• 제어로봇시스템학회논문지
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• 제21권5호
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• pp.482-489
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• 2015

CSTR (Continuous Stirred Tank Reactor) which plays a key role in the chemical plants exhibits highly nonlinear behavior as well as time-varying behavior during operation. The control of CSTRs in the whole operating range has been a challenging problem to control engineers. So, a variety of feedback control forms and their tuning methods have been implemented to guarantee the satisfactory performance. This paper presents a scheme of designing a nonlinear PID controller incorporating with a GA (Genetic Algorithm) for the temperature control of a CSTR. The gains of the NPID controller are composed of easily implementable nonlinear functions based on the error and/or the error rate and its parameters are tuned using a GA by minimizing the ITAE (Integral of Absolute Error). Simulation works for reference tracking and disturbance rejecting performances and robustness to parameter changes show the feasibility of the proposed method.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제5권5호
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• pp.1013-1027
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• 2011

In this paper we propose ATCS, a practical TCP protocol coding scheme based on network coding for satellite IP networks. The proposal is specially designed to enhance TCP performance over satellite networks. In our scheme, the source introduces a degree of redundancy and transmits a random linear combination of TCP packets. Since the redundant packets are utilized to mask packet loss over satellite links, the degree of redundancy is determined by the link error rates. Through a simple and effective method, ATCS estimates link error rates in real time and then dynamically adjusts the redundant factor. Consequently, ATCS is adaptable to a wide range of link error rates by coding TCP segments with a flexible redundancy factor. Furthermore, the scheme is compatible with traditional TCP variants. Simulation results indicate that the proposal improves TCP performance considerably.

• 한국ITS학회 논문지
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• 제9권6호
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• pp.33-42
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• 2010

구간통행속도는 도로의 교통상황을 나타내는 중요한 지표이며, UTIS(Urban Traffic Information System)는 도로의 구간 통행속도를 측정하여 제공하는 대표적인 구간속도 측정시스템이다. 시험운영 결과, 프로브 차량의 불규칙한 주행궤적, 무선통신 장치의 통신범위 등의 요인으로 UTIS 산출 속도의 신뢰도가 저하되는 현상이 일부 나타나고 있다. 본 논문에서는 이러한 오차를 줄이기 위해 UTIS에 포함된 이상치를 제거하는 알고리즘을 제안하였다. 제안된 알고리즘을 적용하여 현장실험을 실시한 결과 새로운 이상치 제거 알고리즘이 속도 측정값들 오차백분율의 분산을 기존 알고리즘보다 2배 이상 줄여주는 것으로 분석되었다. 이는 새로운 알고리즘이 이상치를 적절히 처리하여 구간통행속도 산출 정확도를 높여줌을 나타낸다.

• 전기학회논문지
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• 제59권10호
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• pp.1874-1881
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• 2010

A recursive linear stochastic error compensation algorithm is newly proposed for target localization in sensor network which provides range difference of arrival(RDOA) measurements. Target localization with RDOA is a well-known nonlinear estimation problem. Since it can not solve with a closed-form solution, the numerical methods sensitive to initial guess are often used before. As an alternative solution, a pseudo-linear estimation scheme has been used but the auto-correlation of measurement noise still causes unacceptable estimation errors under low SNR conditions. To overcome these problems, a stochastic error compensation method is applied for the target localization problem under the assumption that a priori stochastic information of RDOA measurement noise is available. Apart from the existing methods, the proposed linear target localization scheme can recursively compute the target position estimate which converges to true position in probability. In addition, it is remarked that the suggested algorithm has a structural reconciliation with the existing one such as linear correction least squares(LCLS) estimator. Through the computer simulations, it is demonstrated that the proposed method shows better performance than the LCLS method and guarantees fast and reliable convergence characteristic compared to the nonlinear method.

• 한국군사과학기술학회지
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• 제17권5호
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• pp.577-584
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• 2014

In this study, the behavior of a shaped charge projectile's metal jet was analyzed using flash radiography. The projectile was installed horizontally to observe the behavior of jet for enough time. While the X-ray tube heads are fixed at one point, the behavior range of the jet is wide in this experimental set up, therefore the angle between the X-ray tube heads and the jet tip is changed continuously as jet moves forward. Jet particle's locations calculated from the X-ray films become different from their real positions under this situation because of the film to object distance(FTOD) and correction for error by FTOD is required. In this study, a method was devised to correct the error by FTOD and this was applied for the investigation of jet behavior of a 70 mm caliber's shaped charge.

