• Journal of Information Processing Systems
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• 제13권1호
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• pp.83-94
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• 2017

Near-field source localization algorithms are very sensitive to sensor gain/phase response errors, and so it is important to calibrate the errors. We took into consideration the uniform linear array and are proposing a blind calibration algorithm that can estimate the directions-of-arrival and range parameters of incident signals and sensor gain/phase responses jointly, without the need for any reference source. They are estimated separately by using an iterative approach, but without the need for good initial guesses. The ambiguities in the estimations of 2-D electric angles and sensor gain/phase responses are also analyzed in this paper. We show that the ambiguities can be remedied by assuming that two sensor phase responses of the array have been previously calibrated. The behavior of the proposed method is illustrated through simulation experiments. The simulation results show that the convergent rate is fast and that the convergent precision is high.

• Journal of Information Processing Systems
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• 제11권3호
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• pp.370-388
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• 2015

The localization of multi-agents, such as people, animals, or robots, is a requirement to accomplish several tasks. Especially in the case of multi-robotic applications, localization is the process for determining the positions of robots and targets in an unknown environment. Many sensors like GPS, lasers, and cameras are utilized in the localization process. However, these sensors produce a large amount of computational resources to process complex algorithms, because the process requires environmental mapping. Currently, combination multi-robots or swarm robots and sensor networks, as mobile sensor nodes have been widely available in indoor and outdoor environments. They allow for a type of efficient global localization that demands a relatively low amount of computational resources and for the independence of specific environmental features. However, the inherent instability in the wireless signal does not allow for it to be directly used for very accurate position estimations and making difficulty associated with conducting the localization processes of swarm robotics system. Furthermore, these swarm systems are usually highly decentralized, which makes it hard to synthesize and access global maps, it can be decrease its flexibility. In this paper, a simple pyramid RAM-based Neural Network architecture is proposed to improve the localization process of mobile sensor nodes in indoor environments. Our approach uses the capabilities of learning and generalization to reduce the effect of incorrect information and increases the accuracy of the agent's position. The results show that by using simple pyramid RAM-base Neural Network approach, produces low computational resources, a fast response for processing every changing in environmental situation and mobile sensor nodes have the ability to finish several tasks especially in localization processes in real time.

• 제어로봇시스템학회논문지
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• 제21권11호
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• pp.1057-1063
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• 2015

This paper proposes a new nonlinear filtering algorithm that combines the unscented Kalman filter (UKF) and the finite impulse response (FIR) filter. The proposed filter is called the unscented Kalman/FIR hybrid filter (UKFHF). In the UKFHF algorithm, the UKF is used as the main filter, which produces state estimates under ideal conditions. When failures of the UKF are detected, the FIR filter is operated. Using the output of the FIR filter, the UKF is reset and rebooted. In this way, the UKFHF recovers from failures. The proposed UKFHF is applied to indoor human localization using wireless sensor networks. Through simulations, the performance of the UKFHF is demonstrated in comparison with that of the UKF.

• Computers and Concrete
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• 제7권4호
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• pp.317-329
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• 2010

The paper describes localization of deformation in a bar under tensile loading. The material of the bar is considered as non-linear viscous elastic and the bar consists of two symmetric halves. It is assumed that the model represents behavior of the quasi-brittle viscous material under uniaxial tension with different loading rates. Besides that, the bar could represent uniaxial stress-strain law on a single plane of a microplane material model. Non-linear material property is taken from the microplane material model and it is coupled with the viscous damper producing non-linear Maxwell material model. Mathematically, the problem is described with a system of two partial differential equations with a non-linear algebraic constraint. In order to obtain solution, the system of differential algebraic equations is transformed into a system of three partial differential equations. System is subjected to loadings of different rate and it is shown that localization occurs only for high loading rates. Mathematically, in such a case two solutions are possible: one without the localization (unstable) and one with the localization (stable one). Furthermore, mass is added to the bar and in that case the problem is described with a system of four differential equations. It is demonstrated that for high enough loading rates, it is the added mass that dominates the response, in contrast to the viscous and elastic material parameters that dominated in the case without mass. This is demonstrated by several numerical examples.

• 한국콘텐츠학회논문지
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• 제10권4호
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• pp.115-122
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• 2010

현재 제공되고 있는 지능화된 서비스들은 사용자의 위치를 기반으로 동작한다. 실내 위치 측정 서비스를 위한 수많은 장비들은 각각의 특징된 동작과 운영체계를 가지므로 다양한 기기들을 연결하고 제어할 수 있는 미들웨어의 상호 운용성과 다양성이 필요하다. 기존 관성 센서를 이용한 실내 위치추정 방법은 공간 크기에 따른 추가 비용이 발생하여 상대적인 효율성이 떨어진다. 따라서 본 논문에서 제안하는 실내 사용자 위치추정 방법은 오픈소스 프로젝트인 OSGi 프레임워크를 이용하여 통합서비스를 지원하고, 초음파 센서를 이용하여 특정 물체와의 정확한 근접 거리를 통해 관성 센서의 문제점을 보완하였으며, 신뢰도의 항목을 추가하여 반응속도 차이에 따른 오차율을 줄였다.

