• 제목/요약/키워드: control error anomaly

검색결과 9건 처리시간 0.022초

Anomaly Detection Method for Drone Navigation System Based on Deep Neural Network

  • Seo, Seong-Hun;Jung, Hoon
    • Journal of Positioning, Navigation, and Timing
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    • 제11권2호
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    • pp.109-117
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    • 2022
  • This paper proposes a method for detecting flight anomalies of drones through the difference between the command of flight controller (FC) and the navigation solution. If the drones make a flight normally, control errors generated by the difference between the desired control command of FC and the navigation solution should converge to zero. However, there is a risk of sudden change or divergence of control errors when the FC control feedback loop preset for the normal flight encounters interferences such as strong winds or navigation sensor abnormalities. In this paper, we propose the method with a deep neural network model that predicts the control error in the normal flight so that the abnormal flight state can be detected. The performance of proposed method was evaluated using the real-world flight data. The results showed that the method effectively detects anomalies in various situation.

설유착증 환아의 언어병리학적 평가 (ANALYSIS OF SPEECH PATHOLOGIC EVALUATION FOR CHILDREN WITH ANKYLOGLOSSIA)

  • 이주경;김영빈;임대호;백진아;신효근;고승오
    • Maxillofacial Plastic and Reconstructive Surgery
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    • 제30권5호
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    • pp.447-456
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    • 2008
  • There is close relationship between intraoral structural anomaly and speech- functional problem. Patient with cleft palate patients & ankyloglossia is a typical example, patients with structural anomaly is repaired toward normal structure by operation. Ankyloglossia may cause functional limitation even after adequate surgical treatment speech disorders being one of them. Interindividually, they vary a lot, showing typical articulation specifics. The objective of this study was to evaluate and compare speech for children with ankyloglossia and general public, to determine whether ankyloglossia is associated with articulation problem. We wanted to present criteria for indication of frenectomy. The group of subject is composed of 10 childrens with ankyloglossia and articulation problem, visited the Oral and Maxillofacial surgical unit, dental hospital, Chonbuk university. The average age is 5 Y 7M, M : F ratio is 8 : 2 at the time of speech test. Control group is composed of 10 members without oral structural anomaly. The average age is 5 Y 10M, M : F ratio is 3 : 7 at the time of speech test. Outcomes were measured the PPVT(Peabody Picture Vocabulary Test), PCAT(Picture Consonant Articulation Test), Nasometer II test result obtained each group, statistically measured by Mann-whitney's U Test. There was no difference for 'chronological age-age equivalent' between two group. There was significant difference for 'consonant accuracy' between two group, showed more lower scores in subject group. There was more 'consonant error' in subject group, mostly showed/1/,/s/. A major modality of 'consonant error' was mostly distortion and replacement. There was no significant difference between two group for nasality.

GPS 항법메시지 이상이 수신기에 미치는 영향 분석 (Analysis of Influences due to Navigation Message Error of GPS Signals on Receiver)

  • 강희원;조득재;박상현
    • 한국정보통신학회논문지
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    • 제14권10호
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    • pp.2223-2229
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    • 2010
  • GPS 위성 고장과 같은 GPS 신호 이상에 대한 무결성 감시 연구가 진행되고 있다. GPS 신호의 이상 발생은 GPS 위성의 고장, 이온층 지연 오차의 급격한 증가, 제어부분의 항법 파라미터에 대한 잘못된 모델링 또는 고의적 이상, 전자파 간섭 등이 있는 것으로 알려져 있다. GPS 위성 고장의 경우 반송파, 코드, 항법메시지의 오류에 의해 이상이 발생할 수 있다. 본 논문에서는 항법메시지에 이상이 있는 상황을 GPS 시뮬레이터를 이용하여 재현하고, 항법메시지 이상이 GPS 수신기에 미치는 영향을 분석하였다. GPS 항법메시지를 구성하는 프리앰블, HOW의 TOW 카운트메시지와 서브프레임의 ID를 나타내는 비트, 위성상태 관련 비트, 그 외의 항법메시지 이상에 대해 정리하고 이를 재현하였으며, 이러한 이상이 GPS 수신기에 미치는 영향을 분석하기 위하여 위성의 개수, DOP, 의사거리를 통해 관찰하였다.

