• International Journal of Naval Architecture and Ocean Engineering
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• v.12 no.1
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• pp.832-842
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• 2020

The coordination control of multiple Underactuated Underwater Vehicles (UUVs) moving in three dimensional space is investigated in this paper. The coordinated path following control task is decomposed into two sub tasks, that is, path following control and coordination control. In the spatial curve path following control task, path following error dynamics is build in the Serret-Frenet coordinate frame. The virtual reference object can be chosen freely on the desired spatial path. Considering the speed of the UUV, the line-of-sight navigation is introduced to help the path following errors quickly converge to zero. In the coordination control sub task, the communication topology of multiple UUVs is described by the graph theory. The speed of each UUV is adjusted to achieve the coordination. The path following system and the coordination control system are viewed as the feedback connection system. Input-to-state stable of the coordinated path following system can be proved by small gain theorem. The simulation experiments can further demonstrate the good performance of the control method.

• ETRI Journal
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• v.45 no.4
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• pp.615-626
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• 2023

Under limited transmission conditions, many factors affect the efficiency of video transmission. During the flight of an unmanned aerial vehicle (UAV), frequent network switching often occurs, and the channel transmission condition changes rapidly, resulting in low-video transmission efficiency. This paper presents an efficient video coding flow for UAVs working in the 5G nonstandalone network and proposes two bit controllers, including time and spatial bit controllers, in the flow. When the environment fluctuates significantly, the time bit controller adjusts the depth of the recursive codec to reduce the error propagation caused by excessive network inference. The spatial bit controller combines the spatial bit mask with the channel quality multiplier to adjust the bit allocation in space to allocate resources better and improve the efficiency of information carrying. In the spatial bit controller, a flexible mini graph is proposed to compute the channel quality multiplier. In this study, two bit controllers with end-to-end codec were combined, thereby constructing an efficient video coding flow. Many experiments have been performed in various environments. Concerning the multi-scale structural similarity index and peak signal-to-noise ratio, the performance of the coding flow is close to that of H.265 in the low bits per pixel area. With an increase in bits per pixel, the saturation bottleneck of the coding flow is at the same level as that of H.264.

• Applied Chemistry for Engineering
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• v.5 no.4
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• pp.657-661
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• 1994

A method to analyse the concentration of mixture (AC/urea) and the concentration of urea or AC alone was developed. In this study, the decomposition of AC solution to ammonium bicarbonate was suppressed by using of 15% w/v ammonia as a solvent and the error of equilibrium point was maintained less than 1 %. Strong peaks at $1600cm^{-1}$ for urea and at $1405cm^{-1}$ for AC, corresponding to the N-H bending and symmetric carboxylate ion stretch were used to construct calibration graph and equations for the measurement of concentration. The errors of calculated concentration were ${\pm}0.1%$ w/v for AC and ${\pm}0.3%$ w/v for urea.

• Journal of the Korean Society of Propulsion Engineers
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• v.23 no.2
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• pp.78-86
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• 2019

Aluminum, which is a metal fuel contained in the composite solid propellant, is not ignited and burned on the combustion surface by the oxide film, and it partially melts and coalesces with surrounding aluminum particles. For the evaluation and design of the propellant performance, modeling was performed to predict the size and distribution of agglomerated particles, and the size and distribution of agglomerates were compared and verified through experiment. The predicted values showed the tendency to decrease with pressure as in the experiment, but the error increased as the pressure increased. The agglomerated particle distribution graph showed a difference in the volume fraction although the diameter at the peak was the same.

• Proceedings of the Korean Nuclear Society Conference
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• 1995.10a
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• pp.254-259
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• 1995

Large scale display panel(LSDP) is a main component in the next generation main control rooms. LSDP is located at the front of VDU-based operator's workstation and plays an important role in providing operators with overall information of plant status through mimic diagram, text/digit, graph, and so on. A critical matter determined at the first stage of LSDP design is how much information is displayed, because the information density of LSDP affects operator's performance. Many human factors guidelines recommend low information density of displays to avoid degrade of operator's performance, but doesn't provide a useful limit of information density. In this paper, we considered information density as the number of plant parameters and investigated the proper number of plant parameters through a human factors experiment. The experiment with 4 subjects was carried out and response time, error, and heart rate variation as criterion measures were recorded and analyzed. As the results, it is identified that the proper number of parameters in a LSDP is about thirty.

