• Journal of Advanced Marine Engineering and Technology
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• 제39권2호
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• pp.187-194
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• 2015

Accurate relative location estimation is a key requirement in indoor localization systems based on wireless sensor networks (WSNs). However, although these systems have applied not only various optimization algorithms but also fusion with sensors to achieve high accuracy in position determination, they are difficult to provide accurate relative azimuth and locations to users because of cumulative errors in inertial sensors with time and the influence of external magnetic fields. This paper based on ultra-wideband positioning system, which is relatively suitable for indoor localization compared to other wireless communications, presents an indoor localization system for estimating relative azimuth and location of location-unaware nodes, referred to as target nodes without applying any algorithms with complex variable and constraints to achieve high accuracy. In the proposed method, the target nodes comprising three mobile nodes estimate the relative distance and azimuth from two reference nodes that can be installed by users. In addition, in the process of estimating the relative localization information acquired from the reference nodes, positioning errors are minimized through a novel modified rounding estimation technique in which Kalman filter is applied without any time consumption algorithms. Experimental results show the feasibility and validity of the proposed system.

• International Journal of Aeronautical and Space Sciences
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• 제12권1호
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• pp.24-36
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• 2011

A new approach for spacecraft absolute attitude estimation based on the unscented Kalman filter (UKF) is extended to relative attitude estimation and navigation. This approach for nonlinear systems has faster convergence than the approach based on the standard extended Kalman filter (EKF) even with inaccurate initial conditions in attitude estimation and navigation problems. The filter formulation employs measurements obtained from a vision sensor to provide multiple line(-) of(-) sight vectors from the spacecraft to another spacecraft. The line-of-sight measurements are coupled with gyro measurements and dynamic models in an UKF to determine relative attitude, position and gyro biases. A vector of generalized Rodrigues parameters is used to represent the local error-quaternion between two spacecraft. A multiplicative quaternion-error approach is derived from the local error-quaternion, which guarantees the maintenance of quaternion unit constraint in the filter. The scenario for bounded relative motion is selected to verify this extended application of the UKF. Simulation results show that the UKF is more robust than the EKF under realistic initial attitude and navigation error conditions.

• International Journal of Industrial Entomology and Biomaterials
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• 제17권2호
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• pp.173-180
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• 2008

The influence of temperature and relative humidity in infection and cross-infection of Nosema bombycis and N. mylitta respectively in mulberry silkworm, Bombyx mori L. on larval mortality, multiplication of pathogens, larval weight and growth rate in three different seasons were studied. Seasons were selected in such condition, when very less fluctuations between minimum and maximum temperature and minimum and maximum relative humidity ($25{\sim}28^{\circ}C$ and $65{\sim}72%$ R.H) was observed i.e., season-1. Fluctuations between minimum and maximum temperature were less ($28.05{\sim}34.50^{\circ}C$) but R.H % was more ($55{\sim}81%$) in season-2. Fluctuations between minimum and maximum temperature and R.H % were more ($20.00{\sim}40.5^{\circ}C$ and $64.00{\sim}90.00%$) in season-3. Growth rate of microsporidian-infected silkworm is directly related to the prevailing temperature and relative humidity in silkworm. Silkworm can tolerate slight variation of temperature but slight variation of relative humidity disfavours the development of silkworm and favours the multiplication of pathogens.

• International Journal of Ocean System Engineering
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• 제4권1호
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• pp.1-18
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• 2014

Heave plates have been widely used to enhance viscous damping and thus reduces the heave response of Spar platforms. Single heave plate attached to the keel of the Spar has been reported in literature (Tao and Cai 2004). The effect of double heave plates on hydrodynamic response in random waves has been investigated in this study. The influence of relative spacing $L_d/D_d$ ($D_d$-the diameter of the heave plate) on the hydrodynamic response in random waves has been simulated in wave basin experiments and numerical model. The experimental investigation has been carried out using 1:100 scale model of Spar with double heave plates in random waves for different relative spacing and varying wave period. The influence of relative spacing between the heave plates on the motion responses of Spar are evaluated and presented. Numerical investigation has been carried out to investigate effect of relative spacing on hydrodynamic characteristics such as heave added mass and hydrodynamic responses. The measured results were compared with those obtained from numerical simulation and found to be in good agreement. Experimental and numerical simulation shows that the damping coefficient and added mass does not increase for relative spacing of 0.4 and the effect greater than relative spacing on significant heave response is insignificant.

• 한국환경과학회지
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• 제26권5호
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• pp.585-590
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• 2017

The Diameter at Breast Height (DBH) provides information about the volume growth of a tree. In this study, we estimated the relative growth rates of Castanea crenata and Pinus rigida as 4.07% and 3.73%, respectively. Although the difference was low, we demonstrated that the growth rate of C. crenata is slightly faster than that of P. rigida. After calculating the relative growth rate for each section, we found that the relative growth of C. crenata decreased with time. However, the relative growth rate of P. rigida showed an overall increase. The gap widths of both species showed an increasing trend. However, the gradient of the two species was different. The gradient of C. crenata was approximately 12.0, but that of P. rigida was approximately 4.7. This means that the volume growth of C. crenata was faster than that of P. rigida during 4 years. However, this was relatively a short period for measuring the volume growth pattern, and we believe that additional useful information can be obtained by conducting long-term ecological monitoring. Results of canonical correspondence analysis showed that among the climate variables, temperature was significantly related to the gap widths for both species.

