• International Journal of Control, Automation, and Systems
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• v.4 no.2
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• pp.204-216
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• 2006

Latest advances in hardware technology and state of the art of mobile robot and artificial intelligence research can be employed to develop autonomous and distributed monitoring systems. And mobile service robot requires the perception of its present position to coexist with humans and support humans effectively in populated environments. To realize these abilities, robot needs to keep track of relevant changes in the environment. This paper proposes a localization of mobile robot using the images by distributed intelligent networked devices (DINDs) in intelligent space (ISpace) is used in order to achieve these goals. This scheme combines data from the observed position using dead-reckoning sensors and the estimated position using images of moving object, such as those of a walking human, used to determine the moving location of a mobile robot. The moving object is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Using the a priori known path of a moving object and a perspective camera model, the geometric constraint equations that represent the relation between image frame coordinates of a moving object and the estimated position of the robot are derived. The proposed method utilizes the error between the observed and estimated image coordinates to localize the mobile robot, and the Kalman filtering scheme is used to estimate the location of moving robot. The proposed approach is applied for a mobile robot in ISpace to show the reduction of uncertainty in the determining of the location of the mobile robot. Its performance is verified by computer simulation and experiment.

• Economic and Environmental Geology
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• v.31 no.1
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• pp.53-57
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• 1998

Transient electromagnetic (TEM) method is also affected by cultural and natural electromagnetic (EM) noises, since it uses part of the broadband ($10^{-2}$ to $10^5Hz$) spectrum. Especially, predominant EM noise which affects a moving transmitter-receiver TEM system is sensor motion-induced noise. This noise is caused by the sensor motion in the earth magnetic field. The technique for reducing the sensor motion-induced EM noise presented in this paper is based on Halverson stacking. This Halverson stacking is generally used in a time-domain induced polarisation (IP) system to reject DC offset and linear drift. According to spectrum analysis of the vertical component of sensor motion-induced noise, the frequency range affected by the motion of an EM sensor is less than about 700 Hz in this study. With the decrease of the frequency, the spectral power caused by the motion of a sensor increases. For example, at the frequency of 200 Hz, the spectral power of the sensor motion-induced noise is $-90dBVrms^2$ while the spectral power of the EM noise measured with a fixed sensor on the ground is $-105dBVrms^2$, and at the frequency of 100 Hz, the spectral power of the sensor motion-induced noise is $-70dBVrms^2$ while the spectral power of the EM noise measured with a fixed sensor on the ground is $-105dBVrms^2$. With applying Halverson stacking to an artificial noise transient generated by adding a noise-free transient to sensor motion-induced noise measured without pulsing, it is shown that the filtered transient is nearly consistent with the noise-free transient within a delay time of $0.5{{\mu}sec}$. The inversion obtained from this filtered transient is in accord with the true model with an error of 5%.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.55 no.7
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• pp.335-343
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• 2006

We have designed the system that measure one channel ECG by two electrode and extract real-time EDR with more related resipiration and comportable to subject by using conductive textile. On the assumption that relation between RL electrode and potential measurement electrode is coupled with RC connected model, we designed RL drive output to feedback two electrode for reduction of common mode signal. The conductive textile which was used for two ECG electrode was offered more comfort during night sleep in bed than any other method using attachments. In the method of single-lead EDR, R wave point or QRS interval area could be used for EDR estimation in traditional method, it is, so to speak, the amplitude modulation(AM) method for EDR. Alternatively, R-R interval could be used for frequency modulation(FM) method based on Respiratory Sinus Arrhythmia(RSA). For evaluation of performance on AM EDR and FM EDR from 14 subject, ECG lead III was measured. Each EDR was compared with both temperature around nose(direct measurement of respiration) and respiration signal from thoracic belt(indirect measurement of respiration) on mean squared error(MSE), cross correlation(Xcorr), and Coherence. The upsampling interpolation technique of multirate signal processing is applied to interpolating data instead of cubic spline interpolation. As a result, we showed the real-time EDR extraction processing to be implemented at micro-controller.

