• 제어로봇시스템학회논문지
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• 제17권10호
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• pp.995-1005
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• 2011

An efficient outdoor local localization method is suggested using multi-sensor fusion with MU-EKF (Multi-Update Extended Kalman Filter) for car-like mobile robots. In outdoor environments, where mobile robots are used for explorations or military services, accurate localization with multiple sensors is indispensable. In this paper, multi-sensor fusion outdoor local localization algorithm is proposed, which fuses sensor data from LRF (Laser Range Finder), Encoder, and GPS. First, encoder data is used for the prediction stage of MU-EKF. Then the LRF data obtained by scanning the environment is used to extract objects, and estimates the robot position and orientation by mapping with map objects, as the first update stage of MU-EKF. This estimation is finally fused with GPS as the second update stage of MU-EKF. This MU-EKF algorithm can also fuse more than three sensor data efficiently even with different sensor data sampling periods, and ensures high accuracy in localization. The validity of the proposed algorithm is revealed via experiments.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1998년도 추계학술대회 논문집 학회본부 B
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• pp.511-513
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• 1998

This paper describes a full color stereoscopic video display system using a LCD shutter. Human apprehends the world with a natural stereo vision. The left eye sees through a slightly different perspective from the right eye; proposed vision system combines two images into a single image that has stereo depth. That is, when the left image is on the screen, the left shutter opens and the right shutter closes - and vice versa. The LCD shutter channels the left image to the left eye, and the right image to the right eye. The brain then fuses the stereo pair into a single high-resolution, flicker-free 3D image. The designed vision system is a real-time system that shows stereoscopic images without the loss of image information from video cameras.

• 제어로봇시스템학회논문지
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• 제18권8호
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• pp.744-749
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• 2012

In this paper, we suggest that how to improve an accuracy of mobile robot's localization by using the sensor network information which fuses the machine vision camera, encoder and IMU sensor. The heading value of IMU sensor is measured using terrestrial magnetism sensor which is based on magnetic field. However, this sensor is constantly affected by its surrounding environment. So, we isolated template of ceiling using vision camera to increase the sensor's accuracy when we use IMU sensor; we measured the angles by pattern matching algorithm; and to calibrate IMU sensor, we compared the obtained values with IMU sensor values and the offset value. The values that were used to obtain information on the robot's position which were of Encoder, IMU sensor, angle sensor of vision camera are transferred to the Host PC by wireless network. Then, the Host PC estimates the location of robot using all these values. As a result, we were able to get more accurate information on estimated positions than when using IMU sensor calibration solely.

• Steel and Composite Structures
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• 제14권6호
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• pp.547-569
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• 2013

In recent years there has been increasing international interest about designing structures that cost less to repair after they have been subjected to strong earthquakes. Considering this interest, an innovative repairable fuse device has been developed for dissipative beam-to-column connections in moment-resisting composite steel and concrete frames. The seismic performance of the device was assessed through an extensive experimental program comprising ten cyclic and two monotonic tests. These tests were conducted on a single beam-to-column specimen with different fuse devices for each test. The devices varied in terms of the chosen geometric and mechanical parameters. The tests showed that the devices were able to concentrate plasticity and to dissipate large amounts of energy through non-linear behavior. Numerical models were developed with Abaqus and simplified design models are also proposed.

• Earthquakes and Structures
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• 제13권1호
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• pp.89-101
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• 2017

The focus of this paper is the study on the seismic performance of RC buildings with two different connections at the base level under near-fault earthquakes. It is well-known that the impulsive nature of the near-fault ground motions causes severe damages to framed buildings especially at base connections. In the scope of this study, two types of 3-dimensional RC Moment Frames with Fixed Support (MFFS) and Hinged Support (MFHS) containing 5 and 10 stories are assessed under an ensemble of 11 strong ground motions by implementing nonlinear response history analysis. The most vulnerable locations of MFFS, are the connections of corner columns to foundation especially under strong earthquakes. On the other hand, using beams at the base level as well as hinged base connections in MFHS buildings, prevents damages of corner columns and achieves more ductile behavior. Results denote that the MFHS including Base Level Beams (BLB) significantly shows better behavior compared with MFFS, particularly under pulse-type records. Additionally, the first story beams and also interior components undergo more actions. Role of the BLBs are similar to fuses decreasing the flexural moments of the corner columns. The BLBs can be constructed as replaceable members which provide the reparability of structures.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
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• pp.349-354
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• 2006

