• 센서학회지
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• 제26권4호
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• pp.259-265
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• 2017

Magnetometer calibration must be performed before the use of three-axis magnetometers to ensure the accuracy of orientation estimation. Recently, one of the most popular calibration approaches is the ellipsoid fitting technique due to its high performance in calibration. To date, in fact, performances of the existing ellipsoid fitting methods have been evaluated with full range rotation data. However, in case of the calibration of magnetometers attached to vehicles, ships, and planes, it is very difficult to collect the full range rotation data since their allowable ranges in terms of roll and pitch are limited to small. This constraint may result in serious performance degradation of some ellipsoid fitting algorithms. Therefore, to be practical, this paper proposes a weighted least square-based magnetometer calibration method that is robust in roll-pitch limited conditions. Furthermore, the proposed method is a linear approach and thus is free from the well-known initial value issue in nonlinear approaches. Experimental results show the superiority of the proposed method to other ellipsoid-fitting calibration methods.

• Elastomers and Composites
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• 제38권2호
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• pp.157-166
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• 2003

The Edwards-Vilgis slip-link theory and the Kaliske-Heinrich extended tube theory were tested experimentally using published experimental data on networks of natural and isoprene rubber and on polysiloxane networks. All parameters were adjusted to achieve an optimum fit. The data description obtained with the EV theory is not satisfactory and the parameter values tend to lie outside their reasonably expected range. But for the region of low strains, the Kaliske-Heinrich theory offers a satisfactorily accurate data description which is able to serve for practical purposes. Its crosslink term, however, is based on approximations which lead to a questionable prediction and values determined for the exponent in the entanglement term lie outside the range expected by the KH model. Thus, the title question cannot be given a positive answer. Conclusions published earlier that the trapped entanglements contribute both to the crosslink and constraint (entanglement) term are supported by the present data analysis. Experimental equibiaxial data on hydrocarbon networks do not show any maximum on their stretch ratio dependence, contrary to the predictions of molecular theories. The stretch ratio dependences of relative reduced stresses do not sensitively reflect differences in the chemical nature of the chain backbone (hydrocarbon vs. siloxane) and in the crosslinking method (end-linking vs. random crosslinking).

• International Journal of Automotive Technology
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• 제7권3호
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• pp.361-367
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• 2006

This paper describes a novel stereo vision based localization of free parking site, which recognizes the target position of automatic parking system. Pixel structure classification and feature based stereo matching extract the 3D information of parking site in real time. The pixel structure represents intensity configuration around a pixel and the feature based stereo matching uses step-by-step investigation strategy to reduce computational load. This paper considers only parking site divided by marking, which is generally drawn according to relevant standards. Parking site marking is separated by plane surface constraint and is transformed into bird's eye view, on which template matching is performed to determine the location of parking site. Obstacle depth map, which is generated from the disparity of adjacent vehicles, can be used as the guideline of template matching by limiting search range and orientation. Proposed method using both the obstacle depth map and the bird's eye view of parking site marking increases operation speed and robustness to visual noise by effectively limiting search range.

• 한국수자원학회:학술대회논문집
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• 한국수자원학회 2020년도 학술발표회
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• pp.171-171
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• 2020

Decision making strategies should consider both adaptiveness and robustness in order to deal with two main characteristics of climate change: non-stationarity and deep uncertainty. Especially, robust strategies are different from traditional optimal strategies in the sense that they are satisfactory over a wider range of uncertainty and may act as a key when confronting climate change. In this study, a new framework named Robust Stochastic Dynamic Programming (R-SDP) is proposed, which couples previously developed robust optimization (RO) into the objective function and constraint of SDP. Two main approaches of RO, feasibility robustness and solution robustness, are considered in the optimization algorithm and consequently, three models to be tested are developed: conventional-SDP (CSDP), R-SDP-Feasibility (RSDP-F), and R-SDP-Solution (RSDP-S). The developed models were used to derive optimal monthly release rules in a single reservoir, and multiple simulations of the derived monthly policy under inflow scenarios with varying mean and standard deviations are undergone. Simulation results were then evaluated with a wide range of evaluation metrics from reliability, resiliency, vulnerability to additional robustness measures. Evaluation results were finally visualized with advanced visualization tools that are used in multi-objective robust decision making (MORDM) framework. As a result, RSDP-F and RSDP-S models yielded more risk averse, or conservative, results than the CSDP model, and a trade-off relationship between traditional and robustness metrics was discovered.

