• 한국생산제조학회지
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• 제8권1호
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• pp.126-134
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• 1999

In this paper, a new error compensating technique for form-error compensation of rough-surface profile obtained by contact stylus profilometer is proposed. By the method, the real contact points of rough-surface and diamond stylus can be estimated and the measured profile data corrected. To verify the compensation effect, the properties(Ra, RMS, Kurtosis, Skewness) of measured profile data and compensated data were compared. And, the cumulative RMS slope was proposed to assess the compensated effect of upper area of profile. The results show that the measuring error could be compensated very well in amplitude parameters and in proposed cumulative RMS slope by the developed form-error compensating technique.

• 로봇학회논문지
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• 제17권2호
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• pp.142-151
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• 2022

With the advent of the 4th industrial revolution, autonomous driving technology is being commercialized in various industries. However, research on autonomous driving so far has focused on platforms with wheel-type platform. Research on a tracked platform is at a relatively inadequate step. Since the tracked platform has a different driving and steering method from the wheel-type platform, the existing research cannot be applied as it is. Therefore, a path-tracking algorithm suitable for a tracked platform is required. In this paper, we studied a path-tracking algorithm for a tracked platform based on a GPS sensor. The existing Pure Pursuit algorithm was applied in consideration of the characteristics of the tracked platform. And to compensate for "Cutting Corner", which is a disadvantage of the existing Pure Pursuit algorithm, an algorithm that changes the LAD according to the curvature of the path was developed. In the existing pure pursuit algorithm that used a tracked platform to drive a path including a right-angle turn, the RMS path error in the straight section was 0.1034 m and the RMS error in the turning section was measured to be 0.2787 m. On the other hand, in the variable LAD algorithm, the RMS path error in the straight section was 0.0987 m, and the RMS path error in the turning section was measured to be 0.1396 m. In the turning section, the RMS path error was reduced by 48.8971%. The validity of the algorithm was verified by measuring the path error by tracking the path using a tracked robot platform.

• 한국환경과학회지
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• 제8권3호
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• pp.309-318
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• 1999

In order to fast predict the wind-driven current in a small bay, a convolution method in which the wind-driven current can be generated only wih the local wind is developed and applied in the Sachon Bay. The root mean square(rms) ratio defined as the ratio of the rms error to the rms speed is 0.37. The rms ratio is generally less than 0.2, except for all the mouths of Junju Bay and Namhae-do and in the region between Saryang Island and Sachon. The spatial average of the recover rate of kinetic energy(rrke) is 87%. Thus, the predicted wind-driven current by the convolution model is in a good agreement with the computed one by the numerical model. The raio of the difference between observed residual current (Vr) and predicted wind-driven current (Vc) to a residual current, that is, (Vr-Vc)/Vr shows 56%, 62% at 2 moorings in the Sachon Bay.

• 한국해안·해양공학회논문집
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• 제26권4호
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• pp.207-216
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• 2014

총유기탄소(TOC)는 해양의 탄소순환 연구분야에서 직접적인 생물학적 지표로 이용되는 중요한 인자다. 가용한 TOC 자료가 상대적으로 화학적산소요구량(COD) 자료 보다 부족하기 때문에 COD 자료를 활용하여 TOC 자료를 추정할 수 있다. COD를 TOC 로의 변환 시 TOC 추정에 직접적으로 영향을 미치는 COD 관측자료에 포함된 이상자료의 탐지와 적절한 처리는 합리적이고 객관적으로 수행되어야 한다. 본 연구에서는 국내 연안해역에서 관측된 염분, COD 및 TOC 자료에 대한 최적회귀모형을 제시하였다. 최적회귀모형은 이상자료와 영향자료를 여러 가지 탐색방법으로 진단하여 제거 전 후의 자료 개수 변화, 변동계수 및 RMS 오차를 비교 및 분석하여 선택하였다. 연구수행 결과, Cook의 진단방법과 SIQR의 boxplot 방법을 조합한 방법이 가장 적절한 것으로 파악되었다. 최적 회귀 함수는 TOC(mg/L) = $0.44{\cdot}COD(mg/L)+1.53$ 이고, 결정계수는 0.47 정도로 나타났으며, RMS 오차는 0.85 mg/L이다. RMS 오차와 지레계수(leverage values)의 변동계수는 이상자료 제거 전에 비하여 각각 31%, 80%로 크게 감소되었다. 본 연구에서 제시된 방법을 통해 COD와 TOC 관측자료에 포함된 이상자료와 영향자료의 과도한 영향을 진단 및 제거하였기 때문에 보다 적절한 회귀곡선식을 제시할 수 있었다.

• Journal of Positioning, Navigation, and Timing
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• 제9권4호
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• pp.357-366
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• 2020

This paper addressed a relative navigation method for autonomous rendezvous and docking of cube-satellites using single frequency Differential GPS (DGPS) under the intermittent communication between satellites. Since the ionospheric error of GPS measurement is variable depending on the visible satellites, a few meters error of relative navigation is occurred in the Low-Earth Orbit (LEO) environment. Therefore, it is essential to remove the ionospheric error to perform relative navigation. Besides, an intermittent communication period for receiving GPS measurements of the target satellite is limited for getting information every sampling time. To solve this problem, a method combining range domain DGPS and orbit propagation is proposed in this paper. The proposed method improves the performance of DGPS by using Hatch filter and solves an intermittent communication problem by estimating the relative position and velocity using Hill-Clohessy-Wiltshire Equation. Through the simulation, it is verified that the suggested algorithm provides the relative position error within RMS 0.5 m and the relative velocity error within RMS 3 cm/s. Furthermore, it has the advantage that it is suitable for real-time implementation using single-frequency GPS measurements and is computationally efficient.

