• Journal of Institute of Control, Robotics and Systems
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• v.14 no.10
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• pp.1062-1072
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• 2008

When mobile robots perform the mission in the rough terrain, the traversability depended on the terrain characteristic is useful information. In the traversabilities, wheel-terrain maximum friction coefficient can indicate the index to control wheel-terrain traction force or whether mobile robots to go or not. This paper proposes estimating wheel-terrain maximum friction coefficient. The existing method to estimate the maximum friction coefficient is limited in flat terrain or relatively easy driving knowing wheel absolute velocity. But this algorithm is applicable in rough terrain where a lot of slip occurred not knowing wheel absolute velocity. This algorithm applies the tire-friction model to each wheel to express the behavior of wheel friction and classifies slip-friction characteristic into 3 major cases. In each case, the specific algorithm to estimate the maximum friction coefficient is applied. To test the proposed algorithm's feasibility, test bed(ROBHAZ-6WHEEL) simulations are performed. And then the experiment to estimate the maximum friction coefficient of the test bed is performed. To compare the estimated value with the real, we measure the real maximum friction coefficient. As a result of the experiment, the proposed algorithm has high accuracy in estimating the maximum friction coefficient.

• Imaging Science in Dentistry
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• v.50 no.3
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• pp.183-192
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• 2020

Purpose: This study was performed to assess the accuracy of preoperative cone-beam computed tomography (CBCT), when justified for other reasons, in locating the apical foramen and establishing the working length. Materials and Methods: Six electronic databases were searched for studies on this subject. All studies, of any type, were included if they compared measurements of working length with preoperative CBCT to measurements using an electronic apex locator (EAL) or histological reference standard. Due to the high levels of heterogeneity, an inverse-variance random-effects model was chosen, and weighted mean differences were obtained with 95% confidence intervals and P values. Results: Nine studies were included. Compared to a histological reference standard, CBCT indicated that the apical foramen was on average 0.40 mm coronal of its histological position, with a mean absolute difference of 0.48 mm. Comparisons were also performed to an EAL reference standard, but the conclusions could not be considered robust due to high levels of heterogeneity in the results. Conclusion: A low level of evidence is produced suggesting that preoperative CBCT shows the apical foramen to be on average 0.40 mm coronal to its histological position, with a mean absolute difference of 0.48 mm.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.27 no.1
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• pp.713-722
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• 2009

Gravity measurement can determine the earth gravitational field, also is the fundamental to the research of earth gravitational field, geodesy and geodynamic, vertical movement of the crust, geoid surface, sea level and climate etc. Recently, National Geographic Information Institute (NGII) introduced FG-5 absolute gravity meter in order to lay a foundation for establishment of Absolute Gravity Network, and furthermore NGII plan to construct about 1,200 multi dimensional and function Unified Control Points(UCP) in nationwide. It will play an important role in development of high accuracy geoid model in South Korea. This paper explains the fundamental theory and method of relative gravity measurement, surveys the relative gravity of 21 stations using latest Scintrex CG-5 relative gravimeter. In addition, it calculates gravity values, compare and analysis gravity survey results using datum-free adjustment and weighted constraint adjustment. The results indicate show that datum-free and weighted constraint adjustment methods are available to determine high accuracy gravity achievement, datum-free method is more advantage than weighted constraint adjustment.

• Journal of Broadcast Engineering
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• v.27 no.3
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• pp.361-368
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• 2022

Quaternary tree plus multi-type tree (QT+MTT) structure was adopted in the Versatile Video Coding (VVC) standard as a block partitioning tool. QT+MTT provides excellent coding gain; however, it has huge encoding complexity due to the flexibility of the binary tree (BT) and ternary tree (TT) splits. This paper proposes a fast inter coding unit (CU) partitioning algorithm for BT and TT split types based on prediction accuracy functions using the mean of the absolute error (MAE). The MAE-based decision model was established to achieve a consistent time-saving encoding with stable coding loss for a practical low complexity VVC encoder. Experimental results under random access test configuration showed that the proposed algorithm achieved the encoding time saving from 24.0% to 31.7% with increasing luminance Bjontegaard delta (BD) rate from 1.0% to 2.1%.

• Earthquakes and Structures
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• v.7 no.6
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• pp.1223-1240
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• 2014

Seismic isolation has been established as an effective earthquake-resistant design method and the lead rubber bearings (LRBs) are among the most commonly used seismic isolation systems. In the scientific literature, a sharp bilinear model is often used for capturing the hysteretic behaviour of the LRBs in the analysis of seismically isolated structures, although the actual behaviour of the LRBs can be more accurately represented utilizing smoothed plasticity, as captured by the Bouc-Wen model. Discrepancies between these two models are quantified in terms of the computed peak relative displacements at the isolation level, as well as the peak inter-storey deflections and the absolute top-floor accelerations, for the case of base-isolated buildings modelled as multi degree-of-freedom systems. Numerical simulations under pulse-like ground motions have been performed to assess the effect of non-linear parameters of the seismic isolation system and characteristics of both the superstructure and the earthquake excitation, on the accuracy of the computed peak structural responses. Through parametric analyses, this paper assesses potential inaccuracies of the computed peak seismic response when the sharp bilinear model is employed for modelling the LRBs instead of the more accurate and smoother Bouc-Wen model.

