• 한국해양공학회지
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• 제22권4호
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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.

• 로봇학회논문지
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• 제9권1호
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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.

• 산업경영시스템학회지
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• 제25권3호
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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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• 제4권1호
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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.

• 대한전자공학회논문지TC
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• 제37권2호
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• pp.91-97
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• 2000

본 논문에서는 Feedforward 선형화기 시스템에서 error sensor loop 부분에 적용할 수 있는 새로운 형태의 제어 회로를 제안하였다. 이 제어 회로를 error sensor loop에 적용하였을때 11dB의 입력 전력의 변화 범위에서 안정적으로 동작하였으며, 주 신호가 3차 IM 신호보다 작은 전력 레벨인 -40dB 이상의 감쇄를 갖도록 제어할 수 있었다. 이때 세기 제어 회로에 있어서 제어 오차는 0.05~0.12dB이며, 위상 제어 회로의 제어 오차는 0.016 "이내의 값을 가진다. 이러한 실험 결과를 토대로 입력 전력의 변화, 동작 온도의 변화, 습도, 및 주변 환경의 변화등에 의한 고출력 증폭기의 비선형 특성의 변화를 정밀하게 보상할 수 있음을 이론적으로 검증하였다.

• 한국음향학회지
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• 제38권6호
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• pp.630-636
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• 2019

수동측거소나는 잠수함 플랫폼의 좌/우현에 각각 3개의 부배열로 구성된 수동소나의 한 종류로서 표적을 탐지하고 방위와 거리를 산출하는 특성을 갖는다. 방위와 거리 산출에는 물리적인 부배열 위치로 인하여 발생되는 시간지연과 삼각측량 기법이 활용된다. 이러한 기법에는 부배열의 정확한 위치정보가 요구되며 부배열의 위치정보가 부정확할 경우 방위와 거리정확도 성능이 저하되는 한계가 있다. 특히 하나의 시간지연을 사용하는 방위보다 두 개의 시간지연 값을 사용하는 거리 정확도 성능에 미치는 영향이 더 크다. 이를 개선하기 위하여 부배열의 위치 오차 추정 및 오차보상에 대한 연구가 필요하다. 본 논문에서는 최적화 탐색 기법인 유전자 알고리즘을 바탕으로 부배열 위치오차를 추정하며, 위치오차로 인한 시간지연 오차 값을 보상하여 거리정확도 성능 개선 방법을 제시하고자 한다. 또한 해상시험 데이터를 이용하여 제시한 알고리즘과 성능을 검증하고자 한다.

• 대한방사선기술학회지:방사선기술과학
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• 제46권1호
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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.

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2007년도 추계학술대회 논문집
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• pp.535-536
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• 2007

• 한국정밀공학회:학술대회논문집
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• 한국정밀공학회 2001년도 추계학술대회 논문집
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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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• 제27권4호
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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.