균형상살 검출 알고리즘에서 검출과 관련된 설계변수의 민감도 해석 몇 최적화 (Sensitivity Analysis and Optimization of Design Variables Related to an Algorithm for Loss of Balance Detection)

  • 고병규;김광훈;손권
    • 대한의용생체공학회:의공학회지
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    • 제32권1호
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    • pp.7-14
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    • 2011
  • This study suggested an optimized algorithm for detecting the loss of balance(LOB) in the seated position. And the sensitivity analysis was performed in order to identify the role of each design variable in the algorithm. The LOB algorithm consisted of data processing of measured signals, an internal model of the central nervous system and a control error anomaly(CEA) detector. This study optimized design variables of a CEA detector to obtain improved values of the success rate(SR) of detecting the LOB and the margin time(MT) provided for preventing the falling. Nine healthy adult volunteers were involved in the experiments. All the subjects were asked to balance their body in a predescribed seated posture with the rear legs of a four-legged wooden chair. The ground reaction force from the right leg was measured from the force plate while the accelerations of the chair and the head were measured from a couple of piezoelectric accelerometers. The measured data were processed to predict the LOB using a detection algorithm. Variables S2, h2 and hd are related to the detector: S2 represents a data selecting window, h2 a time shift and hd an operating period of the LOB detection algorithm. S2 was varied from 0.1 to 10 sec with an increment of 0.1 sec, and both h2 and hd were varied from 0.01 to 1.0 sec with an increment of 0.01 sec. It was found that the SR and MT were increased by up to 9.7% and 0.497 sec comparing with the previously published case when the values of S2, h2 and hd were set to 4.5, 0.3 and 0.2 sec, respectively. Also the results of sensitivity analysis showed that S2 and h2 had considerable influence on the SR while these variables were not so sensitive to the MT.

고도가 변화하는 헬리콥터 탐사에서 얻어지는 자력이상의 변환 (Reduction of magnetic anomaly observations from helicopter surveys at varying elevations)

  • 중총 정;대웅무웅
    • 지구물리와물리탐사
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    • 제9권1호
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    • pp.121-128
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    • 2006
  • 헬리콥터를 이용한 항공자력탐사는 정해진 고도를 따라 지표면에 평행하게 이루어지지만, 고해상도 탐사에서는 특히 측정이 이루어지는 고도가 너무 변화하여 평탄면으로 간주할 수 없는 경우가 있다. 이 연구에서는 모서리 효과를 조절할 수 있도록 주변 자력원이 포함되는 등가원 방법을 이용하여 이러한 자료를 변환하는 방법을 개발하였고, 3차원적으로 무작위하게 분포하는 점의 자료를 직접적으로 모델화하였다. 이 문제는 일반적으로 under-determined 이지만 CG 법은 최소 norm 해를 찾을 수 있으며, 자력이상을 자력원과 연관시키는 조화함수를 선택할 자유가 있는데, 상향연속 함수 연산자가 선택되면 등가원 자체가 자력이상이 된다. 기본자기장의 방향으로의 자기 쌍극자분포를 자력원으로 선택하면, 자기 쌍극자의 방향을 수직으로 돌려줌으로써 쉽게 자극화 변환 이상을 유도할 수 있다.

Data anomaly detection and Data fusion based on Incremental Principal Component Analysis in Fog Computing

  • Yu, Xue-Yong;Guo, Xin-Hui
    • KSII Transactions on Internet and Information Systems (TIIS)
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    • 제14권10호
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    • pp.3989-4006
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    • 2020
  • The intelligent agriculture monitoring is based on the perception and analysis of environmental data, which enables the monitoring of the production environment and the control of environmental regulation equipment. As the scale of the application continues to expand, a large amount of data will be generated from the perception layer and uploaded to the cloud service, which will bring challenges of insufficient bandwidth and processing capacity. A fog-based offline and real-time hybrid data analysis architecture was proposed in this paper, which combines offline and real-time analysis to enable real-time data processing on resource-constrained IoT devices. Furthermore, we propose a data process-ing algorithm based on the incremental principal component analysis, which can achieve data dimensionality reduction and update of principal components. We also introduce the concept of Squared Prediction Error (SPE) value and realize the abnormal detection of data through the combination of SPE value and data fusion algorithm. To ensure the accuracy and effectiveness of the algorithm, we design a regular-SPE hybrid model update strategy, which enables the principal component to be updated on demand when data anomalies are found. In addition, this strategy can significantly reduce resource consumption growth due to the data analysis architectures. Practical datasets-based simulations have confirmed that the proposed algorithm can perform data fusion and exception processing in real-time on resource-constrained devices; Our model update strategy can reduce the overall system resource consumption while ensuring the accuracy of the algorithm.

