• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2004년도 ICCAS
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• pp.1448-1451
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• 2004

Position estimation is one of the most important functions for the mobile robot navigating in the unstructured environment. Most of previous localization schemes estimate current position and pose of mobile robot by applying various localization algorithms with the information obtained from sensors which are set on the mobile robot, or by recognizing an artificial landmark attached on the wall, or objects of the environment as natural landmark in the indoor environment. Several drawbacks about them have been brought up. To compensate the drawbacks, a new localization method that estimates the absolute position of the mobile robot by using a fixed camera on the ceiling in the corridor is proposed. And also, it can improve the success rate for position estimation using the proposed method, which calculates the real size of an object. This scheme is not a relative localization, which decreases the position error through algorithms with noisy sensor data, but a kind of absolute localization. The effectiveness of the proposed localization scheme is demonstrated through the experiments.

• 한국항해학회지
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• 제22권3호
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• pp.9-16
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• 1998

Loran C is a low frequently , pulsed. hyperbolic radio aid to navigation system, which operates in the 90 to 110 kHz frequency band. The position accuracy is not excellent but the repeatable and relative accuracy is very good, and it is very useful for fishing vessel in coastal waters. The operation of China north sea chain9GRI 7430) was begun on January, 1996, and in order to evaluate the accuracy of this chain, it was observed with Loran C receiver (LC-90, Furuno) in July 9 and December 30, 1997 at the fixed position of Kunsan national university. The obtained results were as follows : The time difference error of M-X, M-Y pair were $0.5{\mu}s$, $4.4{ \mu}s$ respectively and the mean time difference of M-X, M-Y pair were $15120.4{,\mu}s$ $32085.4{\mu}s$ respectively. The Loran C signals were received steadily and the daily fluctuation of time difference was very small. The longitudinal position error was very much than latitudinal position error, and the mean position error was about 1091.8m.

• 한국산림과학회지
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• 제94권1호통권158호
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• pp.50-57
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• 2005

이 연구는 일본 중국 아세안과의 FTA체결에 대비하여 우리나라 임산물 시장에서 경쟁력 수준을 파악하고 이를 통해 수출전략품목을 도출하는데 목정이 있다. 이르 위해 1999~2003년간 수입점유율과 수출경쟁력을 이용한 경쟁위치모형을 도출하여 국가간, 품목간 경쟁력 수준을 9가지로 유형화하고 수출전략 품목을 도출하였다. 분석결과, 우리나라의 수출전략 품목은 단기임산물의 경우 송이, 밤, 감, 대추 등이며, 임산물의 경우 섬유판, 마루판, 합판 목재 등이 도출되었다.

• 한국정밀공학회지
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• 제19권1호
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• pp.119-126
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• 2002

In this paper, we present a new approach based on an elitist genetic algorithm for the task of aligning the position of a robot gripper using CCD cameras. The vision-based control scheme for the task of aligning the gripper with the desired position is implemented by image information. The relationship between the camera space location and the robot joint coordinates is estimated using a camera-space parameter modal that generalizes known manipulator kinematics to accommodate unknown relative camera position and orientation. To find the joint angles of a robot manipulator for reaching the target position in the image space, we apply an elitist genetic algorithm instead of a nonlinear least square error method. Since GA employs parallel search, it has good performance in solving optimization problems. In order to improve convergence speed, the real coding method and geometry constraint conditions are used. Experiments are carried out to exhibit the effectiveness of vision-based control using an elitist genetic algorithm with a real coding method.

• The Journal of Korean Physical Therapy
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• 제23권2호
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• pp.23-29
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• 2011

Purpose: The purpose of this study was to determine whether there is a relationship between strength balance and joint position sense related to the ankle joint in healthy women. Methods: Twenty-six healthy women were recruited. Isokinetic strength and joint position sense (JPS) were measured using a Biodex System 4 pro Dynamometer and a Biodex Advantage Software Package. Prior to measuring the JPS and isokinetic strength, the dominant foot was determined according to the Waterloo Footedness Questionnaire. After the JPS test, isokinetic strength was evaluated in velocity $60^{\circ}s$, including practice trial ($90^{\circ}s$). Using the measured isokinetic strength, a Strength Balance Index (SBI) was calculated. Results: Relative to the SBI, the degree of imbalance was varied; but there were imbalances. For each starting position, JPS error showed no significant differences (p>0.05). The relationship between SBI and JPS was found during the inversion to eversion process, eversion to inversion, and dorsi flexion to plantar flexion. Conclusion: There are moderate to mild relationships between JPS and SBI during ankle movement. It is suggested that to prevent ankle injuries, strength balance should be considered along with the other potential factors including anatomical alignment, proprioception, and soft tissues problems.

