• 한국정보통신학회:학술대회논문집
• /
• 한국정보통신학회 2018년도 춘계학술대회
• /
• pp.68-71
• /
• 2018

본 논문에서는 수중 음향네트워크에서 긴 전파지연 시간과 불확실한 지연시간 변이로 인한 영향을 최소화하고 느린 전송속도를 고려하여 패킷 트레인 방식의 수중동기화 프로토콜을 제안한다. 이를 위해 단방향 통신방식으로 연속된 패킷을 전송하고, 수신패킷 시각차를 이용하여 전파지연시간 변화량만을 고려하여 수중 동기화과정을 수행한다. 제안된 동기화 프로토콜은 노드의 이동성, 패킷전송 시간차, 네트워크 범위, 동기화 경과시간에 따른 동기화 성능을 시뮬레이션을 통해 분석하고 우수성을 보인다.

• 제어로봇시스템학회논문지
• /
• 제20권11호
• /
• pp.1136-1141
• /
• 2014

This paper proposes a new contact type ball tracking sensor to improve the control performance of a low cost ball-and-beam system. It is well-known that the impulsive measurement noise contained in ball position measurement is one of the factors which severely degrades the ball-and-beam control performance. The impulsive ball position measurement noises often appear under the sporadical ball floating on the beam. This fact motivates us to devise a simple analog preprocessing circuit to determine whether the ball loses the contact or not. Once the abnormal ball position measurement is detected, the design problem of the ball tracking sensor can be cast into the typical state estimation problem with missing data. In order to tackle the real-time implementation issue, a steady-state Kalman filter is applied to the problem. Through the experimental results, the usefulness of the proposed scheme is demonstrated.

• 제어로봇시스템학회논문지
• /
• 제20권11호
• /
• pp.1085-1091
• /
• 2014

This paper presents the guidance and control design for automatic carrier landing of a UAV (Unmanned Aerial Vehicle). Differently from automatic landing on a runway on the ground, the motion of a carrier deck is not fixed and affected by external factors such as ship movement and sea state. For this reason, robust guidance/control law is required for safe shipboard landing by taking the relative geometry between the UAV and the carrier deck into account. In this work, linear quadratic optimal controller and longitudinal/lateral trajectory tracking guidance algorithm are developed based on a linear UAV model. The feasibility of the proposed control scheme and guidance law for the carrier landing are verified via numerical simulations using X-Plane and Matlab/simulink.

• 제어로봇시스템학회논문지
• /
• 제13권3호
• /
• pp.230-234
• /
• 2007

Generally, huge amounts of data traffic are generated by using broadcasting method to deliver sensing data to a sink node reliably so that it makes a severe network saturation problem resulting in unreliable data transfer. In order to handle this problem, a new congestion control protocol is required for supporting reliable data transfer, minimal use of energy and network resources at the same time in wireless sensor networks. In this paper, it proposes a Protocol to guarantee both a reliable transfer in data accuracy and minimum consumption of energy waste by using Hop-by-Hop sequence number and DSbACK(Delayed and Selective ACK Buffer Condition) scheme. In addition, it proves that reliability and energy efficiency are enhanced by the proposed method with the simulation results performed on TinyOS platform which is a component based built-in OS announced by UC Berkely with the performance comparison of other existing methods.

• 대한조선학회논문집
• /
• 제52권4호
• /
• pp.283-289
• /
• 2015

RGT(Riser Guide Tube) is a part of mooring on the bottom of a turret system to be connected with a production riser, and DBSC(Diverless Bend Stiffener Connector) is a latching component between them. In this paper, appropriate lug arrangement is decided mathematically for the case that a DBSC is lifted and installed on a RGT under the water while FPSO is under construction. Considering asymmetric arrangement & position of RGT and initial lug position, additional lug positions are determined by using an optimization method. The modified installation scheme with new lug points is investigated with a lifting simulation system, SIMSON. The simulation result shows that the installation of DBSC on RGT under the given conditions is quite feasible; therefore the mathematical method is proven to be appropriate.

• 제어로봇시스템학회논문지
• /
• 제14권9호
• /
• pp.931-938
• /
• 2008

In this paper, a novel localization algorithm robust to the unmodeled systematic odometry errors is proposed for low-cost non-holonomic mobile robots. It is well known that the most pose estimators using odometry measurements cannot avoid the performance degradation due to the dead-reckoning of systematic odometry errors. As a remedy for this problem, we tty to reflect the wheelbase error in the robot motion model as a parametric uncertainty. Applying the Krein space estimation theory for the discrete-time uncertain nonlinear motion model results in the extended robust Kalman filter. This idea comes from the fact that systematic odometry errors might be regarded as the parametric uncertainties satisfying the sum quadratic constrains (SQCs). The advantage of the proposed methodology is that it has the same recursive structure as the conventional extended Kalman filter, which makes our scheme suitable for real-time applications. Moreover, it guarantees the satisfactoty localization performance even in the presence of wheelbase uncertainty which is hard to model or estimate but often arises from real driving environments. The computer simulations will be given to demonstrate the robustness of the suggested localization algorithm.

