure among samples of input parameters. It is also used to find out the most sensitive, or important, parameter groups among given input parameters. The methodology of the mathematical modelling with statistical analysis will provide useful insights to the decision-making of radioactive waste repository selection and future researches related to uncertain and sensitive input parameters.

• 응용통계연구
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• 제24권1호
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• pp.207-216
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• 2011

본 논문에서는 일반화추정방정식(GEE)모형에 대한 부스트랩 방법의 적용에 대하여 살펴본다. 다양한 부스트랩 방법들 중 GEE모형에 적용이 가능한 잔차, 쌍 및 점수함수 부스트랩 방법을 가상 및 실제 자료들에 적용한 결과 회귀계수들에 대한 추정치와 표준오차가 점근값들과 차이를 보이는 것으로 나타났다. 따라서 표본수가 크지 않은 경우 부스트랩 방법을 통하여 GEE모형에서의 회귀계수에 대한 추정치화 표준편차를 구하는 것이 효과적임을 알 수 있다.

• 정보학연구
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• 제6권3호
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• pp.1-10
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• 2003

본 논문은 전력선 통신 실험을 보다 빠르고 효율적으로 수행할 수 있는 전력선 채널 모델링에 관한 것이다. 용량성 부하 채널 시뮬레이터는 댁내망 전력선 모뎀 개발에 있어서 필수적인 실험 장비이다. 실제 전력선 채널 환경을 모델링한 이 실험 장비를 이용한 총 245 개의 용량성 부하 채널에 대하여 주파수 응답법에 의한 채널 모델링을 행하였다. 용량성 부하 채널 시뮬레이터를 사용한 실험 데이터 결과와 모델링된 채널 필터를 통과한 결과를 비교하였을 때 큰 오차 없이 실제 전력선 통신상의 용량성 부하 실험을 대체할 수 있음을 확인하였다.

• Wind and Structures
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• 제26권6호
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• pp.383-395
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• 2018

An accurate determination of wind speed distribution is the basis for an evaluation of the wind energy potential required to design a wind turbine, so it is important to estimate unknown parameters of wind speed distribution. In this paper, Gumbel distribution is used in modelling wind speed data, and alternative robust estimation methods to estimate its parameters are considered. The methodologies used to obtain the estimators of the parameters are least absolute deviation, weighted least absolute deviation, median/MAD and least median of squares. The performances of the estimators are compared with traditional estimation methods (i.e., maximum likelihood and least squares) according to bias, mean square deviation and total mean square deviation criteria using a Monte-Carlo simulation study for the data with and without outliers. The simulation results show that least median of squares and median/MAD estimators are more efficient than others for data with outliers in many cases. However, median/MAD estimator is not consistent for location parameter of Gumbel distribution in all cases. In real data application, it is firstly demonstrated that Gumbel distribution fits the daily mean wind speed data well and is also better one to model the data than Weibull distribution with respect to the root mean square error and coefficient of determination criteria. Next, the wind data modified by outliers is analysed to show the performance of the proposed estimators by using numerical and graphical methods.

• 한국항해학회지
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• 제23권3호
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• pp.35-44
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• 1999

This research aims to seek active control of ball-beam position stability by resorting to neural networks whose layers are given bias weights. The controller consists of an LQR (linear quadratic regulator) controller and a neural networks controller in parallel. The latter is used to improve the responses of the established LQR control system, especially when controlling the system with nonlinear factors or modelling errors. For the learning of this control system, the feedback-error learning algorithm is utilized here. While the neural networks controller learns repetitive trajectories on line, feedback errors are back-propagated through neural networks. Convergence is made when the neural networks controller reversely learns and controls the plant. The goals of teaming are to expand the working range of the adaptive control system and to bridge errors owing to nonlinearity by adjusting parameters against the external disturbances and change of the nonlinear plant. The motion equation of the ball-beam system is derived from Newton's law. As the system is strongly nonlinear, lots of researchers have depended on classical systems to control it. Its applications of position control are seen in planes, ships, automobiles and so on. However, the research based on artificial control is quite recent. The current paper compares and analyzes simulation results by way of the LQR controller and the neural network controller in order to prove the efficiency of the neural networks control algorithm against any nonlinear system.

• 한국수학교육학회지시리즈E:수학교육논문집
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• 제28권3호
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• pp.423-429
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• 2014

초행길 인생인 우리들이 시행착오를 줄이려면, 인류가 이룩한 인생살이의 교훈과 노하우를 미리미리 교육을 통해 깨닫는 것이 필요하다. 교육현장에서 미시적 탐구 위주의 수학교육 연구영역을 삶에 관계되는 영역까지 확장하여, 인생살이를 효율적으로 통찰하고자 한다. 본 연구는 인생살이를 살피는 방법들을 크게 네 가지로 분류하고, 인생살이 통찰에 필요한 수학적 모델을 경험 가능한 일상영역에서 찾을 수 있도록 설계하였다. 이렇게 만들어진 모델세계로 인생살이를 통찰하는 예를 통해, 수학적 모델링으로 인생살이를 통찰하는 방법을 새롭게 소개한다.