• 대한공간정보학회지
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• 제24권2호
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• pp.37-46
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• 2016

The difference between definition time of GPS (Global Positioning System) position data and actual display time of car positions on a map could reduce the accuracy of car positions displayed in PND (Portable Navigation Device)-type CNS (Car Navigation System). Due to the time difference, the position of the car displayed on the map is not its current position, so an improved method to fix these problems is required. It is expected that a method that uses predicted future positionsto compensate for the delay caused by processing and display of the received GPS signals could mitigate these problems. Therefore, in this study an analysis was conducted to correct late processing problems of map positions by mapmatching using a Kalman filter with only GPS position data and a RRF (Road Reduction Filter) technique in a light-weight CNS. The effects on routing services are examined by analyzing differences that are decomposed into along and across the road elements relative to the direction of advancing car. The results indicate that it is possible to improve the positional accuracy in the along-the-road direction of a light-weight CNS device that uses only GPS position data, by applying a Kalman filter and RRF.

• 전력전자학회논문지
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• 제10권2호
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• pp.124-129
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• 2005

본 논문에서는 서보분야에 적용되는 고분해능 엔코더를 장착하고 자극위치 센서인 홀센서를 부착하지 않은 선형영구자석 동기전동기의 개선된 초기 자극위치 추정방법을 제안하였다. 제안한 방법은 수치해석법인 할선법을 적용하여 추력이 영인 두 곳 중에서 한 곳을 추정하고, 추정 q축에 시험전류를 인가하여 실제 전동기의 d축을 추정한다. 그리고 전류제어기와 위치정보만을 사용하는 제안한 추정방법은 적용이 용이한 장점을 가지며, 회전형 동기전 동기에도 쉽게 적용할 수 있다. PMLSM에 대한 실험을 통하여 매우 짧은 이동거리(약 평균 85㎛)내에서 빠른 시간 안에 높은 초기각 추정 정밀도를 보이는 우수한 실험결과를 제시하여 제안한 방법의 타당성을 검증하였다.

• 대한조선학회논문집
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• 제49권2호
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• pp.164-173
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• 2012

Landing ship tank with well dock has the important mission transferring troops or landing equipments from sea to shore. Such transfers are usually carried out using landing crafts, which are loaded or unloaded in flooded well dock. In this situation, as relative motions are occur between well dock and landing craft, safety verifications are demanded. In this paper, seakeeping and safety performances are investigated through model test. First of all, well dock dimensions are reviewed and model tests are performed with sea state 3&4 in 180degree wave direction. Model tests are conducted for three relative positions and seakeeping performances are investigated each position.

• 한국농공학회:학술대회논문집
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• 한국농공학회 1998년도 학술발표회 발표논문집
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• pp.331-337
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• 1998

This study was carried out to derive optimal design floods by Weibull-3 distribution with the annual maximum series at seven watersheds along Man, Nagdong, Geum, Yeongsan and Seomjin river systems. Adequacy for the analysis of flood data used in this study was acknowledged by the tests of Independence, Homogeneity, detection of Outliers. Parameters were estimated by the Methods of Moments and L-Moments. Design floods obtained by Methods of Moments and L-Moments using different methods for plotting positions in Weibull-3 distribution were compared by the rotative mean error and relative absolute error. It has shown that design floods derived by the method of L-moments using Weibull plotting position formula in Weibull-3 distribution are much closer to those of the observed data in comparison with those obtained by method of moments using different formulas for plotting positions in view of relative mean and relative absolute error.

• 한국항공운항학회지
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• 제26권2호
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• pp.47-53
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• 2018

In this paper, we investigate a collision avoidance algorithm for unmanned aerial vehicles using potential field based on the relative velocity of obstacles. The potential field consists of the attraction force and the repulsive force that are generated for the target and the obstacles. And the field can be classified into the attractive potential field generated by the target and the repulsive potential field generated by the obstacle, respectively. In this study, we construct an attractive potential field as a function of the distance between the UAV and the target position. On the other hand, a repulsive potential field is created by a function of distance and the relative velocity of the obstacle with respect to the UAV. The proposed potential field based collision avoidance algorithm is evaluate through simulations.