• 한국멀티미디어학회논문지
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• 제4권5호
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• pp.396-405
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• 2001

일반적으로 피부색과 유사한 칼라가 포함된 복잡한 배경으로부터 미리 정의된 단일 칼라 임계값을 이용해 얼굴영역을 정확하게 추출하는 것은 매우 어렵다. 이에 본 연구에서는 초기 피부색 범위를 점진적으로 확장시키면서 얼굴 영역을 추출하는 방법을 제안한다. 초기 피부색 범위는 인터넷에서의 다양한 영상으로부터 얼굴 영역의 피부색 분포를 분석하여 매우 밀집되어 나타나는 범위로 선정한다. 피부색 범위를 확장함에 따라 영상 공간에서의 얼굴후보 영역도 확장되어 나타나는데, 확장 단계별로 확장된 얼굴 후보 영역이 실제 얼굴임을 검증하기 위해 얼굴의 모양정보와 얼굴 기관의 위치적 정보를 사용한다. 모양 제한자로는 타원의 특성과 외접 사각형(bounding box)의 가로와 세로의 비율을 사용한다. 얼굴 기관으로는 눈과 입만을 사용했는데, 얼굴 후보 영역 내부의 가로 방향성을 가지는 경계가 주로 눈과 입의 영역임에 착안한 것으로서 비교적 수월하게 추출할 수 있기 때문이다. 실험을 통해, 제안한 방법이 하이라이트(highlight)에 의해 얼굴 영역의 일부가 왜곡된 경우와 얼굴 영역이 피부색과 유사한 배경에 인접해 있는 경우에 대해서도 강인하게 얼굴 영역을 추출할 수 있음을 확인할 수 있었다.

• Spatial Information Research
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• 제8권2호
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• pp.191-201
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• 2000

최근 들어 관광산업은 지역경제의 활성화, 도시환경의 정비 등 장소마케팅의 일환으로 그 영역이 더욱 확대되고 있는 추세이다. 그러나 국내의 경우, 특정시설을 위주로 한 단일기능적 접근방식에 의해 관광객의 주목을 유발할 수 있는 다양한 관광코스 개발이 이루어지지 못하고 있으며, 이로인해 상대적으로 관광 경쟁력이 확보되지 못한 실정에 있다. 이러한 문제점을 해결하고자 본 연구에서는 역사·문화 관광자원의 데이터베이스 구축과 이를 활성한 관광코스 개발방안을 강릉시의 사례를 중심으로 모색해 보았다. 역사·문화자원을 비롯한 여러 관광자원, 관광지원시설에 대한 정보시스템이 구축되면, 일차적으로 자원의 관리상태, 유형, 가치, 숙박가능 지역, 접근성 등을 고려하여 최적의 관광코스를 개발할 수 있다. 또한 향후 인터넷을 통한 관광서비스의 제공을 비롯한 교육, 자원의 관리 등 많은 영역에서 그 활용도가 매우 높다고 할 수 있다.

• 한국세라믹학회지
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• 제35권8호
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• pp.813-818
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• 1998

