• Journal of Institute of Control, Robotics and Systems
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• v.6 no.4
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• pp.295-304
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• 2000

In the teleoperation system, force and velocity signals are communicated between a master and a slave robot. The addition of force feedback to a teleoperation system benefits the operator by providing more information to perform given tasks especially for tasks requiring contact with environment. When the master and slave arms are located in different places, time delay is unavoidable and it is well known that the system can become unstable when even a small time delay exists in the communication channel. The control scheme proposed in this paper is based on the estimator with virtual master model. Delayed signal from the master robot can be replaced by the estimated signal with the virtual master model. This control scheme makes the teleoperation system stable for the given time delay while the conventional scheme is not. This new control scheme is verified through numerical simulations and an experiments using the dual axis testbed of the teleoperation system.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.7
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• pp.530-535
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• 2016

In this paper, the TTSE (Target size and Triangulation-based target Size Estimator) algorithm is proposed to estimate static target size in an imaging environment. The target size information is an important factor for accurate imaging target tracking. However, the imaging sensor cannot generate distance between the missile and target to calculate the target size. To overcome the problem, we propose the TTSE algorithm, which is based on target size and triangulation. The proposed method performance is tested in a target intercept scenario. The experiment results show that the proposed algorithm has better performance than the conventional algorithm (ET-TSE) for accurate CCD target size estimation.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.10
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• pp.917-923
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• 2015

In this paper, the TSE (Triangulation based target Size Estimator) algorithm is presented to estimate static target size at IIR (Imaging Infrared) environment. The size information is important factor for accurate IIR target tracking. But the IIR sensor can't generate distance between missile and target to calculate target size. In order to overcome the problem, we propose TSE algorithm which based on triangulation measurement. The performance of proposed method is tested at target intercept scenario. The experiment results show that the proposed algorithm has suitable performance for the accurate static target size estimating.

• Proceedings of the Acoustical Society of Korea Conference
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• autumn
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• pp.353-356
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• 2001

본 논문은 수중 음향을 이용하여 다중경로(Multipath) 환경에서의 해저면 설치 수신기의 3차원 위치 추정 알고리즘을 제안한다. 해저면 설치 수신기의 위치 추정을 위해 기준 음원의 위치와 음원과 수신기 사이의 수평거리를 사용하며, 수평거리 산출 시 다중경로의 영향을 고려하기 위해 음선 이론 모델을 사용하여 음원과 수신기 사이의 수평거리를 추정한다. 또한 특이치 분해법(Singular Value Decomposition estimator; SVD)을 사용하여 설정된 3차원 위치 추정 문제의 최적해를 추정하며, 이를 사용하여 동해 해상 실험 자료를 분석한다. 논문의 연구 결과 제안된 해저면 설치 3원 위치 추정 알고리즘은 다중경로 환경에서도 좋은 성능을 나타냄을 알 수 있다.

• Journal of electromagnetic engineering and science
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• v.15 no.1
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• pp.37-43
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• 2015

We implemented a real-time radar system for an unmanned ground vehicle designed to run on unpaved or bumpy roads. The system must be able to detect slow targets in a cluttered environment and cover wide angular sections with high resolution at the same time. The system consists of array antennas, preprocessors for digital beam forming, and digital signal processors for the detection process which uses sawtooth waveforms and high-resolution estimation, and is called forward/backward spatial smoothing beamspace multiple signal classification (FBSS BS-MUSIC). We show that the sawtooth waveforms enhance the angular estimation capability of FBSS BS-MUSIC in addition to their well-known advantages of removing the ambiguity of targets and detecting slow targets with improved velocity resolution.

• International Journal of Computer Science & Network Security
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• v.21 no.2
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• pp.181-187
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• 2021

The purpose of this study is to examine empirically the short- and long-run determinants of entrepreneurial activity in a sample of 15 the Middle East and North African economies between 2006 and 2018. More specifically, four groups of determinants are considered in the analysis, namely economic, demographic, business environment, and institutional. Given the autoregressive feature of the entrepreneurial activity process, a dynamic panel data model is estimated using the system GMM estimator. Findings reveal that unemployment, trade openness, population density, and economic freedom are the main drivers of new business creation in the short-run, while the cost and number of procedures to start a new business negatively affect entrepreneurship. In the long-run, the same findings hold true. Moreover, education and political stability and the absence of violence/terrorism positively affect entrepreneurial activity. Policy recommendations are accordingly designed.

• Journal of the Korean Society of Industry Convergence
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• v.25 no.2_2
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• pp.193-198
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• 2022

In this paper, we introduce the improved control method are communicated between a master and a slave robot in the teleoperation systems. When the master and slave robots are located in different places, time delay is unavoidable under the network environment and it is well known that the system can become unstable when even a small time delay exists in the communication channel. The time delay may cause instability in teleoperation systems especially if those systems include haptic feedback. This paper presents a control scheme based on the estimator with virtual master model in teleoperation systems over the network. As the behavior of virtual model is tracking the one of master model, the operator can control real master robot by manipulating the virtual robot. And LQG/LTR scheme was adopted for the compensation of un-modeled dynamics. The approach is based on virtual master model, which has been implemented on a robot over the network. Its performance is verified by the computer simulation and the experiment.