• Structural Engineering and Mechanics
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• 제83권4호
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• pp.435-449
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• 2022

Constitutive modeling that could reasonably predict and effectively evaluate the post-peak structural behavior while eliminating the mesh-dependency in numerical simulation remains to be developed for general engineering applications. Based on the previous work, a simple one-dimensional modeling procedure is proposed to predict and evaluate the post-peak response, as characterized by the evolution of localized strain field, of a steel member to monotonically uniaxial tension. The proposed model extends the classic one-dimensional softening with localization model as introduced by (Schreyer and Chen 1986) to account for the localization length, and bifurcation and rupture points. The new findings of this research are as follows. Two types of strain-softening functions (bilinear and nonlinear) are proposed for comparison. The new failure criterion corresponding to the constitutive modeling is formulated based on the engineering strain inside the localization zone at rupture. Furthermore, a new mathematical expression is developed, based on the strain rate inside and outside the localization zone, to describe the displacement field at which bifurcation occurs. The model solutions are compared with the experimental data on four low-carbon cylindrical steel bars of different lengths. For engineering applications, the model solutions are also compared to the experimental data of a cylindrical steel bar system (three steel bars arranged in series). It is shown that the bilinear and nonlinear softening models can predict the energy dissipation in the post-peak regime with an average difference of only 4%.

• Journal of Photoscience
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• 제7권1호
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• pp.31-34
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• 2000

The heterotrichous ciliate Stentor coeruieus shows a step-up photophobic response to visible light In the previous paper, the existence of GTP-binding proteins was confirmed by using the antisera against the carboxy terminal decapeptide of transducin $\alpha$ subunit. The photoreceptor, stentorin, is localized in the pigment granule. If the immunoreactive G-protein directly interacts with the photoreceptor stentorin, the G-protein expected to be located in the pigment granule rather than plasma membrane. To elucidate the function of the immunoreactive G-protein, the localization of the G-protein in Stentor coeruleus was studied. The results suggest that this G-protein is located in the myoneme involved in the contraction and extension of the cell rather than in the pigment granule.

• Earthquakes and Structures
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• 제8권5호
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• pp.1113-1126
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• 2015

A damage localization algorithm based on Operational Deformed Shapes and known as Interpolation Damage Detection Method, is herein applied to the finite element model of a cable stayed bridge for detecting and localizing damages in the stays and the supporting steel beams under the bridge deck. Frequency Response Functions have been calculated basing on the responses of the bridge model to low intensity seismic excitations and used to recover the Operational Deformed Shapes both in the transversal and in the vertical direction. The analyses have been carried in the undamaged configuration and repeated in several different damaged configurations. Results show that the method is able to detect the damage and its correct location, provided an accurate estimation of the Operational Deformed Shapes is available. Furthermore, the damage detection algorithm results effective also when damages coexist at the same time at several location of the cable-stayed bridge members.

• Smart Structures and Systems
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• 제6권1호
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• pp.17-27
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• 2010

The approach to damage detection and localization adopted in this paper is based on a statistical comparison of models built from the response time histories collected at different stages during the structure lifetime. Some of these time histories are known to have been recorded when the structural system was undamaged. The consistency of the models associated to two different stages, both undamaged, is first recognized. By contrast, the method detects the discrepancies between the models from measurements collected for a damaged situation and for the undamaged reference situation. The damage detection and localization is pursued by a comparison of the SSE (sum of the squared errors) histograms. The validity of the proposed approach is tested by applying it to the analytical benchmark problem developed by the ASCE Task Group on Structural Health Monitoring (SHM). In the paper, the results of the benchmark studies are presented and the performance of the method is discussed.

• 대한임베디드공학회논문지
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• 제13권3호
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• pp.161-167
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• 2018

The improvement of the social environment and the rapid development of medicine are making possible the age of 100. So a great number of countries including Korea are rapidly becoming the aged society or the super aged society. The elderly are accompanied by discomfort and disability. A variety of systems are developed and distributed to overcome them. The electric wheelchair is an electric motorized system for people who can not manipulate a manual wheelchair. In this paper, we propose an autonomous driving platform for an electric wheelchair. Here we use QR (Quick Response) code for self-localization. We also present real test results of the proposed system.