A simple method to measure the elastic modulus E and Poisson's ratio v of diamod-like carbon (DLC) films deposited on Si wafer was suggested. Using the anisotropic etching technique of Si we could make the edge of DLC overhang free from constraint of Si substrate. DLC film is chemically so inert that we could not on-serve any surface damage after the etching process. The edge of DLC overhang free from constraint of Si substrate exhibited periodic sinusoidal shape. By measuring the amplitude and the wavelength of the sinu-soidal edge we could determine the stain of the film required to adhere to the substrate. Since the residual stress of film can be determine independently by measurement of the curvature of film-substrate com-posite we could calculated the biaxial elastic modulus E/(1-v) using stress-strain relation of thin films. By comparing the biaxial elastic modulus with the plane-strain modulus E/(1-{{{{ { v}^{2 } }}) measured by nano-in-dentation we could further determine the elastic modulus and Poisson's ratio independently. This method was employed to measure the mechanical properties of DLC films deposited by {{{{ { {C }_{6 }H }_{6 } }} rf glow discharge. The was elastic modulus E increased from 94 to 169 GPa as the {{{{ { V}_{ b} / SQRT { P} }} increased from 127 to 221 V/{{{{ {mTorr }^{1/2 } }} Poisson's ratio was estimated to be abou 0.16∼0.22 in this {{{{ { V}_{ b} / SQRT { P} }} range. For the {{{{ { V}_{ b} / SQRT { P} }} less than 127V/{{{{ {mTorr }^{1/2 } }} where the plastic deformation can occur by the substrate etching process however the present method could not be applied.

• 한국산업정보학회논문지
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• 제25권2호
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• pp.39-47
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• 2020

본 논문은 추가 비용 없이 전기자동차(EV) 주행 범위를 확장하기 위해 에너지 효율적인 전기자동차 주행 프로파일을 도출하는 새로운 시스템 수준의 프레임 워크를 소개한다. 이 논문은 먼저 운전 차량에 작용하는 힘과 모터 효율을 고려한 전기차 파워 트레인 모델을 구현한 후, 경로에 의해 정의된 주행 임무에 대한 최소 에너지 주행 프로파일을 도출한다. 이를 위해서 본 프레임워크는 먼저 최적화 문제를 공식화하고, 가중치 계수를 이용한 동적 프로그래밍 알고리즘을 사용하여 에너지 소비와 운전 시간을 모두 최소화하는 주행 프로파일을 도출한다. 본 논문은 주행 시간 제약을 만족시키기 위한 다양한 가중치 계수 도출 방법을 소개한다. 시뮬레이션 결과, 제안 된 스케일링 알고리즘의 연산시간이 이진 검색 알고리즘 및 탐욕 알고리즘보다 각각 34 % 및 50 % 더 작음을 보여준다.

• Nuclear Engineering and Technology
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• 제47권7호
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• pp.838-848
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• 2015

One of the most important operations in nuclear power plants is load following, in which an imbalance of axial power distribution induces xenon oscillations. These oscillations must be maintained within acceptable limits otherwise the nuclear power plant could become unstable. Therefore, bounded xenon oscillation is considered to be a constraint for the load following operation. In this paper, the design of a sliding mode control (SMC), which is a robust nonlinear controller, is presented.SMCis ameansto control pressurized water nuclear reactor (PWR) power for the load following operation problem in a way that ensures xenon oscillations are kept bounded within acceptable limits. The proposed controller uses constant axial offset (AO) strategy to ensure xenon oscillations remain bounded. The constant AO is a robust state constraint for the load following problem. The reactor core is simulated based on the two-point nuclear reactor model with a three delayed neutron groups. The stability analysis is given by means of the Lyapunov approach, thus the control system is guaranteed to be stable within a large range. The employed method is easy to implement in practical applications and moreover, the SMC exhibits the desired dynamic properties during the entire output-tracking process independent of perturbations. Simulation results are presented to demonstrate the effectiveness of the proposed controller in terms of performance, robustness, and stability. Results show that the proposed controller for the load following operation is so effective that the xenon oscillations are kept bounded in the given region.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2003년도 ICCAS
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• pp.818-829
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• 2003

A cooperating control algorithm for two nonholonomic mobile robots is proposed. The task is composed of collision avoidance against obstacles and carrying a ladder. The front robot and the rear robot are called the leader and the follower, respectively. Each robot has a nonholonomic constraint so it cannot move in perpendicular directions. The environment is initially supposed to be unknown except target position. The torque that drives leader is determined by distance between the leader and the target position or the distance between it and the obstacles. The torque by target is attractive and the torque by obstacles is repulsive. The two mobile robots are supposed to be connected by link that can be expanded and contracted. The follower computes its torque using position and orientation information from the leader by communication. Simulation results show that the robots can drive to target position without colliding into the obstacles and maintain the distance in the allowable range.