• 제어로봇시스템학회:학술대회논문집
• /
• 제어로봇시스템학회 2003년도 ICCAS
• /
• pp.1093-1098
• /
• 2003

In this paper, a practical methodology of hand-manipulator motion coordination for indoor service robot is introduced. This paper describes the procedures of opening door performed by service robot as a noticeable example of motion coordination. This paper presents well-structured framework for hand-manipulator motion coordination, which includes intelligent sensor data interpretation, object shape estimation, optimal grasping, on-line motion planning and behavior-based task execution. This proposed approach is focused on how to integrate the respective functions in harmony and enable the robot to complete its operation under the limitation of usable resources. As a practical example of implementation, the successful experimental results in opening door whose geometric parameters are unknown beforehand are provided.

• 디지털융복합연구
• /
• 제10권6호
• /
• pp.197-203
• /
• 2012

본 논문에서는 IPTV 멀티캐스팅 서비스에서 네트워크 부하증가에 따른 영상품질을 평가하기 위해 유럽형 디지털 영상품질 표준 측정규격인 ETSI(European Telecommunication Standard Institute) TR 101 290을 이용하여 실험 측정한 결과를 제출하였다. 실험결과를 통해 IPTV에서의 영상품질과 ETSI TR 101 290 측정방식과는 밀접한 상관관계가 있음을 증명하였고 기존의 영상품질 평가방식에서 알 수 없었던 요소를 정확하게 평가할 수 있음을 증명하였다.

• 한국통신학회논문지
• /
• 제34권2C호
• /
• pp.234-241
• /
• 2009

TETRA Enhanced Data Service (TEDS) 는 기존의 협대역 ETSI TETRA Release 1 표준안을 개선하여 주파수 선택적인 페이딩 채널에서 고속의 패킷 데이터 전송이 가능한 표준 규격이다. TEDS 표준에서 사용하는 M-QAM 변조방식의 성능은 채널 추정 성능에 크게 영향을 받는다. 본 논문에서는 Per-Survivor Processing (PSP) 기법을 사용하여 고속 채널 환경에 적합한 새로운 decision-directed 채널 추정 기법을 제안한다. 제안된 채널 추정기법은 이동 환경에서 기존 파일럿 신호 기반의 채널 추정 기법에 비해 TETRA 수신 성능을 향상시킬 수 있음을 전산 모의 실험을 통해 보인다.

• 한국통신학회논문지
• /
• 제40권7호
• /
• pp.1307-1312
• /
• 2015

최근 스마트폰에 블루투스 LE의 적용을 계기로, 블루투스 비컨의 RSSI 기반 거리측정 기법에 의한 실내 측위 방법이 실용적인 측면에서 새로운 관심을 받고 있다. 정확한 위치정보의 계산을 위해서는 RSSI 측정은 안테나 패턴의 불규칙성, 환경의 영향, 동적인 사람의 움직임 등에 따른 오차를 고려해서 비컨의 위치를 결정하여야 한다. 본 논문은 비컨 송신기의 위치에 따른 RSSI/거리 확률모델을 바탕으로, 소형 서비스 공간에서의 측정의 정확성을 예측하고 보장하는 방안을 제시하였다. 그 결과, 전체공간상에서 평균적인 정확도를 최대화하기 위해서는 서비스공간에 골고루 신호가 도달할 수 있도록 분산해서 배치하는 것이 효과적인 반면, 측위오차의 최대치를 줄기위해서는 해당공간의 가장자리에 위치하는 것이 효과적임을 보였다.

• 디지털융복합연구
• /
• 제16권7호
• /
• pp.89-96
• /
• 2018

본 연구에서는 모수추정법을 활용하여 국내 전문서비스 로봇 개발 데이터를 기초로 H/W비용추정을 위한 방안제시와 더불어 로봇의 적용 환경여건에 따라 달라지는 비용을 추정할 수 있도록 그 항목과 가중치를 도출하고자 한다. 이를 위하여 모수추정법을 활용하여 전문서비스 로봇 비용추정 방정식을 개발하였으며, 환경여건 고려를 위하여 FGI, 델파이를 통해 조정계수 항목과 이에 따른 가중치를 도출하였다. 분석결과 무게, 부피, 제작난이도가 반영된 비용 추정 방정식을 개발하며, 추정된 비용을 환경적 요소에 따라 조정하기 위한 방진/방수, 내열/내한, 안전, 시험, 기술혁신의 내용을 반영한 관계식을 도출할 수 있었다. 이를 통해 전문서비스 로봇의 비용을 추정할 수 있는 객관적인 근거를 마련할 수 있었으며, 이를 기반으로 전문서비스 로봇 H/W개발비용 추정을 위한 지속적인 연구로 이어질 것이다. 향후에는 다양한 전문서비스 로봇을 통해 풍부한 데이터를 수집하여 신뢰성을 높이고, 기능항목 발굴을 통해 모형 강화를 유도할 것이다.

