• Journal of Ocean Engineering and Technology
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• v.22 no.4
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• pp.106-113
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• 2008

This paper presents an underwater navigation system based on range measurements from a known reference station fixed on the sea bottom or floated at surface with a buoy, for which the system is extended to 3-dimensional coordinates. We formulated a state equation in polar coordinates and constituted an extended Kalman filter for discrete-time implementation of the navigation algorithm. The autonomous underwater vehicle, lSiMl, cruising with a constant speed can estimate its trajectory using just range measurements and additional depth, heading and pitch sensors. Simulation studies were performed to evaluate the underwater navigation of the maneuvering AUV with range measurements. We modulated the sample rate of range measurements to evaluate the effect of the update rate, and changed the initial position error of the AUV to check the robustness to estimation errors. Simulation results illustrates that the extended navigation system provides convergence of the state estimates. The navigation system was conditionally stable when it had initial position errors.

• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.28-38
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• 2014

This paper verifies the performance of Extended Kalman Filter(EKF) and MCL(Monte Carlo Localization) approach to localization of an underwater vehicle through experiments. Especially, the experiments use acoustic range sensor whose measurement accuracy and uncertainty is not yet proved. Along with localization, the experiment also discloses the uncertainty features of the range measurement such as bias and variance. The proposed localization method rejects outlier range data and the experiment shows that outlier rejection improves localization performance. It is as expected that the proposed method doesn't yield as precise location as those methods which use high priced DVL(Doppler Velocity Log), IMU(Inertial Measurement Unit), and high accuracy range sensors. However, it is noticeable that the proposed method can achieve the accuracy which is affordable for correction of accumulated dead reckoning error, even though it uses only range data of low reliability and accuracy.

• Journal of Korean Society of Industrial and Systems Engineering
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• v.25 no.3
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• pp.9-15
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• 2002

Due to the inconsiderateness of human capability and inappropriate arrangement of display and control unit at the industrial site, the human error leads to a various accidents. This study was performed to investigate the visual range at the eye field and stationary field at the various angles with three different visual stimuli of alphabetic character, color slip and light-emitting diode. Three kinds of various alphabetic characters depending on length and breadth ratio (1:1, 3:5, 5:3) and three different colors (red, yellow, green) were used for the stimuli. Twenty-five subjects (11 males and 14 females) participated for this study. The results showed that female had wider visual range than male at the eye field, however no significant difference was found at the stationary field. The light-emitting diode had a widest visual range then color slip and characters are in order at the eye field and stationary field. For the character stimulus, the widest visual range was shown at length and breadth ratio of 1:1. The other ratios (3:5 and 5:3) showed no significant difference. The color of red had a widest visual range on the light-emitting diode, however, the color of yellow showed a widest visual range on the just color slip at the eye field. The result of this study would be valuable in applying to the design of visual display and the panel layout of control and displays in the industrial site.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.4 no.1
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• pp.62-77
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• 2010

Emerging applications with high data rates will need to transport bulk data reliably in wireless sensor networks. ARQ (Automatic Repeat request) or Forward Error Correction (FEC) code schemes can be used to provide reliable transmission in a sensor network. However, the naive ARQ approach drops the whole frame, even though there is a bit error in the frame and the FEC at the bit level scheme may require a highly complex method to adjust the amount of FEC redundancy. We propose a bulk data transmission scheme based on erasure-resilient code in this paper to overcome these inefficiencies. The sender fragments bulk data into many small blocks, encodes the blocks with LT codes and packages several such blocks into a frame. The receiver only drops the corrupted blocks (compared to the entire frame) and the original data can be reconstructed if sufficient error-free blocks are received. An incidental benefit is that the frame error rate (FER) becomes irrelevant to frame size (error recovery). A frame can therefore be sufficiently large to provide high utilization of the wireless channel bandwidth without sacrificing the effectiveness of error recovery. The scheme has been implemented as a new data link layer in TinyOS, and evaluated through experiments in a testbed of Zigbex motes. Results show single hop transmission throughput can be improved by at least 20% under typical wireless channel conditions. It also reduces the transmission time of a reasonable range of size files by more than 30%, compared to a frame ARQ scheme. The total number of bytes sent by all nodes in the multi-hop communication is reduced by more than 60% compared to the frame ARQ scheme.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.37 no.2
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• pp.91-97
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• 2000

Tn this paper, a novel control circuit applicable to the error sensor loop block in the feedforward linearizer system is proposed. The proposed control circuit is applied to the error sensor loop block, where in the 11dB power range, it operates stably, and makes main carrier signals to be eliminated more than 40dB below 3$\^$rd/ order IM level. In the operating point, the amplitude control error is 0.05∼0.12dB, and the phase control error is smaller than 0.02。. It is verified theoretically as well as experimentally that the control circuit can precisely compensate the variation of nonlinear characteristics in a high power amplifier, due to the variations of input power, operating temperature, humidity and the other system environments.

• The Journal of the Acoustical Society of Korea
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• v.38 no.6
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• pp.630-636
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• 2019

Passive Ranging Sonar (PRS) is a type of passive sonar consisting of three sub-array on the port and starboard, and has a characteristic of detecting a target and calculating a bearing and a distance. The bearing and distance calculation requires physical sub-array position information, and the bearing and distance accuracy performance are deteriorated when the position information of the sub-array is inaccurate. In particular, it has a greater impact on distance accuracy performance using plus value of two time-delay than a bearing using average value of two time-delay. In order to improve this, a study on sub-array position error estimation and error compensation is needed. In this paper, We estimate the sub-array position error based on enetic algorithm, an optimization search technique, and propose a method to improve the performance of distance accuracy by compensating the time delay error caused by the position error. In addition, we will verify the proposed algorithm and its performance using the sea-going data.

• Journal of radiological science and technology
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• v.46 no.1
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• pp.9-14
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• 2023

When measuring cerebrovascular with 3D rotational angiography, the accuracy was verified by comparing the actual size and measurement size, respectively. It is intended to help select therapeutic materials and instruments during cerebrovascular intervention by comparing the average error rates for measured values in the 3DRA and CTA methods by examining with protocols such as brain CTA, which are always performed in emergency situations. The mean error rate between the groups of measurers was ±3.655% for radiation technologist and ±3.331% for university students, and the mean error rate of the student group was within tolerance (±10%), and the independent sample T-test result t =0.879, p=0.394 (p>0.05) showed no statistically difference between the two. In addition, the average error rate measured by both groups by 3DRA was measured below ±5% within the tolerance error rate (±10%), and most of CTA was measured within the tolerance range (±10%), but showed an average error rate of up to 5.65%, and the independent sample T-test result was statistically more accurate than 3DRA. Both the 3DRA method and the brain CTA method for measuring cerebrovascular size could be accurately measured within tolerance, but it would be better to measure cerebrovascular blood vessels using a more accurate 3DRA method during cerebrovascular intervention.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2007.11a
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• pp.535-536
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• 2007

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2001.10a
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• pp.134-138
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• 2001

Basic governing equations for the Active Magnetic Bearing system are derived. Characteristic difference between PD and PID controllers are studied. It is shown that I-control action is able to minimize the steady state error and increase the stiffness in low frequency range.

• Journal of the Korean Statistical Society
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• v.27 no.4
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• pp.485-494
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• 1998

In the white noise model we construct an adaptive estimate for f(0) for a decreasing function f. We also show that the maximum mean square error of this estimate attains the same rate as the minimax risk simultaneously over a range of Lipschitz classes of order less than or equal to one.