• 대한공간정보학회지
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• 제17권3호
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• pp.71-79
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• 2009

본 연구에서는 단일 고해상도 영상으로부터 그림자와 건물 연직선을 이용한 3차원 건물 정보 추출 알고리즘을 확장하여 메타정보가 없는 단일 고해상도 영상에서도 3차원 건물 정보 추출 생성 방법을 제안하고, 이를 통해서 3차원 건물 모델 생성 가능성에 대해서 연구하였다. 제안된 방법은 메타정보가 없는 영상에서 기준 건물을 선택하고, 기준 건물에 높이를 부여하여 이로부터 센서와 태양의 고도각 및 방위각을 추정한다. 스테레오 IKONOS 위성영상에서 추출한 건물의 높이를 실제 높이라고 가정했을 때, 제안된 방법으로 메타정보를 이용하지 않고 IKONOS 영상으로부터 추출한 20개의 건물 높이 RMS 오차는 3m 미만이었으며, 5개의 건물 수평 위치를 1:1000 수치지형도의 건물 수평 위치와 비교한 결과, RMS 오차가 3m 미만이었다. 또한 제안된 방법을 구글어스로부터 추출한 영상에 적용한 결과, 17개 건물 높이의 RMS 오차가 3m 미만이었다. 제안된 방법으로 생성한 3차원 건물 모델을 육안으로 비교한 결과, 메타정보를 이용하여 생성한 3차원 건물 모델과 유사한 높이 패턴을 보여주었다. 이를 통해서 제안된 방법으로 메타정보가 없는 고해상도 영상에서 3차원 건물 모델이 추출될 수 있다고 판단하였다.

• International Journal of Aeronautical and Space Sciences
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• 제15권3호
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• pp.302-308
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• 2014

In this paper, a detailed investigation of the random vibration test is presented for strapdown inertial navigation systems (INS). The effect of the random vibration test has been studied from the point of view of navigation performance. The role of distribution functions and RMS value is represented to determine a feasible method to reject or reduce vibration related error in position and velocity estimation in inertial navigation. According to a survey conducted by the authors, this is the first time that the effect of the distribution function in vibration related error has been investigated in random vibration testing of INS. Recorded data of navigation grade INS is used in offline static navigation to examine the effect of different characteristics of random vibration tests on navigation error.

• Nuclear Engineering and Technology
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• 제44권4호
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• pp.355-362
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• 2012

The aim of this study was to develop a bundle position-wise linear model (BPLM) to predict Pressure Tube (PT) diametral creep employing the previously measured PT diameters and operating conditions. There are twelve bundles in a fuel channel, and for each bundle a linear model was developed by using the dependent variables, such as the fast neutron fluences and the bundle coolant temperatures. The training data set was selected using the subtractive clustering method. The data of 39 channels that consist of 80 percent of a total of 49 measured channels from Units 2, 3, and 4 of the Wolsung nuclear plant in Korea were used to develop the BPLM. The data from the remaining 10 channels were used to test the developed BPLM. The BPLM was optimized by the maximum likelihood estimation method. The developed BPLM to predict PT diametral creep was verified using the operating data gathered from Units 2, 3, and 4. Two error components for the BPLM, which are the epistemic error and the aleatory error, were generated. The diametral creep prediction and two error components will be used for the generation of the regional overpower trip setpoint at the corresponding effective full power days. The root mean square (RMS) errors were also generated and compared to those from the current prediction method. The RMS errors were found to be less than the previous errors.

• 한국소음진동공학회:학술대회논문집
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• 한국소음진동공학회 2000년도 춘계학술대회논문집
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• pp.1945-1950
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• 2000

When one build a building that posses Precison production process to be sensitive to vibration and SMD to procuce a large dynamic force, how do one predict & answer vibration control problem at building structure design at first stage, That is a question. It has tried to predict dynamic response and establish answering about global or local dynamic problem in building using experimental and analysis method. One of such a try, it be proposed Semi-Empirial Method that reduce error element of input information about dynamic analysis using dynamic experimental study and measurement data in the basis of real-structure. In this paper, the dynamic response problem about RC-structure building that will be set-up SMD produce large transient dynamic force using Semi-Empirical Method.

• 한국정보전자통신기술학회논문지
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• 제6권3호
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• pp.148-151
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• 2013

모델 오차 효과 및 민감도 분석을 사용하여 도래 방향 추정의 새로운 방법을 제시한다. 원하는 신호가 모델 오차 교정 효과를 통해 간섭을 제거한 후 얻어지게 되므로 추정에 있어서 채널 간섭 영향이 크게 줄어들게 된다. 모의실험을 통해 본 연구에서 제안된 방법이 기존의 방법에 비해 분해능과 정확성 추정이 향상되었음을 입증하였다.