• Plant Journal
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• v.4 no.3
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• pp.54-59
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• 2008

The resonance of boiler is caused by exciting force in the gas path and it generates the vibration by the harmony of boiler's dimensional factor. According to trending toward the boiler of increasing capacity and a bigger size, it has a problem of the vibration at back-pass heating surfaces. We can predict such vibrations as comparison between vortex frequency and gas column's natural frequency. We can't rely on the method for the past decades because of changing parameters, such as an allowable error, gas temperature, gas velocity, Strouhal number. We can reduce the vibration to use the seasoning effect and change the operating condition in coal fired boiler but it's not essential solution. When the vibration occurred in the model boiler, we must measures the acoustic pressure and frequency of places for considering the means. So far, we confirmed the problem from field measures and theoretical analysis about the acoustic vibration of boiler. We installed anti-acoustic baffle in a existing boiler to change the acoustic natural frequency at the cavity, which results in reducing the acoustic vibration. The first, we prove that the acoustic resonance is caused by harmonizing vortex shedding frequency of tube heat surface with acoustic natural frequency of cavity in the range of 650~750 MW loads. The second, the acoustic resonance at the back-pass heating surface has the third order of acoustic natural frequency at the second economizer. We install five anti-acoustic baffles at the second economizer to reducing the resonance. We confirm considerably reducing the acoustic vibration of boiler during the commercial boiler.

• Journal of the Institute of Electronics Engineers of Korea SD
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• v.37 no.1
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• pp.83-91
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• 2000

This paper presents a new technique to reduce a large interconnect circuit with tens of thousands of elements into the one that is small enough to be analyzed by circuit simulators such as SPICE. This technique takes a fundamentally different approach form the conventional methods based on the interconnect circuit structure analysis and several rules based on the Elmore time constant. The time moments are computed form the circuit consisting of the interconnect circuit and the CMOS gate driver model computed by the AWE technique. Then, the equivalent RC circuit is synthesized from those moments. The characteristics of the driving CMOS gate can be reflected with the high degree of accuracy and the size of the compressed circuit is determined by the number of output nodes regardless of the size of the original interconnect circuits. This technique has been implemented in C language, applied to several interconnect circuits driven by a 0.5${\mu}m$ CMOS gate and the equivalent RC circuits with more than 99% reduction ratio and accuracy with 1 ~ 10% error in therms of propagation delays were obtained.

• Computers and Concrete
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• v.19 no.4
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• pp.419-427
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• 2017

With the rising global environmental awareness on energy saving and carbon reduction, as well as the environmental transition and natural disasters resulted from the greenhouse effect, waste resources should be efficiently used to save environmental space and achieve environmental protection principle of "sustainable development and recycling". This study used recycled cement mortar and adopted the volumetric method for experimental design, which replaced cement (0%, 10%, 20%, 30%) with recycled materials (fly ash, slag, glass powder) to test compressive strength and ultrasonic pulse velocity (UPV). The hyperbolic function for nonlinear multivariate regression analysis was used to build prediction models, in order to study the effect of different recycled material addition levels (the function of $R_m$(F, S, G) was used and be a representative of the content of recycled materials, such as fly ash, slag and glass) on the compressive strength and UPV of cement mortar. The calculated results are in accordance with laboratory-measured data, which are the mortar compressive strength and UPV of various mix proportions. From the comparison between the prediction analysis values and test results, the coefficient of determination $R^2$ and MAPE (mean absolute percentage error) value of compressive strength are 0.970-0.988 and 5.57-8.84%, respectively. Furthermore, the $R^2$ and MAPE values for UPV are 0.960-0.987 and 1.52-1.74%, respectively. All of the $R^2$ and MAPE values are closely to 1.0 and less than 10%, respectively. Thus, the prediction models established in this study have excellent predictive ability of compressive strength and UPV for recycled materials applied in cement mortar.

