• The Journal of Korea Robotics Society
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• v.17 no.3
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• pp.373-380
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• 2022

This paper considers a method of fast correspondence matching for iterative closest point (ICP) algorithm. In robotics, the ICP algorithm and its variants have been widely used for pose estimation by finding the translation and rotation that best align two point clouds. In computational perspectives, the main difficulty is to find the correspondence point on the reference point cloud to each observed point. Jump-table-based correspondence matching is one of the methods for reducing computation time. This paper proposes a method that corrects errors in an existing jump-table-based correspondence matching algorithm. The criterion activating the use of jump-table is modified so that the correspondence matching can be applied to the situations, such as point-cloud registration problems with highly curved surfaces, for which the existing correspondence-matching method is non-applicable. For demonstration, both hardware and simulation experiments are performed. In a hardware experiment using Hokuyo-10LX LiDAR sensor, our new algorithm shows 100% correspondence matching accuracy and 88% decrease in computation time. Using the F1TENTH simulator, the proposed algorithm is tested for an autonomous driving scenario with 2D range-bearing point cloud data and also shows 100% correspondence matching accuracy.

• The Journal of Advanced Prosthodontics
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• v.6 no.1
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• pp.1-7
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• 2014

PURPOSE. The accuracy of a gypsum model (GM), which was taken using a conventional silicone impression technique, was compared with that of a polyurethane model (PM), which was taken using an iTero$^{TM}$ digital impression system. MATERIALS AND METHODS. The maxillary first molar artificial tooth was selected as the reference tooth. The GMs were fabricated through a silicone impression of a reference tooth, and PMs were fabricated by a digital impression (n=9, in each group). The reference tooth and experimental models were scanned using a 3 shape convince$^{TM}$ scan system. Each GM and PM image was superimposed on the registered reference model (RM) and 2D images were obtained. The discrepancies of the points registered on the superimposed images were measured and defined as GM-RM group and PM-RM group. Statistical analysis was performed using a Student's T-test (${\alpha}=0.05$). RESULTS. A comparison of the absolute value of the discrepancy revealed a significant difference between the two groups only at the occlusal surface. The GM group showed a smaller mean discrepancy than the PM group. Significant differences in the GM-RM group and PM-RM group were observed in the margins (point a and f), mesial mid-axial wall (point b) and occlusal surfaces (point c and d). CONCLUSION. Under the conditions examined, the digitally fabricated polyurethane model showed a tendency for a reduced size in the margin than the reference tooth. The conventional gypsum model showed a smaller discrepancy on the occlusal surface than the polyurethane model.

• Journal of information and communication convergence engineering
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• v.14 no.4
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• pp.207-214
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• 2016

In this paper, we propose a radial reference map-based location fingerprinting technique with constant spacing from an access point (AP) to all reference points by considering the minimum dynamic range of the received signal strength indicator (RSSI) obtained through an experiment conducted in an indoor environment. Because the minimum dynamic range, 12 dBm, of the RSSI appeared every 20 cm during the training stage, a cell spacing of 80 cm was applied. Furthermore, by considering the minimum dynamic range of an RSSI in the location estimation stage, when an RSSI exceeding the cumulative average by ${\pm}6dBm$ was received, a previously estimated location was provided. We also compared the location estimation accuracy of the proposed method with that of a conventional fingerprinting technique that uses a grid reference map, and found that the average location estimation accuracy of the conventional method was 21.8%, whereas that of the proposed technique was 90.9%.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.25 no.4
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• pp.530-536
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• 2021

Since the LBP algorithm has the characteristic of local texture expression, it is possible to obtain completely different results depending on the extraction location and the size of the reference image and the sample image. In order to solve these shortcomings, in this paper, we first investigate the basic characteristics of LBP, make the size of the reference image (100×100) in order to include most of the characteristics in the image, and select a sample image (40×40) extracted from an arbitrary point. After finding the matching position in the LBP of the reference image by using the correlation test between the LBP of the reference image and the LBP of the sample image, a chi analysis method is used to find the reference image that most closely matches the sample image.

• Journal of Electrical Engineering and Technology
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• v.10 no.6
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• pp.2221-2227
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• 2015

To arrest a frequency nadir, a stepwise inertial control (SIC) scheme generates a constant active power reference signal of a wind turbine generator (WTG) immediately after a disturbance and maintains it for the predetermined time. From that point, however, the reference of a WTG abruptly decreases to restore the rotor speed for the predefined period. The abrupt decrease of WTG output power will inevitably cause a second frequency dip. In this paper, we propose a modified SIC scheme of a doubly-fed induction generator (DFIG) that can prevent a second frequency dip. A reference value of the modified SIC scheme consists of a reference for the maximum power point tracking control and a constant value. The former is set to be proportional to the cube of the rotor speed; the latter is determined so that the rotor speed does not reach the minimum operating limit by considering the mechanical power curve of a DFIG. The performance of the modified SIC was investigated for a 100 MW aggregated DFIG-based wind power plant under various wind conditions using an EMTP-RV simulator. The results show that the proposed SIC scheme significantly increases the frequency nadir without causing a second frequency dip.