• Child Health Nursing Research
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• 제12권1호
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• pp.15-24
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• 2006

Purpose: This study was done to define nursing behavior in neonatal intensive care units so as to estimate resource-based relative value-. Method: Participating in this study were 292 nurses in neonatal intensive care units. The study surveyed physical and mental labor, stress and time involved in nursing work. Tool used in this study was a nursing labor per relative value tool. For analyzes, the relative value of each nursing behavior was calculated, where the mean value of the three components, labor intensity and component-by-component explanatory power were in percentage terms. Results: 1. Nursing behaviors in neonatal intensive care unit were classified and defined at three levels: 5 main domains, 17 mid-domains, and 42 small domains. 2. The per component explanatory power of intensity involved in nursing labor showed physical effort to be 32.45%, mental 32.86%, and stress 34.69%. 3. The reliability of nursing labor factors was very strong, Cronbach's alpha value of 0.96. Conclusion: In this research, which is a first in defining nursing behavior in neonatal intensive care units, individual nursing behavior were broken down using resource-based relative value for nursing cost, and each nursing behavior was successfully translated to a numerical value.

• 천문학논총
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• 제18권1호
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• pp.25-35
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• 2003

In this paper, we have re-examined the relative sunspot numbers from June 1987 to December 2002 observed at Korea Astronomy Observatory. For this we determined conversion factors (K) for each year data to derive the relative sunspot numbers. The estimated conversion factor ranges from 0.57 to 1.09 and has a trend to decrease with time, which seem to depend on the several effects such as observational system, observation methods, and experience of an observer. Our analysis shows that the newly-determined relative sunspot numbers are in much better agreements with the international sunspot numbers than the previously-determined ones in which the conversion factors were determined only four times. This result implies that we should determine the conversion factor for each year data. From these investigations, we also identified one and half solar cycles form our relative sunspot number.

• 대한기계학회논문집A
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• 제26권9호
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• pp.1842-1848
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• 2002

Although DLC coatings have good tribological properties, these are dependant on the deposition method, the property of contact surface, and test condition. Humidity, which has little influence on tribological behavior in macro scale, is an important factor of tribological behavior in small devices like MEMS. The objective of this study is to investigate the tribological behavior of DLC coatings with particular attention to their wettability at various humidities. DLC coatings were deposited on Si substrates and tested using a reciprocating friction tester against Si$_3$N$_4$balls at various humidities. The results showed that the tribological behavior of DLC coatings was dependant on relative humidity and wettablility of DLC coatings. Friction coefficient at high relative humidity was higher thar that at low relative humidity. The tungsten-containing DLC coatings had a good wear resistance at low relative humidity whereas DLC coatings derived from argon(Ar)+cesium(Cs) gases showed a good wear resistance at high relative humidity.

• 조명전기설비학회논문지
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• 제26권1호
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• pp.54-60
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• 2012

When the transient current with high frequency components such as lightning surges are injected the grounding electrodes, the performance of grounding electrodes should be evaluated as grounding impedance. It is restricted to analyze the grounding impedance by measurement approach since the grounding impedance is very different with the shape and size of grounding electrodes, resistivity and relative permittivity of soil and the frequency component of the injected current. So a variety of simulation approaches have been developed. Typically, the soil resistivity measured with low frequency and relative permittivity between 1 and 80 are used for simulation of the grounding impedance. However, the resistivity and relative permittivity of soil are changed with frequency of injected current. In this paper, the frequency-dependent resistivity and relative permittivity of soil are measured and these parameters are reflected in the simulation of the grounding impedance of a ground rod. The simulated results are compared with the measured results. As a result, the simulated results with frequency-dependent soil parameters show capacitive aspect like measured results in the frequency of lower than 100[kHz] and they are more consistent with the measured results in wide frequency range.

• Journal of Mechanical Science and Technology
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• 제18권1호
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• pp.132-144
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• 2004

This paper presents a new method driving multiple robots to their goal position without collision. To consider the movement of the robots in a work area, we adopt the concept of avoidability measure. The avoidability measure figures the degree of how easily a robot can avoid other robots considering the velocity of the robots. To implement the concept to avoid collision among multiple robots, relative distance between the robots is proposed. The relative distance is a virtual distance between robots indicating the threat of collision between the robots. Based on the relative distance, the method calculates repulsive force against a robot from the other robots. Also, attractive force toward the goal position is calculated in terms of the relative distance. These repulsive force and attractive force are added to form the driving force for robot motion. The proposed method is simulated for several cases. The results show that the proposed method steers robots to open space anticipating the approach of other robots. In contrast, since the usual potential field method initiates avoidance motion later than the proposed method, it sometimes fails preventing collision or causes hasty motion to avoid other robots. The proposed method works as a local collision-free motion coordination method in conjunction with higher level of task planning and path planning method for multiple robots to do a collaborative job.