• 제어로봇시스템학회:학술대회논문집
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• 2004.08a
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• pp.2017-2022
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• 2004

Data association is a process that matches a recent observation with known data set, which is used for the localization of mobile robots. Edges in topological maps have rich information which can be used for the data association. However, no systematic approach on using the edge data for data association has been reported. This paper proposes a systematic way of utilizing the edge data for data association. First, we explain a Local Generalized Voronoi Angle(LGA) to represent the edge data in 1-dimension. Second, we suggest a key factor extraction procedure from the LGA to reduce the number by $2^7-2^8$ times, for computational efficiency using the wavelet transformation. Finally we propose a way of data association using the key factors of the LGA. Simulations show that the proposed data association algorithm yields higher probability for similar edges in computationally efficient manner.

• Journal of the Korean Institute of Telematics and Electronics B
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• v.33B no.4
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• pp.131-140
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• 1996

In this paper, we propose the method that extracts the speech feature using the hearing model through signal precessing techniques. The proposed method includes following procedure ; normalization of the short-time speech block by its maximum value, multi-resolution analysis using the discrete wavelet transformation and re-synthesize using thediscrete inverse wavelet transformation, differentiation after analysis and synthesis, full wave rectification and integration. In order to verify the performance of the proposed speech feature in the speech recognition task, korean digita recognition experiments were carried out using both the dTW and the VQ-HMM. The results showed that, in case of using dTW, the recognition rates were 99.79% and 90.33% for speaker-dependent and speaker-independent task respectively and, in case of using VQ-HMM, the rate were 96.5% and 81.5% respectively. And it indicates that the proposed speech feature has the potentials to use as a simple and efficient feature for recognition task.

• IE interfaces
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• v.17 no.2
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• pp.200-207
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• 2004

Because the designed workflow may contain potential errors which may result in deadlocks, livelocks and so on, it is important to analyze the correctness of a workflow definition before it is put into the run time environment. Proposed in this paper is a transformation procedure of an UML activity diagram into a Petri net for the analysis of a workflow. By combining the strengths of easy-to-use functionality of an activity diagram and the analysis power of a Petri net, workflow analysts in the enterprise can model and analyze various kinds of workflow definition more easily and accurately.

• Proceedings of the KIEE Conference
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• 1988.11a
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• pp.388-393
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• 1988

New circuit D-Q transformation concept is introduced to analyze AC converters such as inverters, rectifiers and cyclo-converters with ease. The equivalent linear time invariant circuit is obtained by substituting switches with equivalent turn-ratio variable transformers and changing balanced AC reactors into equivalent DC reactors combined by gyrators. This circuit enables us to utilize the powerful linear system analysis techniques such as Laplace transform otherwise which could not be applied to the time varying switching systems. Direct substitution of switches of DC converters with transformers is shown as a preliminary. Then the modeling procedure is shown for a controlled rectifier-inverter circuit. Finally an analysis example is proposed for a buck-boost inverter and the result is compared with the conventional approach. This approach is applicable to all AC converter families to determine the AC transfer functions and the DC operating points. It is identified that the switching systems are equivalent to the RLC filter circuits with transformers and gyrators.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.49 no.7
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• pp.370-377
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• 2000

This paper presents a decentralized compensator design procedure for large scale systems. By using a coordinate transformation method, interconnection terms in t도 subsystem are decoupled and a decentralized observer is designed independently as a form of Luenberger-type for each subsystem. And the decentralized compensator which can select the observer and controller gain independently is designed as a form of observer based controller for each subsystem. The proposed method has a simplicity and conciseness in the aspects of the determination of coordinate transformation matrices and the derivation of the separation principle which is adopted independently for each subsystem.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.3
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• pp.368-377
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• 2009

In this paper we study the gyro bias calibration method of SDINS(Strap-Down Inertial Navigation System). Generally, SDINS's calibration is performed in 2-axis(or 3-axis) rate table with chamber for varying ambient temperature. We assumed that the majority of calibration-parameter except for gyro bias is knowned. During gyrobias calibration procedure, it can be induced some disturbances(accelerometer's short-term error induced rate table rotation and anti-vibration mount's rotation). In these cases, old gyro-bias calibration methods(using velocity error or attitude error) have an error, because these disturbances are not detectable at the same time. So that, we propose a new gyro-bias calibration method(heading error minimizing using equivalent linear transformation) that can detect anti-vibration mount's rotation. And we confirm efficiency of the new gyro-bias calibration method by simulation.

• Transactions of the Korean Society of Mechanical Engineers
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• v.14 no.2
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• pp.367-375
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• 1990

A data structure representing 3-D objects was designed for the personal computer. It is very simple to be used in the personal computers which have small memory and low speed. A homogeneous transformation for developing 3-D objects was derived. Each developing procedure consists of five transformations : one translational-three rotational-one translational. Developing a solid is a creative work. So the results of developing vary with the order of surfaces to be developed. One method to reduce the length of seam was considered. The programs used in this study were written in Pascal and Assembly and a modeller that generates 3-D primitives was included. This program is an interactive dual-screen system. While all the menus in Korean are displayed at the monochrome monitor, the development figures with projective views are drawn at the color monitor. The program has wide applications for plate works.

• Proceedings of the KSME Conference
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• 2003.04a
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• pp.740-745
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• 2003

The so-called boundary node method (or NDIF method) that was developed by the authors has been extended for free vibration analysis of arbitrarily shaped plates with free edges. Since the proposed method is based on the collocation method, no integration procedure is needed on boundary edges of the plates and only a small amount of numerical calculation is required. A special coordinate transformation has been devised to consider the complicated free boundary conditions at boundary nodes. By the use of the special coordinate transformation, the radius of curvature involved in the free boundary conditions can be successfully dealt with. Finally, verification examples show that natural frequencies obtained by the present method agree well with those given by exact method and other analytical methods.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.33 no.12
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• pp.1433-1441
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• 2009

In multibody dynamic analysis, one of the most important problems is to reduce computation times for real-time simulation. This paper presents the derivation procedure of equations of motion of a 6${\times}$6 autonomous vehicle in terms of chassis local coordinates which do not require coordinates transformation matrix to enhance efficiency for real-time dynamic analysis. Also, equations of motion are derived using the VT(velocity transformation) technique and symbolic computation method coded by MATLAB. The Jacobian matrix of the equations of motion of a system is derived from symbolic operations to apply the implicit integration method. The analysis results were compared with ADAMS results to verify the accuracy and approve the feasibility of real time analysis.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2000.11a
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• pp.612-615
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• 2000

Cam mechanism is one of the common devices used in many automatic machinery. Specially cylindrical cam generates three dimensional motions. Thus, the shape design procedures must have high accuracy. This paper proposes the shape design procedure for a cylindrical cam and follower mechanism using a relative velocity method. The relative velocity method and the coordinate transformation are used to find a contact point between the cam and the follower. Also, the full shape of the cylindrical cam can be generated by using the geometric relationships and the contact constraints. As a result, this paper presents an example for the shape design of the cylindrical cam in order to prove the accuracy of the design procedures.