• 한국정보과학회:학술대회논문집
• /
• 한국정보과학회 2011년도 한국컴퓨터종합학술대회논문집 Vol.38 No.1(C)
• /
• pp.105-108
• /
• 2011

범정부적인 차원에서 기록물은 종이 위주의 생산방식에서 전자문서방식으로 변하고 있다. 이미, 많은 국가에서 표준을 정의하여 기록물에 대한 연구가 진행되고 있다. 또한, 기록물을 효과적으로 저장하기 위한 기록물 보존소에 대한 연구도 활발하게 진행 되고 있다. 대부분의 기록물 보존소는 OAIS 참조모델을 기반으로 구성이 되고 있으며, SIP, AIP, DIP 패키지 형태로 수집, 보관, 배포되고 있다. 이러한 기록물 패키지들은 다양한 메타데이터 스키마를 포함 할 수 있어서, 여러 종류의 기록물들의 수집, 보관, 배포가 용이 하게 하지만, 기록물 보존소에 저장되어 있는 기록물 패키지를 검색하기 위해서는 다양한 스키마를 모두 검색 할 수 있어야 하는 문제점이 존재한다. 따라서 본 논문에서는 기록물 패키지를 위한 신경망 회로 기반 자동 스키마 매칭 기법을 제안 하고자 한다. 신경망 회로 기반 자동분류 알고리즘을 통하여 기록물 패키지 안에 존재하는 다양한 형태의 메타데이터 스키마들에 대한 검색을 가능하게 한다. 또한, 실험을 통하여 제안하는 방법의 정확성을 확인 하였다.

• 한국시뮬레이션학회논문지
• /
• 제15권4호
• /
• pp.107-117
• /
• 2006

무선 센서 네트워크는 센서노드와 싱크로 구성되며, 센서 노드로부터 생성된 신호들은 싱크로 전송되어 처리된다. 센서네트워크는 모든 노드들이 한정된 에너지를 가지고 운용되기 때문에 센서 네트워크를 오랫동안 유지하기 위한 연구가 많이 진행되어 왔다. 대부분의 연구들은 싱크를 고정으로 가정하였다. 그러나 실제 환경에서는 사람이나 자동차등에 의해 싱크가 이동성을 가지는 경우가 많다. 본 논문에서는 이동 싱크에 기반한 그리드 방식을 적용하여 노드의 에너지 소비를 줄이기 위한 방안을 제안한다. 이 방안은 대부분의 라우팅 작업량을 이동 싱크가 처리하고, 무선 센서지역을 세분화하여 운용함으로써 전력 소비를 줄인다. 또한 시뮬레이션에 의한 성능 평가를 통해 제안방안에 대해 분석하였다.

• 한국정보처리학회:학술대회논문집
• /
• 한국정보처리학회 2002년도 춘계학술발표논문집 (상)
• /
• pp.647-650
• /
• 2002

The human faces do not have distinct features unlike other general objects. In general the features of eyes, nose and mouth which are first recognized when human being see the face are defined. These features have different characteristics depending on different human face. In this paper, We propose a face recognition algorithm using the hidden Markov model(HMM). In the preprocessing stage, we find edges of a face using the locally adaptive threshold scheme and extract features based on generic knowledge of a face, then construct a database with extracted features. In training stage, we generate HMM parameters for each person by using the forward-backward algorithm. In the recognition stage, we apply probability values calculated by the HMM to input data. Then the input face is recognized by the euclidean distance of face feature vector and the cross-correlation between the input image and the database image. Computer simulation shows that the proposed HMM algorithm gives higher recognition rate compared with conventional face recognition algorithms.

• 전기학회논문지
• /
• 제61권5호
• /
• pp.726-734
• /
• 2012

In this paper, a practical warhead tracking filter is proposed for developing a FMCW (Frequency Modulation Continuous Wave) seeker with anti-ballistic missile capability. For reliable warhead tracking, the measurement originated from the warhead section of a ballistic target should be separated from other measurements. Futhermore, since the FMCW seeker is based on triangular frequency modulation, the multiple measurements obtained in different chirp periods should be properly associated. As a systematic way to solve the problem, the measurement pairing problem under cluttered environment is reformulated as a data association filtering problem and the PDA (Probabilistic Data Association) scheme is applied. The proposed warhead tracking filter provides better warhead tracking performance compared to the conventional range tracking algorithm and nearest neighbor warhead tracking filter. The effectiveness and reliability of the proposed method are verified using the FMCW seeker simulator.