For robust INS/GPS navigation system, an efficient multi-filter fusion technique is proposed. In the filtering for nonlinear systems, the representative filter - EKF, and the alternative filters - RHKF filter, SPKF, etc. have individual advantages and weak points. The key concept of the multi-filter fusion is the mergence of the strong points of the filters. This paper fuses the IIR type filter - EKF and the FIR type filter - RHKF filter using the adaptive strategy. The result of the fusion has several advantages over the EKF, and the RHKF filter. The advantages include the robustness to the system uncertainty, temporary unknown bias, and so on. The multi-filter fusion technique is applied to the tightly coupled INS/GPS navigation system and the performance is verified by simulation.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2006년도 제37회 하계학술대회 논문집 C
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• pp.1540-1541
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• 2006

For limitation and interruption of short circuit currents from low voltage to extra high voltage applications, the electrical equipment including fuses and circuit breakers, are widely used today. But in order to anticipate increasing needs for effective and competitive device for limiting the growing fault current in electrical power systems, fault current limitation technologies and fault current limitation devices are widely introduced and investigated in these days. Fault current limiters are emerging electric equipment which is under development using various methods including superconducting fault current limiter, solid state fault current limiter, arc driving fault current limiters. And these various methods have some advantages and disadvantages to take into considerations In order to commercialize fault current limiters in the electrical networks, a lot of discussions should be given on the point that fault current limiting methods, need for fault current limiters, coordination with existing protective system, and field experience before commercialization. In this paper, recent trends of fault current limiting technologies will be reviewed and the key issues of superconducting fault current limiters will be dealt with. And finally, future applications of superconducting fault current limiters would be discussed.

• 한국전기전자재료학회논문지
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• 제33권3호
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• pp.201-207
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• 2020

With the expansion in the use of DC power systems and increased need for system maintenance, the development of measurement devices for maintenance requires high stability. Of the different kinds of DC current measurement devices, the single-shot measurement device causes the input signal of the current measuring unit to initially generate a high inrush current. The high inrush current flows into the signal processor of the meter, shortening the life of the internal fuses and causing failure. Therefore, in this study, the I²t value for increasing the durability of the fuse is designed using the available wire diameter. Operating characteristics for 210~400% over-current of the rated current, which is relatively low over-current, are realized by the plating of low melting tin metal. As a result, a method of designing a fuse element for a DC power supply, which improves the safety of the DC current measurement device by blocking the failure caused by the inrush current, is presented.

• Journal of Information Processing Systems
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• 제14권1호
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• pp.239-251
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• 2018

In existing cloud services, information security and privacy concerns have been worried, and have become one of the major factors that hinder the popularization and promotion of cloud computing. As the cloud computing infrastructure, the security of virtual machine systems is very important. This paper presents an immune-inspired intrusion detection model in virtual machines of cloud computing environment, denoted I-VMIDS, to ensure the safety of user-level applications in client virtual machines. The model extracts system call sequences of programs, abstracts them into antigens, fuses environmental information of client virtual machines into danger signals, and implements intrusion detection by immune mechanisms. The model is capable of detecting attacks on processes which are statically tampered, and is able to detect attacks on processes which are dynamically running. Therefore, the model supports high real time. During the detection process, the model introduces information monitoring mechanism to supervise intrusion detection program, which ensures the authenticity of the test data. Experimental results show that the model does not bring much spending to the virtual machine system, and achieves good detection performance. It is feasible to apply I-VMIDS to the cloud computing platform.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제15권10호
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• pp.3534-3553
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• 2021

The low cost of Bluetooth technology has led to its wide usage in indoor positioning. However, some inherent shortcomings of Bluetooth technology have limited its further development in indoor positioning, such as the unstable positioning state caused by the fluctuation of Received Signal Strength Indicator (RSSI) and the low transmission frequency accompanied by a poor real-time performance in positioning and tracking moving targets. To address these problems, an indoor fusion positioning algorithm of Bluetooth technology and pedestrian dead reckoning (PDR) based on a particle filter with dynamic adjustment of weights calculation strategy (BPDW) will be proposed. First, an orderly statistical filter (OSF) sorts the RSSI values of a period and then eliminates outliers to obtain relatively stable RSSI values. Next, the Group-based Trilateration algorithm (GTP) enhances positioning accuracy. Finally, the particle filter algorithm with dynamic adjustment of weight calculation strategy fuses the results of Bluetooth positing and PDR to improve the performance of positioning moving targets. To evaluate the performance of BPDW, we compared BPDW with other representative indoor positioning algorithms, including fingerprint positioning, trilateral positioning (TP), multilateral positioning (MP), Kalman filter, and strong tracking filter. The results showed that BPDW has the best positioning performance on static and moving targets in simulation and actual scenes.