• The Journal of the Institute of Internet, Broadcasting and Communication
• /
• v.18 no.6
• /
• pp.139-143
• /
• 2018

Arduino, based on open source hardware, is used in many IoT devices, and IoT devices require multitasking for various inputs and outputs. Among the several methods used for multitasking based on Arduino, we compare three methods: Timing Call by using millis(), Simple Timer library method, and Timer library method. In order to measure the execution error caused by measurement and time delay of each method, two situations are created and analyzed. In the first case, 10 random tasks of a certain size are generated to measure the time delay of each method. In the second situation, 10 random tasks of a certain size are generated to compare execution errors caused by the time lag of the Timer library. In the first case, the millis() timing call method and the Simple Timer library method have a similar time delay and the Timer library method has more time delay. In the second situation, an execution error occurred in which small-size tasks were not called back at the correct timing due to the time delay.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.50 no.7
• /
• pp.515-521
• /
• 2022

In this paper, we propose Quad BTC that compresses DSM files to allow random access for TRF (Terrain Referenced Flight). The terrain data used for TRF has a large data capacity to be stored in the UAV (Unmanned Aerial Vehicle), so its size must be reduced through compression. Conventional BTC (Block Truncation Coding) based compression methods are suitable for TRF because it can decode randomly accessing specific coordinates. However, These conventional methods have a problem that the error increases because the deviation of the data increases as the size of the block increases. In this paper, we propose Quad BTC method that adaptively divides a block in to 4 sub blocks and compresses to solve this problem. The proposed method may reduce errors because the size of the sub block can be adjusted within the block. Through simulation using actual terrain data, it is verified that Quad BTC has less error at the same compression ratio than conventional BTC and AM BTC.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.28 no.1
• /
• pp.153-160
• /
• 2010

It is necessary to determine accurate 3-dimensional coordinates of the building corner points that could be control or check points in order to verify the accuracy of 3D digital maps in the near future. The usual process of obtaining the coordinates of the building corner points is to set up the ground control points with a GPS and then to practice terrestrial survey such as distance or angle measurements. However, since an error in the ground control points can be propagated through the terrestrial survey into the final coordinates of the buildings, accurately should be considered as much as possible. The actual effect of the GPS-derived ground control point error on the estimates of the unknowns through the terrestrial survey is mathematically analyzed, and the simulation data is tested numerically. The error of the ground control points is tested in the cases of 1-4 cm for the horizontal components and 2-8 cm for the vertical component. The vertical component error is assigned twice the horizontal ones because of the characteristics of the GPS survey. The distance measurement is assumed for convenience and the precision of the estimated coordinates of the building corner points is almost linearly increased according to the errors of the ground control points. In addition, the final estimates themselves can vary by the simulated random errors depending on the precision of the survey instrument, but the precision of the estimates is almost independent of survey accuracy.

• Journal of Broadcast Engineering
• /
• v.1 no.2
• /
• pp.176-187
• /
• 1996

This paper deals with the accurate estimation of 3- D pose (position and orientation) of a moving object with reference to the world frame (or robot base frame), based on a sequence of stereo images taken by cameras mounted on the end - effector of a robot manipulator. This work is an extension of the previous work[1]. Emphasis is given to the 3-D pose estimation relative to the world (or robot base) frame under the presence of not only the measurement noise in 2 - D images[ 1] but also the camera position errors due to the random noise involved in joint angles of a robot manipulator. To this end, a new set of discrete linear Kalman filter equations is derived, based on the following: 1) the orientation error of the object frame due to measurement noise in 2 - D images is modeled with reference to the camera frame by analyzing the noise propagation through 3- D reconstruction; 2) an extended Jacobian matrix is formulated by combining the result of 1) and the orientation error of the end-effector frame due to joint angle errors through robot differential kinematics; and 3) the rotational motion of an object, which is nonlinear in nature, is linearized based on quaternions. Motion parameters are computed from the estimated quaternions based on the iterated least-squares method. Simulation results show the significant reduction of estimation errors and also demonstrate an accurate convergence of the actual motion parameters to the true values.