• The KIPS Transactions:PartA
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• v.13A no.6 s.103
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• pp.533-540
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• 2006

This paper describes the design and implementation of a grid system META (Metacomputing Environment using Test-run of Application) which facilitates the execution of a CFD (Computational Fluid Dynamics) analysis program on distributed environment. The grid system META allows the CFD program developers can access the computing resources distributed over the network just like one computer system. The research issues involved in the grid computing include fault-tolerance, computing resource selection, and user-interface design. In this paper, we exploits an automatic resource selection scheme for executing the parallel SPMD (Single Program Multiple Data) application written in MPI (Message Passing Interface). The proposed resource selection scheme is informed from the network latency time and the elapsed time of the kernel loop attained from test-run. The network latency time highly influences the executional performance when a parallel program is distributed and executed over several systems. The elapsed time of the kernel loop can be used as an estimator of the whole execution time of the CFD Program due to a common characteristic of CFD programs. The kernel loop consumes over 90% of the whole execution time of a CFD program.

• Journal of Korean Society for Atmospheric Environment
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• v.7 no.3
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• pp.180-188
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• 1991

기후변화를 나타내는 연구 결과들은 기온이나 강수량을 대상으로 하여 두 기간 평균치의 비교, 5년 이동평균치의 圖示, 회귀분석 등의 방법들을 사용하여 발표되지만 대부분의 경우 밑바탕이 되는 모집단의 통계적 특성을 엄격히 검토하지 않는 정성적인 분석인 경우가 많다. 서울, 부산, 인천, 목포 등 4개 지점의 80년 동안의 연강수량과 연평균기온자료를 분석한 결과 기온은 정규분포를 나타내므로 전통적인 t-검정과 회귀분석을 적용할 수 있다. t-검정 결과 두 기간(1920 $sim$ 1949, 1961 ~ 1990)은 연평균기온에서 0.3$^{\circ}$C에서 $0.8^{\circ}$C의 의의있는 차이를 보였다. 최근 30년의 연평균기온자료를 회귀분석한 결과 1년에 $0.02^{\circ}$C의 증가경향을 나타내었다. 연강수량은 정적인 왜곡도를 보이므로 정규분포를 가정하는 母數的 통계분석을 적용해서는 안되며 비모수적 통계분석법을 적용해야 한다. 연강수량의 분석에는 t-검정에 상응하는 Mann-Whitney 검정을 적용해 본 결과 두 기간(1920 ~ 1949, 1961 ~ 1990)의 평균은 통계적으로 의의있는 차이가 없었다. 회귀분석에 상응하는 Mann's 검정과 이 연구에서 새로이 제안된 Median Slope Change Estimator를 적용해 본 결과 역시 통계적으로 의의있는 변화가 없었다. Median Slope Change Estimator는 비모수적 통계치로서 회귀분석의 기울기에 해당하는 연변화를 나타낼 수 있는데 분석하려는 자료의 정규분포성을 요구하지 않으며 異常點(outlier) 영향에 덜 민감하다는 장점이 있으므로 주목하여 연구할 만한 가치가 있다.^{\circ}$~40$^{\circ}$ 구간에서는 ${\sigma}_c$와 I$_{sa}$, 40$^{\circ}$~90$^{\circ}$ 구간에서는 ${\sigma}_c$와 I$_{sd}$가 각각 양호한 상관관계를 보여준다. 또한 상관비(K=${\sigma}_c$/I$_s$)는 약 13정도로서 일반적으로 적용되는 비, 24와 상당한 차이가 있다. 이러한 현상은 호상편마암의 구조적 및 역학적 이방성 특성으로 인한 결과라고 판단된다. 한편 맥암류에서 K가 약 23정도로서 일반적인 비 24에 상당히 접근한다. 따라서, 이방성 구조가 뚜렷한 암석에서 상관비 24는 항상 적용할 수는 없으며 일축압축강도시험과 병행 실시하여 적용하는 것이 바람직하다.다. 한편, 감작감염후 77일과 도전감염후 7일의 시점에 있어서 sRBC에 대한 면역능에 미치는 영향은 전자의 양상과 비슷하였는데 대조에 비하여 지연형 과민반응과 로제트 형성능이 현저하게 저하되었다. 이 시점에 있어서의 유충회수율은 대조가 10.5% 이었는데 비하여 8.3%이었다.e also compared for the cases of Kim et al, which again gives promising agreement.면적 306~453$\textrm{cm}^2$, 유색계의 경우 수당면적 340~453$\textrm{cm}^2$ 일 때 경제능력을 제대로 발휘할 수 있고 경제성이 있는 것으로 나타났다. 첨가구가 높은 경향이 있었다8.4%. 79.7% 그리고 80.2%였다.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.10 no.10
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• pp.2819-2830
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• 2009

Load bearing structural members in a wide variety of applications accumulate damage over their service life. During experiment much effort and cost is needed for measuring structural safety assessment. The sparseness and errors of measured data have to be considered during the safety estimation of structures. This paper introduces parameter estimation and damage identification algorithm by a system identification using static and dynamic response. The equation error estimator and response error widely used in system identification are based on the minimization of least squared error between measured and calculated responses by a mathematical model of a structure. Since each estimator has a specific form of application in noisy environment and proposes different definitions for these forms. To study the behaviour of the estimators in noisy environment Using Monte Carlo simulation, and a data measured pertubation scheme is adopted to investigate the influence of measurement errors on identification results. The assessment result by static and dynamic response were compared, and the efficiency and applicabilities of the proposed algorithm are demonstrated through simulated static and dynamic responses of a dimensional truss type structures.