• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2005년도 춘계학술대회 논문집
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• pp.1034-1039
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• 2005

SALM(Simultaneous localization and mapping) and AI(Artificial intelligence) have been active research areas in robotics for two decades. In particular, localization is one of the most important tasks in mobile robot research. Until now expensive sensors such as a laser sensor have been used for mobile robot localization. Currently, the proliferation of RFID technology is advancing rapidly, while RFID reader devices, antennas and tags are becoming increasingly smaller and cheaper. So, in this paper, the smart floor using passive RFID tags is proposed and, passive RFID tags are mainly used for identifying location of the mobile robot in the smart floor. We discuss a number of challenges related to this approach, such as tag distribution (density and structure), typing and clustering. In the smart floor using RFID tags, the localization error results from the sensing area of the RFID reader, because the reader just knows whether the tag is in the sensing range of the sensor and, until now, there is no study to estimate the heading of mobile robot using RFID tags. So, in this paper, two algorithms are suggested to. The Markov localization method is used to reduce the location(X,Y) error and the Kalman Filter method is used to estimate the heading($\theta$) of mobile robot. The algorithms which are based on Markov localization require high computing power, so we suggest fast Markov localization algorithm. Finally we applied these algorithms our personal robot CMR-P3. And we show the possibility of our probability approach using the cheap sensors such as odometers and RFID tags for mobile robot localization in the smart floor

• 한국항해항만학회지
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• 제45권6호
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• pp.352-359
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• 2021

본 논문은 자율운항 및 무인 기능이 요구되는 새로운 선박 안전 패러다임에 대응하여 선박중심 직접통신이라는 용어 정의 및 중요성을 제시하고, 고 주파수 기반의 광대역 통신기술을 활용하는 MX-S2X 통신 개념을 정의한다. 초고속 통신 기술의 해상 적용 시 극복해야 하는 해상 다중경로 페이딩을 고려한 MX-S2X 물리계층에 대한 설계 내용과 모의시험을 통한 검증 결과를 제시한다. 설계한 MX-S2X 통신의 물리계층은 충분한 세기의 신호가 수신됨에도 다중경로 페이딩의 영향에 따른 Error-floor 발생 극복을 목표로 설계하였다. 이를 입증하기 위하여 실제 해상 통신환경에 대한 채널 모델을 적용하여 물리계층에 대한 성능분석을 수행하였다. MX-S2X 물리계층의 성능 분석 결과 VDE 물리계층에서 관측되었던 BER Error-floor가 극복되고 AWGN 채널 대비 SNR 2dB 열화 범위 내에서 동작하는 것으로 확인되었다. 이는 근거리 해상통신 환경인 근거리 선박중심 직접통신에 적합한 성능을 보이며 추후 자율운항선박, 무인선 및 군집 선박 등의 직접통신에 활용 가능할 것으로 기대한다.

• 한국지리정보학회지
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• 제6권3호
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• pp.95-106
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• 2003

본 연구에서는 최근 도시계획, 수자원 및 방재 분야에서 높은 관심을 가지고 연구중인 항공레이저측량기법을 활용하여 시가지의 건축밀도를 평가하였다. 먼저, 레이저스캐너인 LiDAR(light detection and ranging)로 취득한 표고자료로부터 DEM(digital elevation model)과 DSM(digital surface model)을 구축하였으며, 건물의 높이를 계산하기 위해 DEM에는 ZONALMEAN 필터, DSM에는 ZONALMAJORITY 필터를 적용하였다. 필터링 과정으로부터 계산한 층수와 현지조사의 층수를 비교한 결과 표준오차 ${\pm}0.199$층을 확보할 수 있었다. 또한 건물 연면적 레이어와 구획 레이어를 중첩하여 통계분석함으로서 도시 구획별 용적률을 제시할 수 있었다. 항공레이저측량 자료를 이용하여 계산한 용적률과 현지조사로부터 계산한 용적률의 비교 결과, 용적률의 표준오차를 ${\pm}2.68%$로 확보할 수 있었다. 따라서, 항공레이저측량 자료는 향후 토지이용계획을 수립하는 의사결정자에게 매우 유용한 자료를 제공해 줄 것으로 기대한다.

• 한국소음진동공학회논문집
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• 제13권1호
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• pp.3-9
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• 2003

In an apartment building, the impact sound from upstairs has been regarded as a main source of noise causing discontentment among occupants. To set the optimum design for sound insulation. it is nesessary to suggest the useful tools or technique that predict the floor impact sound. The purpose of this study is to investigate the applicability of the theory of sound radiation. We measured the vibration acceleration levels on the interior structures and predicted the sound pressure level of the room by using them. The result show that the predicted value, in general, were in good agreement with the measured values within 5∼10% in error rate.