• Journal of Korean Society on Water Environment
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• v.26 no.1
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• pp.168-176
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• 2010

This study proposes the improvement of the present Total Maximum Daily Load (TMDL) management system of MOE (Ministry of Environment). The margin of safety (MOS) is calculated by a method using standard error and a method using variability and uncertainty. The allocation of pollutant loads are calculated using three methods, equal load reduction method, equal percent removal method and method using equity standards. This study applied the improved TMDL management system to the Anyangcheon watershed. Since MOS varies from 12% to 44% due to the high variability of measured and simulated data, it must not be ignored in the TMDL. The method using equity standards is the most proper in this application since the others produced unrealistic allocations. Area, runoff, water use quantity, population and budget are considered for equity standards. This study shows that this allocation method can be also applicable for the administrative units as well as the sub-watersheds. Finally, Hydrologic Simulation Program-FORTRAN (HSPF) with the allocated pollutant load was used to confirm whether it satisfy the water quality standard or not. This study will be helpful to improve the MOS and allocation system TMDL in the future.

• Smart Structures and Systems
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• v.6 no.9
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• pp.1057-1077
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• 2010

An early detection of structural damages is critical for the decision making of repair and replacement maintenance in order to guarantee a specified structural reliability. Consequently, the structural damage detection, based on vibration data measured from the structural health monitoring (SHM) system, has received considerable attention recently. The traditional time-domain analysis techniques, such as the least square estimation (LSE) method and the extended Kalman filter (EKF) approach, require that all the external excitations (inputs) be available, which may not be the case for some SHM systems. Recently, these two approaches have been extended to cover the general case where some of the external excitations (inputs) are not measured, referred to as the adaptive LSE with unknown inputs (ALSE-UI) and the adaptive EKF with unknown inputs (AEKF-UI). Also, new analysis methods, referred to as the adaptive sequential non-linear least-square estimation with unknown inputs and unknown outputs (ASNLSE-UI-UO) and the adaptive quadratic sum-squares error with unknown inputs (AQSSE-UI), have been proposed for the damage tracking of structures when some of the acceleration responses are not measured and the external excitations are not available. In this paper, these newly proposed analysis methods will be compared in terms of accuracy, convergence and efficiency, for damage identification of structures based on experimental data obtained through a series of laboratory tests using a scaled 3-story building model with white noise excitations. The capability of the ALSE-UI, AEKF-UI, ASNLSE-UI-UO and AQSSE-UI approaches in tracking the structural damages will be demonstrated and compared.

• The Journal of Asian Finance, Economics and Business
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• v.7 no.11
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• pp.137-145
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• 2020

The aim of this study is to find out the time-series nexus of public debt and economic growth in Malaysia. For an upper-middle income country, Malaysia had experienced over 50% ratio of debt to GDP since 2009 until now. The question arises is whether this trend is healthy to the economy. With a focus into the debt-to-GDP ratio from 1970-2015, this study investigates the short-run and long-run relationship between public debt and economic growth in Malaysia. This study used secondary data by collecting time-series data (1970-2015) from the World Bank Data and Bank Negara Malaysia. Autoregressive Distributed Lag (ARDL) model is applied in this study to examine the relationship between debt and economic growth. Based on ARDL framework, it shows that there is a long-run effect between the debt and economic growth in Malaysia. While the significance value of Error Correction Term shows that there is a long-run adjustment in the short run. Generally, this study found government expenditures, in the long run, strongly influence the GDP per capita. Through the findings, the government expenditures could increase the GDP per capita. The study also reveals that any increment of the debt ratio will result in reduction of the GDP per capita.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.14 no.9
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• pp.4171-4177
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• 2013

Outer tie rod is lighter than other, but there is the trend item weight and the number is increasing due to vehicle performance improvement. Thus, to improve vehicle fuel efficiency, weight lightening is essential. Therefore, this research performed the finite element analysis to investigate the structural performance of the outer tie rod for an electrical vehicle. This study was performed as the preliminary study for a lightweight design of the outer tie rod. The weight of outer tie rod was optimized by adopting the steel material and applying the trial and error method. The strengths due to durability and buckling should be considered in the structural design of an outer tie rod. Furthermore, the meta model-based optimization was applied to obtain its lightweight design, leading to 9 % weigh reduction.