• KIEAE Journal
• /
• 제14권5호
• /
• pp.5-12
• /
• 2014

Building has been deteriorated gradually owing to geographic, physical complex and other factors. School living condition has a key role to improve the learning ability, life attitude and qualifications to adopt to social life. Therefore, it is important for school environment to keep the living condition. Repair time and scope of school facilities are required to maintain the function and performance to plan the long term repair. But there are little information about the school maintenance such as repair time and function. In this paper, it aimed at providing the service life to suggest the repair time and scope in the roof-proofing and floor finishing which used the three estimation method in probabilistic approach. The service life has a key role to decide the repair time and to make the plan for the repair maintenance. Results of this study are as follows ; First, the 1st repair time were taken through three methods in probabilistic and deterministic functions to eliminate the estimation bias. Second, the service life is suggested 36 years of an elementary school, 34 years of a middle school and 41 years of a high school. Third, the service life of a floor finishing is 43 years of an elementary, 39 years of a middle school and 41 years of a high school. The above study could not include the detailed information about the materials and repair works. Therefore it needs a further study to reflect the detailed information and to make a repair strategy.

• 대한전기학회:학술대회논문집
• /
• 대한전기학회 1999년도 하계학술대회 논문집 C
• /
• pp.1481-1483
• /
• 1999

Power distribution system planning for maximum customer satisfaction and system efficiency requires accurate forecast of future demand in service area. Spatial load forecasting method provides a more accurate estimation of both magnitudes and location of future electrical load. This method considers the causes of load growth due to addition of customers and per capita consumption among customers by land use (residential, commercial and industrial). So the land-use study and it's preference for small area is quite important. This paper proposes land-use preference estimation method based on fuzzy logic. Fuzzy logic is applied to computing preference scores for each land-use and by these scores the customer growth is allocated in service area. An simulation example is used to illustrate the proposed method.

• 제어로봇시스템학회논문지
• /
• 제16권1호
• /
• pp.83-89
• /
• 2010

If an appliance perceives the location or health condition of a resident in the smart home, it can provide more intelligent service actively. That is, while the conventional appliance is operated by manual input of a resident, the location-based human adaptive appliance detects the resident's information such as location, activity pattern, or health condition by itself and provides the most suitable living condition for the resident autonomously. This paper presents the real-time location-based metabolic rate estimation method that measures the amount of physical activity (metabolic rate) for location-based human adaptive air-conditioner. And, the feasibility of the algorithm is evaluated experimentally on a test bed using the pyroelectric infrared sensor-based indoor location aware system (PILAS) that is a non-terminal-based location-aware system.

• ETRI Journal
• /
• 제29권5호
• /
• pp.607-613
• /
• 2007

Most signal-to-noise ratio (SNR) estimation techniques in digital communication channels derive the SNR estimates solely from samples of the received signal after the matched filter. They are based on symbol SNR and assume perfect synchronization and intersymbol interference (ISI)-free symbols. In severe channel distortion where ISI is significant, the performance of these estimators badly deteriorates. We propose an SNR estimator which can operate on data samples collected at the front-end of a receiver or at the input to the decision device. This will relax the restrictions over channel distortions and help extend the application of SNR estimators beyond system monitoring. The proposed estimator uses the characteristics of the second order moments of the additive white Gaussian noise digital communication channel and a linear predictor based on the modified-covariance algorithm in estimating the SNR value. The performance of the proposed technique is investigated and compared with other in-service SNR estimators in digital communication channels. The simulated performance is also compared to the Cram$\acute{e}$r-Rao bound as derived at the input of the decision circuit.

• Journal of Electrical Engineering and Technology
• /
• 제13권3호
• /
• pp.1363-1370
• /
• 2018

In visible light (VL) positioning based on angle of arrival (AOA) estimation for smart indoor service, the AOA parameters obtained at the receiver has sometimes a random and distributed angle form instead of a point angle form due to the multipath transfer of the actual visible light and short positioning distance. The AOA estimation of a VL signal with a random and parametric distributed angle form may give incorrect AOA parameter estimates, which may result in poor VL positioning performance. In this paper, we classify the AOA parameters of the received VL signal into three forms according to the actual positioning channel environment and consider the short-range VL positioning method. We propose a subspace-based AOA parameter estimation technique and a data fusion method, and analyzed the proposed method by simulation and the measurement of the real VL channel characteristics.