• The Korean Journal of Applied Statistics
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• v.32 no.6
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• pp.909-922
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• 2019

In this paper, we study the adaptive least absolute shrinkage and selection operator (LASSO) for the unstable autoregressive (AR) model. To identify the existence of the unit root, we apply the adaptive LASSO to the augmented Dickey-Fuller regression model, not the original AR model. We illustrate our method with simulations and a real data analysis. Simulation results show that the adaptive LASSO obtained by minimizing the Bayesian information criterion selects the order of the autoregressive model as well as the degree of differencing with high accuracy.

• Computers and Concrete
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• v.28 no.6
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• pp.635-642
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• 2021

In this paper, soft learning techniques are used to predict the ultimate torsional capacity of Reinforced Concrete beams strengthened with Fiber Reinforced Polymer. Soft computing techniques, namely Artificial Neural Network, trained by various back propagation algorithms, and Particle Swarm Optimization (PSO) algorithm, have been used to model and predict the torsional strength of Reinforced Concrete beams strengthened with Fiber Reinforced Polymer. The performance of each model has been evaluated by using statistical parameters such as coefficient of determination (R²), Root Mean Square Error (RMSE), and Mean Absolute Percentage Error (MAPE). The hybrid PSO NN model resulted in an R² of 0.9292 with an RMSE of 5.35 for training and an R² of 0.9328 with an RMSE of 4.57 for testing. Another model, ANN BP, produced an R² of 0.9125 with an RMSE of 6.17 for training and an R² of 0.8951 with an RMSE of 5.79 for testing. The results of the PSO NN model were in close agreement with the experimental values. Thus, the PSO NN model can be used to predict the ultimate torsional capacity of RC beams strengthened with FRP with greater acceptable accuracy.

• Journal of Environmental Science International
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• v.33 no.7
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• pp.523-532
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• 2024

In popular tourist destinations such as Jeju and Gangwon, electric rental cars are increasingly adopted. However, sudden battery drain due to weather conditions can pose safety issues. To address this, we developed a battery consumption analysis model that considers resistive energy factors such as acceleration, rolling resistance, and aerodynamic drag. Focusing on the effects of ambient temperature and wind speed, the model's performance was evaluated during an empirical validation period from November to December 2023. Comparing predicted and actual state of charge (SoC) across different routes identified ambient temperature, wind speed, and driving time as major sources of error. The mean absolute error (MAE) increased with lower temperatures due to reduced battery efficiency. Higher wind speeds on routes 1 and 6 resulted in larger errors, indicating the model's limitation in considering only tailwinds for aerodynamic drag calculations. Additionally, longer driving times led to higher actual SoC than predicted, suggesting the need to account for varying driver habits influenced by road conditions. Our model, providing more accurate SoC predictions to prevent battery depletion incidents, shows high potential for application in navigation apps for electric vehicle users in tourist areas. Future research should endeavor to the model by including wind direction, HVAC system usage, and braking frequency to improve prediction accuracy further.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.3
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• pp.1488-1494
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• 2011

In this paper, we propose an algorithm using linear regression model that forecasts the demand of heated water in winter. To supply heated water to apartments, stores and office buildings, Korea District Heating Corp.(KDHC) operates boilers including electric power generators. In order to operate facilities generating heated water economically, it is essential to forecast daily demand of heated water with accuracy. Analysis of history data of Kangnam Branch of KDHC in 2006 and 2007 reveals that heated water supply on previous day as well as temperature are the most important factors to forecast the daily demand of heated water. When calculated by the proposed regression model, mean absolute percentage error for the demand of heated water in winter of the year 2006 through 2009 does not exceed 3.87%.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.30 no.5
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• pp.445-458
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• 2012

The objective of GPS control surveying is ultimately to determine coordinate sets of control points within targeted accuracy through a series of observations and network adjustments. To this end, it is of equivalent importance for the accuracy of these coordinates to be realistically represented by using an appropriate method. The accuracy representation can be quantitively made by the variance-covariance matrices of the estimates, of which features are sensitive to the mathematical models used in the adjustment. This paper deals with impact of functional and stochastic modeling techniques into the accuracy representation of the GPS control surveying with a view of gaining background for its standardization. In order to achieve this goal, mathematical theory and procedure of the single-baseline based multi-session adjustment has been rigorously reviewed together with numerical analysis through processing real world data. Based on this study, it was possible to draw a conclusion that weighted-constrained adjustment with the empirical stochastic model was among the best scheme to more realistically describe both of the absolute and relative accuracies of the GPS surveying results.