• Korean Journal of Fisheries and Aquatic Sciences
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• v.41 no.2
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• pp.107-112
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• 2008

To evaluate uncertainty and risk in biological reference points, we applied a bootstrapping method and a Bayesian procedure to estimate the related confidence intervals. Here we provide an example of the maximum sustainable yield (MSY) of turban shell, Batillus cornutus, estimated by the Schaefer and Fox models. Fitting the time series of catch and effort from 1968 to 2006 showed that the Fox model performs better than the Schaefer model. The estimated MSY and its bootstrap percentile confidence interval (CI) at ${\alpha}=0.05$ were 1,680 (1,420-1,950) tons for the Fox model and 2,170 (1,860-2,500) tons for the Schaefer model. The CIs estimated by the Bayesian approach gave similar ranges: 1,710 (1,450-2,000) tons for the Fox model and 2,230 (1,760-2,930) tons for the Schaefer model. Because uncertainty in effort and catch data is believed to be greater for earlier years, we evaluated the influence of sequentially excluding old data points by varying the first year of the time series from 1968 to 1992 to run 'backward' bootstrap resampling. The results showed that the means and upper 2.5% confidence limit (CL) of MSY varied greatly depending on the first year chosen whereas the lower 2.5% CL was robust against the arbitrary selection of data, especially for the Schaefer model. We demonstrated that the bootstrap and Bayesian approach could be useful in precautionary fisheries management, and we advise that the lower 2.5% CL derived by the Fox model is robust and a better biological reference point for the turban shells of Jeju Island.

• Nuclear Engineering and Technology
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• v.54 no.5
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• pp.1754-1759
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• 2022

The activity of gamma-ray emitting nuclides is calculated assuming that each gamma-ray is detected individually; thus, the magnitude of the coincidence summing signal must be considered during activity calculations. Here, the correction factor for the coincidence summing effect was calculated, and the detection efficiencies of two HPGe detectors were compared. The CANBERRA Inc. GC4018 high-purity Ge detector provided an estimate for the peak-to-total ratio using a point source to determine the coincidence summing correction factor. The ORTEC Inc. GEM60 high-purity Ge detector uses EFFTRAN in LVis to obtain the parameters of the detector and source model and the gamma-gamma and gamma-X match estimates, in order to determine the coincidence summing correction factor. Nuclide analyses, radioactivity comparisons, and analyses of reference material samples were performed utilizing certified reference materials to accurately determine the detection efficiencies. For both Co-60 and Y-88, the detection efficiency for a point source increased by an average of at least 12-13%, whereas the detection efficiency determined using LVis increased by an average of at least 13-15%. The calculated radioactivity values of the certified reference material and reference material samples were accurate to within 3% and 6% of the measured values, respectively.

• Journal of Positioning, Navigation, and Timing
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• v.13 no.1
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• pp.85-92
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• 2024

This study develops a Global Positioning System (GPS) Code Multipath Grid Map (CMGM) of each individual domestic reference station from the extracted code multipath of measurement data. Multipath corresponds to signal reflection/refraction caused by obstacles around the receiver antenna, and it is a major source of error that cannot be eliminated by differencing. From the receiver-independent exchange format (RINEX) data for two days, the associated code multipath of a satellite tracking arc is extracted. These code multipath data go through bias correction and interpolation to yield the CMGM with respect to the azimuth and elevation angles. The effect of the CMGM on multipath mitigation is then quantitatively analyzed to improve the Root Mean Square (RMS) of averaged pseudo multipath. Furthermore, the single point positioning (SPP) accuracy is analyzed in terms of the RMS of the horizontal and vertical errors. During two weeks in February 2023, the RMSs of the averaged pseudo multipath for five reference stations decreased by about 40% on average after CMGM application. Also, the SPP accuracies increased by about 7% for horizontal errors and about 10% for vertical errors on average after CMGM application. The overall quantitative analysis indicates that the proposed approach will reduce the convergence time of Differential Global Navigation Satellite System (DGNSS), Real-Time Kinematic (RTK), and Precise Point Positioning (PPP)-RTK correction information in real-time to use measurement data whose code multipath is corrected and mitigated by the CMGM.

• 제어로봇시스템학회:학술대회논문집
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• 1991.10a
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• pp.156-161
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• 1991

It is difficult to realize precise control by a fuzzy control scheme alone because control signals are derived from fuzzy inferences. On the other hand, pole-placement control can offer a precise control to a known system. In this paper, a VSC(variable structure control)scheme is proposed, which is an attempt to take merits of pole-placement control and fuzzy control. On the vicinity of the reference point the pole-placement control scheme takes over the role of the fuzzy controller to improve the set point response.

• Proceedings of the KSR Conference
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• 1998.11a
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• pp.429-436
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• 1998

In this paper, we derive the algorithm for calculating contact point between wheel and rail and develop the method for track modeling. The proposed methods use travelling distance to represent track center line poistion vector and track orientation with respect to Newtonian reference frame. The proposed methods can be easily used in multibody dynamic analysis. Two numerical examples are given to verify the validity of the proposed methods.