• The Transactions of the Korean Institute of Electrical Engineers P
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• v.58 no.3
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• pp.316-322
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• 2009

This paper presents an analytical design method of a passive harmonic filter for a three-phase diode rectifier and uses a new transfer function approach in the analysis and design. The transfer function approach derives an analytical formulation of an utility system including passive filters with a basis of Laplace transform and provides a graphical formulation so that a visualized insight into an interaction between individual filter and system response can be attainted. Harmonic impedance, voltage division and current division transfer function are used as a design tool, which makes a calculated filter parameters to satisfy IEEE-519 distortion limits. A simple five-step design procedure is introduced in the filter design, which consists of system analysis, selection of PCC(Point of Common Coupling), filter specification calculation, appropriate filter design for system and filter implementation. Philosophy governing the design procedure is based on a numerical/graphical iterative solution, trial and error with visualization feed-back based on "algebra on the graph". Finally, performance of the designed passive harmonic filter is verified by experiment and shows that 5th, 7th, 9th, 11th and 13th harmonics are decreased within IEEE-519 distortion limits, respectively.

• Journal of Environmental Science International
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• v.23 no.4
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• pp.585-594
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• 2014

This study Analyzed four of seven runoffs which had happened in 2012 in comparison with the runoffs shown in Kalesto data, using the fixed surface image velocimetry (FSIV) installed at Oedo stream, Jeju Island. As a result of identifying a runoff curve graph, it was analyzed that the flood runoffs calculated with two observation devices were almost equivalent. As the differences in peak flows were 10 $m^3/s$, 0.7 $m^3/s$ and 3 $m^3/s$, the very similar result values were calculated. Even though there were errors in RMSE(Root Mean Square Error) made by two observation devices according to the degree of the peak flow, the values of $R^2$ by flood event were 0.89, 0.87, 0.86 and 0.82, showing the result values almost close to 1. Therefore, there was a very high correlation in flood runoffs calculated with two observation devices. This research method was considered to be a very suitable method to measure unexpected flood runoffs which could happen in the island area such as Jeju island during bad weather.

• The Journal of Korea Robotics Society
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• v.15 no.4
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• pp.341-349
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• 2020

Recently, interest in ground subsidence in urban areas has increased after a large sinkhole occurred near the high-story building area in Jamsil, Seoul, Korea, in 2014. If a massive sinkhole occurs in an urban area, it is crucial to assess its risk rapidly. Access to humans for on-site safety diagnosis may be difficult because of the additional risk of collapse in the disaster area. Generally, inspection using drones equipped with high-speed lidar sensors can be utilized. However, if the sinkhole is created vertically to a depth of 100 m, similar to the sinkhole in Guatemala, the drone cannot be applied because of the wireless communication limit and turbulence inside the sinkhole. In this study, a three-dimensional (3D) scanning system was fabricated and operated using a towed cable in a massive vertical sinkhole to a depth of 200 m. A high-speed lidar sensor was used to obtain a continuous cross-sectional shape at a certain depth. An inertial-measuring unit was applied to compensate for the error owing to the rotation and pendulum movement of the measuring unit. A reconstruction algorithm, including the compensation scheme, was developed. In a vertical hole with a depth of 180 m in the mining area, the fabricated system was applied to scan 0-165 m depth. The reconstructed shape was depicted in a 3D graph.

• Journal of Multimedia Information System
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• v.6 no.4
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• pp.265-270
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• 2019

The technology to locate an individual has enabled various services, its utilization has increased. There were constraints such as the use of separate expensive equipment or the installation of specific devices on a facility, with most of the location technology studies focusing on the accuracy of location verification. These constraints can result in accuracy within a few tens of centimeters, but they are not technology that can be applied to a user's location in real-time in daily life. Therefore, this paper aims to track the locations of smartphones only using the basic components of smartphones. Based on smartphone sensor data, localization accuracy that can be used for verification of the users' locations is aimed at. Accelerometers, Wifi radio maps, and GPS sensor information are utilized to implement it. In forging the radio map, signal maps were built at each vertex based on the graph data structure This approach reduces traditional map-building efforts at the offline phase. Accelerometer data were made to determine the user's moving status, and the collected sensor data were fused using particle filters. Experiments have shown that the average user's location error is about 3.7 meters, which makes it reasonable for providing location-based services in everyday life.

• Nuclear Engineering and Technology
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• v.44 no.7
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• pp.755-766
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• 2012

A Binary Decision Diagram (BDD) is a graph-based data structure that calculates an exact top event probability (TEP). It has been a very difficult task to develop an efficient BDD algorithm that can solve a large problem since its memory consumption is very high. Recently, in order to solve a large reliability problem within limited computational resources, Jung presented an efficient method to maintain a small BDD size by a BDD truncation during a BDD calculation. In this paper, it is first identified that Jung's BDD truncation algorithm can be improved for a more practical use. Then, a more efficient truncation algorithm is proposed in this paper, which can generate truncated BDD with smaller size and approximate TEP with smaller truncation error. Empirical results showed this new algorithm uses slightly less running time and slightly more storage usage than Jung's algorithm. It was also found, that designing a truncation algorithm with ideal features for every possible fault tree is very difficult, if not impossible. The so-called ideal features of this paper would be that with the decrease of truncation limits, the size of truncated BDD converges to the size of exact BDD, but should never be larger than exact BDD.