• 한국산학기술학회논문지
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• 제11권9호
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• pp.3571-3577
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• 2010

본 논문에서는 예상 위치좌표 탐색기법과 이를 균등거리비율 개념인 AEDR(Algorithm for localization using the concept of Equivalent Distance Rate)에 적용한 위치인식 보정 알고리즘인 E&E(Equivalent distance rate & Estimated location coordinator exploration)를 제안 한 후 실험을 통해 성능을 분석하였다. 실험결과, E&E는 4개의 시나리오에서 SDS-TWR의 위치인식 보정성능을 0.60m에서 0.34m로 0.26m 만큼 향상시켰고, E&E는 설정된 시나리오에 따라 기존에 제안된 AEDR과 비교한 결과 위치인식 보정 성능비율이 최대 15% 만큼 우수함을 확인하였다. 또한 E&E의 전체 성능실험 중 99%에서 위치인식 오차가 1m 이내로 측정되었는데 이 정도의 위치인식 보정 성능이라면 제안하는 알고리즘인 E&E는 다양한 위치인식 응용분야에 충분히 적용 가능 할 것으로 판단된다.

• 제어로봇시스템학회논문지
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• 제16권5호
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• pp.420-427
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• 2010

This paper describes a localization method based on Monte Carlo Localization approach for a mobile robot. The method uses range data which are measured from ultrasound transmitting beacons whose locations are given a priori. The ultrasound receiver on-board a robot detects the range from the beacons. The method requires several beacons, theoretically over three. The method proposes a sensor model for the range sensing based on statistical analysis of the sensor output. The experiment uses commercialized beacons and detector which are used for trilateration localization. The performance of the proposed method is verified through real implementation. Especially, it is shown that the performance of the localization degrades as the sensor update rate decreases compared with the MCL algorithm update rate. Though the method requires exact location of the beacons, it doesn't require geometrical map information of the environment. Also, it is applicable to estimation of the location of both the beacons and robot simultaneously.

• Journal of information and communication convergence engineering
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• 제9권2호
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• pp.155-160
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• 2011

In distributed source localization where sensors transmit measurements to a fusion node, we address the sensor selection problem where the goal is to find the best set of sensors that maximizes localization accuracy when quantization of sensor measurements is taken into account. Since sensor selection depends heavily upon rate assigned to each sensor, joint optimization of rate allocation and sensor selection is required to achieve the best solution. We show that this task could be accomplished by solving the problem of allocating rates to each sensor so as to minimize the error in estimating the position of a source. Then we solve this rate allocation problem by using the generalized BFOS algorithm. Our experiments demonstrate that the best set of sensors obtained from the proposed sensor selection algorithm leads to significant improvements in localization performance with respect to the set of sensors determined from a sensor selection process based on unquantized measurements.

• 한국통신학회논문지
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• 제37권5B호
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• pp.370-376
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• 2012

CSS(Chirp Spread Spectrum)는 WPAN(Wireless Personal Area Network) 환경에서 SDS-TWR(Symmetric Double Sided - Two Way Ranging) 기반의 위치인식 시스템을 구현하는 기술로 사용된다. 그러나 CSS의 SDS-TWR은 전파 및 장애물과 같은 환경에 따른 간섭으로 인해 레인징 오차가 발생한다. 따라서 위치인식 시스템 개발을 위해서는 이를 보정하기 위한 보정 알고리즘이 요구된다. 본 논문은 위치인식 정확도 성능 향상을 위하여 AEDR(Algorithm of Equivalent Distance Rate) 알고리즘과 칼만필터가 적용된 KF_EDR(Kalman Filter and Equivalent Distance Rate) 보정 알고리즘을 제안하고, 그 성능을 분석 및 평가하였다. 실험 결과, KF_EDR은 AEDR 알고리즘에 비해 위치인식 정확도를 복도 그리고 운동장에서 각각 10.5%, 4.2% 더 개선시켰다. 이 결과는 위치인식 데이터의 신뢰성을 향상시킴 으로써 실제 위치인식 시스템 구현에 상당한 도움을 줄 수 있을 것으로 판단된다.

• 한국산학기술학회논문지
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• 제11권4호
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• pp.1248-1253
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• 2010

본 논문은 SDS-TWR(Symmetric Double-Sided Two-Way Ranging)의 Ranging 오차를 보정하기 위하여 균등거리비율 개념을 적용한 위치인식 보정 알고리즘인 AEDR(Algorithm for localization using the concept of Equivalent Distance Rate)을 제안하고, 위치인식 실험을 통해 위치인식 측정 성능을 분석하였다. SDS-TWR의 Ranging 오차는 실험에 의하면 비콘노드와 이동노드의 특정 거리구간에서 평균 1m~8m로 측정되었다. 그러나 제안한 AEDR에 의한 위치인식 성능은 실험을 통해 전체적으로 교내 강당과 복도 모두에서 SDS-TWR 보다 4배 정도 우수하였으며, 측정된 3~10m 이상의 위치인식 오차를 평균 2m 내외로, 3m 이내의 위치인식 오차를 평균 1m 내외로 각각 감소시킬 수 있음을 확인하였다. 특히 AEDR은 LOS(Line Of Sight) 보다 NLOS(Non Line Of Sight)에서 훨씬 더 위치인식 보정 성능이 우수함을 나타내며, 대부분의 센서 네트워크의 환경이 NLOS임을 고려할 때 AEDR이 실제환경에서의 위치인식에 큰 도움을 줄 수 있다고 판단된다.