• 한국통신학회논문지
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• 제35권3A호
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• pp.245-253
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• 2010

본 논문에서는 협력통신을 위한 coded cooperation 시스템의 성능 분석을 기술한다. Coded cooperation은 user cooperation과 채널 부호의 결합된 프로토콜로서 기존의 coded cooperation의 연구는 주로 이동통신 환경을 고려한 Rayleigh fading 채널에서 이루어 졌다. 최근에 초고속 근거리 무선전송을 위한 60GHz 대역의 반송파를 이용한 연구가 활발해 지면서 Rician fading 채널 기반의 협력통신 분석에 대한 필요성이 제기되었다. 본 논문에서는 coded cooperation 시스템의 outage probability 성능과 bit error probability의 성능을 Rician fading 채널에서 분석하고 Rayleigh fading 채널에서와 같이 다이버시티 오더 값이 2로 유지됨을 보인다.

• Ocean and Polar Research
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• 제39권2호
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• pp.73-84
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• 2017

The probability distribution of ichthyoplankton is important for enhancing the precision of sampling while reducing unnecessary surveys. To estimate the ichthyoplankton detection proportion (IDP) and its margin of error (ME), the monitoring information of the chub mackerel's (Scomber japonicus) ichthyoplankton presence-absence sampling data has been were collected over approximately 30 years (from 1982 to 2011) in the Korean coastal seas. Based on the computed spatial distributions of the mackerel's IDP and ME, the confidence interval (CI) range, defined as 2 ME, decreases from approximately 80% to 40% as the sample size n increases from 4 to 24 and the ME is approximately 40% in the typical (seasonal survey) case n = 4 per year. The IDP and ME off Jeju Island are relatively high at the 0.5-degree smoothing level. After increasing the spatial smoothing level to 1.0-degree, the ME decreased, and the spatial distribution pattern also changed due to the over-smoothing effects. In this study, the 0.5-degree smoothing is more suitable for the distribution pattern than the 1.0-degree smoothing level. The area of the high IDP and the low ME on the mackerel's ichthyoplankton was similar to the estimated spawning ground in the Korean peninsula. This information could contribute to enhancing for the spawning ecology surveys.

• 로봇학회논문지
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• 제11권3호
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• pp.127-132
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• 2016

For a practical mobile robot team such as carrying out a search and rescue mission in a disaster area, the localization have to be guaranteed even in an environment where the network infrastructure is destroyed or a global positioning system (GPS) is unavailable. The proposed architecture supports localizing robots seamlessly by finding their relative locations while moving from a global outdoor environment to a local indoor position. The proposed schemes use a cooperative positioning system (CPS) based on the two-way ranging (TWR) technique. In the proposed TWR-based CPS, each non-localized mobile robot act as tag, and finds its position using bilateral range measurements of all localized mobile robots. The localized mobile robots act as anchors, and support the localization of mobile robots in the GPS-shadow region such as an indoor environment. As a tag localizes its position with anchors, the position error of the anchor propagates to the tag, and the position error of the tag accumulates the position errors of the anchor. To minimize the effect of error propagation, this paper suggests the new scheme of full-mesh based CPS for improving the position accuracy. The proposed schemes assuring localization were validated through experiment results.

• 한국진공학회지
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• 제14권3호
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• pp.103-109
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• 2005

정적법을 이용하여 새로운 중진공 국가표준기를 개발하였다. 이 장치의 성능평가를 위해 측정범위가 각각 133pa과 1,333pa인 두 개의 용량혈 진공게이지를 전달표준기로 사용하여 초음파간섭 수은주압력계와 중진공 표준을 상호비교하였다. Error normalized (En) 값으로 분석한 결과 교정압력 $3pa\;\sim\;100pa$에서 두 표준기는 합성불확도 범위 내에서 잘 일치하고 있음을 알 수 있었다.

• 한국생산제조학회지
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• 제20권2호
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• pp.121-128
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• 2011

As high precision industries such as semiconductor, TFT-LCD manufacturing and MEMS continue to grow, the demand for higher DOF precision stages has been increasing. In general, the stages should accommodate a prescribed range of payloads in order to position various precision manufacturing/inspection instruments. Therefore a nonlinear controller using sliding motion is developed, which bears mass perturbation and makes the upper plate of the stage move in 6 DOF. For the application of the nonlinear control, an observer is also developed based on expected noise covariance. To eliminate the steady state error of step response, integral terms are inserted into the state-space model. The linear term of the controller is designed using optimization scheme in which parameters can be weighted according to their physical significance, whereas the nonlinear term of the controller is designed using trial and error method. A comprehensive simulation study proves that the designed controller is robust against mass perturbation and completely eliminates steady state errors.