저궤도위성의 전력계 및 자세제어계 고장 관리 설계 검증시험 (Fault Management Design Verification Test for Electrical Power Subsystem and Attitude and Orbit Control Subsystem of Low Earth Orbit Satellite)

  • 이상록;전현진;전문진;임성빈
    • 항공우주기술
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    • 제12권2호
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    • pp.14-23
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    • 2013
  • 위성 운용 중 발생할 수 있는 오류에 대한 대비를 고장 관리 설계라고 한다. 고장 관리 설계는 위성에 이상 현상이 나타나는 경우 감지하고 고립시키며, 지상에서 위성과 접속한 이후 오류 사항을 파악하고 대응책을 마련할 때까지 위성을 안전한 상태로 유지하는 기능을 포함한다. 안전 모드 운용은 정상 운용과는 다르게 비행 소프트웨어를 탑재한 탑재 컴퓨터와 전력 제어 및 분배 장치 주관 하에 지상국의 접속 없이 이루어진다. 오류 발생 시 고장 관리 설계에 따라 자동화된 동작이 이루어지는 만큼 지상 시험 단계에서 고장 관리 로직 및 관련 하드웨어가 설계된 대로 동작하는지를 철저하게 검증해야 한다. 또한 실제와 유사한 오류를 위성에 손상 없이 인가해야 한다. 고장 관리 설계 검증시험은 위성을 구성하는 다양한 부분체에 대해서 수행되나 본 논문에서는 저궤도 위성의 비행 모델을 대상으로 수행된 자세제어계와 전력계 시험의 설계에 대해 서술하고 결과에 대해 정리하였다.

대기오염에 의한 폐암 및 만성폐색성호흡기질환 -개인 흡연력을 보정한 만성건강영향평가- (Lung cancer, chronic obstructive pulmonary disease and air pollution)

  • 성주헌;조수헌;강대희;유근영
    • Journal of Preventive Medicine and Public Health
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    • 제30권3호
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    • pp.585-598
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    • 1997
  • Background : Although there are growing concerns about the adverse health effect of air pollution, not much evidence on health effect of current air pollution level had been accumulated yet in Korea. This study was designed to evaluate the chronic health effect of ai. pollution using Korean Medical Insurance Corporation (KMIC) data and air quality data. Medical insurance data in Korea have some drawback in accuracy, but they do have some strength especially in their national coverage, in having unified ID system and individual information which enables various data linkage and chronic health effect study. Method : This study utilized the data of Korean Environmental Surveillance System Study (Surveillance Study), which consist of asthma, acute bronchitis, chronic obstructive pulmonary diseases (COPD), cardiovascular diseases (congestive heart failure and ischemic heart disease), all cancers, accidents and congenital anomaly, i. e., mainly potential environmental diseases. We reconstructed a nested case-control study wit5h Surveillance Study data and air pollution data in Korea. Among 1,037,210 insured who completed? questionnaire and physical examination in 1992, disease free (for chronic respiratory disease and cancer) persons, between the age of 35-64 with smoking status information were selected to reconstruct cohort of 564,991 persons. The cohort was followed-up to 1995 (1992-5) and the subjects who had the diseases in Surveillance Study were selected. Finally, the patients, with address information and available air pollution data, left to be 'final subjects' Cases were defined to all lung cancer cases (424) and COPD admission cases (89), while control groups are determined to all other patients than two case groups among 'final subjects'. That is, cases are putative chronic environmental diseases, while controls are mainly acute environmental diseases. for exposure, Air quality data in 73 monitoring sites between 1991 - 1993 were analyzed to surrogate air pollution exposure level of located areas (58 areas). Five major air pollutants data, TSP, $O_3,\;SO_2$, CO, NOx was available and the area means were applied to the residents of the local area. 3-year arithmetic mean value, the counts of days violating both long-term and shot-term standards during the period were used as indices of exposure. Multiple logistic regression model was applied. All analyses were performed adjusting for current and past smoking history, age, gender. Results : Plain arithmetic means of pollutants level did not succeed in revealing any relation to the risk of lung cancer or COPD, while the cumulative counts of non-at-tainment days did. All pollutants indices failed to show significant positive findings with COPD excess. Lung cancer risks were significantly and consistently associated with the increase of $O_3$ and CO exceedance counts (to corrected error level -0.017) and less strongly and consistently with $SO_2$ and TSP. $SO_2$ and TSP showed weaker and less consistent relationship. $O_3$ and CO were estimated to increase the risks of lung cancer by 2.04 and 1.46 respectively, the maximal probable risks, derived from comparing more polluted area (95%) with cleaner area (5%). Conclusions : Although not decisive due to potential misclassication of exposure, these results wert drawn by relatively conservative interpretation, and could be used as an evidence of chronic health effect especially for lung cancer. $O_3$ might be a candidate for promoter of lung cancer, while CO should be considered as surrogated measure of motor vehicle emissions. The control selection in this study could have been less appropriate for COPD, and further evaluation with another setting might be necessary.

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