• 한국소성가공학회:학술대회논문집
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• 한국소성가공학회 1992년도 춘계학술대회 논문집 92
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• pp.83-102
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• 1992

As shear localization is observed in different deformation modes, an attempt is made to understand the conditions for shear localization in general deformation modes. Most emphasis in put upon the effects of pre-localization deformation mode on the onset of shear localization and all the other well-recognized effects of subtle constitutive features and imperfection sensitivity studied elsewhere are not investigated here. Rather, an approximate perturbation stability analysis is performed for simplified isotropic rigid-plastic solids subjected to general mode of homogeneous deformation. Shear localization is possible in any deformation mode if the material has strain softening. The incipient rate of shear localization and shear plane orientations are strongly dependent upon the pre-localization deformation mode. Significant strain softening is necessary for shear localization in homogeneous axisymmetric deformation modes while infinitesimal strain softening is necessary for shear localization in plane strain deformation mode. In any deformation mode, there are more than one shear plane orientation. Except for homogeneous axisymmetric deformation modes, there are two possible shear plane orientations with respect to the principal directions of stretching. Some well-known examples are discussed in the light of the current analysis.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제8권8호
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• pp.2663-2674
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• 2014

For cognitive radio sensor networks (CRSNs) that use underlay-based spectrum access, the location of the primary user (PU) plays an important role in the power control of the secondary users (SUs), because the SUs must keep the minimum interference level required by the PU. Received signal strength (RSS)-based localization schemes provide low-cost implementation and low complexity, thus it is suitable for the PU localization in CRSNs. However, the RSS-based localization schemes have a high localization error because they use an inexact path loss exponent (PLE). Thus, applying a RSS-based localization scheme into the PU localization would cause a high interference to the PU. In order to reduce the localization error and improve the channel reuse rate, we propose a RSS-based PU localization scheme that uses distance calibration for CRSNs using underlay model-based spectrum access. Through the simulation results, it is shown that the proposed scheme can provide less localization error as well as more spectrum utilization than the RSS-based PU localization using the mean and the maximum likelihood calibration.

• 항공우주시스템공학회지
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• 제1권3호
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• pp.13-20
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• 2007

The objective of this study is to investigate endurance test of localization part for T-50 aircraft engine. Major localization parts of the engine (F404-STW-102) was performed using Accelerated Simulated Mission Engine Test. The purpose of this test is to evaluate of quality demonstration capability, to verify design of engine localization parts, and to improvement safety and operation rate of T-50 advanced trainer by finding out operational problems in production phase and fixing it.

• 제어로봇시스템학회논문지
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• 제15권8호
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• pp.845-850
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• 2009

Localization which estimates a robot's position and orientation in a given environment is very important for mobile robot navigation. Although low-cost sensors are preferred for practical service robots, they suffer from the inaccurate and insufficient range information. This paper proposes a novel approach to increasing the success rate of low-cost sensor-based localization. In this paper, both the previous and the current data obtained from the IR sensors are used for localization in order to utilize as much environment information as possible without increasing the number of sensors. The sensor model used in the monte carlo localization (MCL) is modified so that the accumulated range information may be used to increase the accuracy in estimating the current robot pose. The experimental results show that the proposed method can robustly estimate the robot's pose in indoor environments with several similar places.

• 소성∙가공
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• 제17권3호
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• pp.161-169
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• 2008

In the present work, the two-back stress model is proposed and continuum damage mechanics (CDM) is incorporated into the plastic constitutive relation in order to describe the plastic deformation localization and the damage evolution in a deforming continuum body. Coupling between damage mechanics and isothermal rate independent plasticity is performed using the kinematic hardening rule, which in turn is formulated by combining the nonlinear Armstrong-Frederick rule and the Phillips rule. The numerical analyses are carried out within h deformation theory. It is noted that the damage evolution within a work piece accelerates the plastic deformation localization such that the material with lower hardening exponent results in a rapid shear band formation. Moreover, the results from the numerical analysis reflected closely with the micro-structures around the fractured regime. The effects of the various hardening parameters on deformation localization are also investigated. As the nonlinear strain rate description in the back stress evolution becomes dominant, the strain localization becomes intensified as well as the damage evolution.