• 한국전문물리치료학회지
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• 제14권3호
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• pp.90-96
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• 2007

The purpose of this study was to compare the joint position sense at the knee joint at 3 different surface conditions by using the active knee joint angle reproduction test in the standing position. Twenty healthy volunteers (10 males and 10 females) age 20~29 years were recruited for this study. The knee joint position senses were assessed at three different surface conditions: on the floor (stable condition), TOGU (soft condition), and seat fit (unstable condition) in a closed kinetic chain. Testing orders were selected randomly. The absolute angle error was defined as the absolute difference between target angles ($30^{\circ}{\sim}45^{\circ}$ knee flexion) and subject perceived angle of the knee flexion. One way ANOVA was used to compare the absolute angle of error among 3 different conditions. The Independent t-test was used to compare the absolute angle of error between male and female. The error angles were significantly different among surface conditions ($1.3^{\circ}{\pm}1.2^{\circ}$ for the floor, $2.1^{\circ}{\pm}0.9^{\circ}$ for the TOGU, and $4.4^{\circ}{\pm}1.8^{\circ}$ for the seat fit, p<.05). There was no significant difference in error angle between male and female. In conclusion, the joint position sense of the knee joint in the closed kinetic chain decreased at unstable surface conditions. The result of this study indicates that surface conditions should be considered when assessing and training the joint position sense of the knee joint in clinical setting.

• 한국소음진동공학회논문집
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• 제20권12호
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• pp.1216-1222
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• 2010

Based on the MacDonald's analytic model for the diffracted sound field of a semi-infinite noise barrier, computer simulations were performed for various positions of error microphones for an active noise barrier system. The simulation process also included the effects of floor reflections on both sides of the barrier. The results were also compared with Niu's simulation results and showed a straight line arrangement of sensors and actuators, in the order of primary source, secondary source and error microphone is better than over the top arrangement of the error microphones.

• 대한안전경영과학회:학술대회논문집
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• 대한안전경영과학회 2000년도 추계학술발표논문집
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• pp.217-234
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• 2000

Approximately normalized control charts, called Q charts, have been given Quesenberry(1991) for charting in process of short-run, job-shop, etc. We consider a Q chart with inspection error for job-shop floor under geometric distribution, which can be used for processes when a fraction nonconforming is very small. Our results would be applied for designing other control charts with inspection error.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 2001년도 가을 학술발표회 논문집
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• pp.545-552
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• 2001

Analysis of a structure for vertical vibration requires a lot of computational efforts because large number of degrees of freedom are generally involved in the dynamic response. Especially, when a structure is loaded with local vibration source, it may not be economical to model the whole structure to obtain the responses of specific members located near or far from the sources. In this study, substructure models have been used for analysis of local vibration An analysis of local vibration is performed for the case that the loaded point and the response point are located on the same floor. Other analysis is performed for the case that the loaded point and the response point are located on the different floor. In this case, if only the floors on which loaded and response points are located are modeled, response of substructure model is very different from that of full model. So, there should be a consideration that degrees of freedom of floors in addition to those of loaded and response floors are included to improve results of dynamic analysis. In this study, floors between loaded floor and response floor were modeled so that modeshapes which affect the response are presented well.

• 한국통신학회논문지
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• 제38C권1호
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• pp.109-117
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• 2013

극 부호(polar codes)는 광범위한 이진 입력 이산 무기억 채널(binary input discrete memoryless channel: BI-DMC)에서 채널 용량에 달성하는 것이 이론적으로 증명된 최초의 채널부호이다. 하지만 유한한 길이를 갖는 극 부호는 연속 제거 리스트(successive-cancellation list: SCL) 복호기에서 오류마루(error floor)가 발생하는 문제점이 있다. 선행 연구에 따르면 이 오류마루 현상은 극 부호에 오류 검출 코드(error detection codes) 중 하나인 CRC(Cyclic Redundancy Check) 부호를 연접했을 때 효과적으로 낮출 수 있는 것으로 알려져 있다. 본 논문에서는 외부 부호(outer codes)를 사용하지 않고 극 부호와 RM(Reed-Muller) 부호의 생성 행렬 연관성을 이용하여 기존 극 부호보다 확장된 최소거리를 갖는 극 부호를 제안한다. 그리고 제안된 극 부호와 CRC 부호를 연접한 극 부호의 성능을 비교한다.

• 대한전자공학회:학술대회논문집
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• 대한전자공학회 2004년도 하계종합학술대회 논문집(1)
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• pp.59-62
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• 2004

The performance of turbo code is improved by updating extrinsic information. The bit patterns are categorized by the transition characteristics of extrinsic information in this paper. And the distribution of these patterns is surveyed according to signal-to-noise ratio. Based on the results, the dominant error pattern is determined at high signal-to-noise ratio range. Thus, it is expected to improve the error performance in the error floor region by correcting the dominant error pattern which is found in this paper.