• International Journal of Aeronautical and Space Sciences
• /
• v.8 no.1
• /
• pp.10-20
• /
• 2007

For spacecraft attitude control, reaction wheel (RW) steering laws with more than three wheels for three-axis attitude control can be derived by using a control allocation (CA) approach.1-2 The CA technique deals with a problem of distributing a given control demand to available sets of actuators.3-4 There are many references for CA with applications to aerospace systems. For spacecraft, the control torque command for three body-fixed reference frames can be constructed by a combination of multiple wheels, usually four-wheel pyramid sets. Multi-wheel configurations can be exploited to satisfy a body-axis control torque requirement while satisfying objectives such as minimum control energy.1-2 In general, the reaction wheel steering laws determine required torque command for each wheel in the form of matrix pseudo-inverse. In general, the attitude control command is generated in the form of a feedback control. The spacecraft body angular rate measured by gyros is used to estimate angular displacement also.⁵ Combination of the body angular rate and attitude parameters such as quaternion and MRPs(Modified Rodrigues Parameters) is typically used in synthesizing the control command which should be produced by RWs.¹ The attitude sensor signals are usually corrupted by noise; gyros tend to contain errors such as drift and random noise. The attitude determination system can estimate such errors, and provide best true signals for feedback control.⁶ Even if the attitude determination system, for instance, sophisticated algorithm such as the EKF(Extended Kalman Filter) algorithm⁶, can eliminate the errors efficiently, it is quite probable that the control command still contains noise sources. The noise and/or other high frequency components in the control command would cause the wheel speed to change in an undesirable manner. The closed-loop system, governed by the feedback control law, is also directly affected by the noise due to imperfect sensor characteristics. The noise components in the sensor signal should be mitigated so that the control command is isolated from the noise effect. This can be done by adding a filter to the sensor output or preventing rapid change in the control command. Dynamic control allocation(DCA), recently studied by Härkegård, is to distribute the control command in the sense of dynamics⁴: the allocation is made over a certain time interval, not a fixed time instant. The dynamic behavior of the control command is taken into account in the course of distributing the control command. Not only the control command requirement, but also variation of the control command over a sampling interval is included in the performance criterion to be optimized. The result is a control command in the form of a finite difference equation over the given time interval.⁴ It results in a filter dynamics by taking the previous control command into account for the synthesis of current control command. Stability of the proposed dynamic control allocation (CA) approach was proved to ensure the control command is bounded at the steady-state. In this study, we extended the results presented in Ref. 4 by adding a two-step dynamic CA term in deriving the control allocation law. Also, the strict equality constraint, between the virtual and actual control inputs, is relaxed in order to construct control command with a smooth profile. The proposed DCA technique is applied to a spacecraft attitude control problem. The sensor noise and/or irregular signals, which are existent in most of spacecraft attitude sensors, can be handled effectively by the proposed approach.

• Progress in Medical Physics
• /
• v.27 no.4
• /
• pp.250-257
• /
• 2016

The purpose of this study was to compare the patient setup errors of two different immobilization devices (Feet Fix: FF and Leg Fix: LF) for pelvic region radiotherapy in Tomotherapy. Thirty six-patients previously treated with IMRT technique were selected, and divided into two groups based on applied immobilization devices (FF versus LF). We performed a retrospective clinical analysis including the mean, systematic, random variation, 3D-error, and calculated the planning target volume (PTV) margin. In addition, a rotational error (angles, $^{\circ}$) for each patient was analyzed using the automatic image registration. The 3D-errors for the FF and the LF groups were 3.70 mm and 4.26 mm, respectively; the LF group value was 15.1% higher than in the FF group. The treatment margin in the ML, SI, and AP directions were 5.23 mm (6.08 mm), 4.64 mm (6.29 mm), 5.83 mm (8.69 mm) in the FF group (and the LF group), respectively, that the FF group was lower than in the LF group. The percentage in treatment fractions for the FF group (ant the LF group) in greater than 5 mm at ML, SI, and AP direction was 1.7% (3.6%), 3.3% (10.7%), and 5.0% (16.1%), respectively. Two different immobilization devices were affected the patient setup errors due to different fixed location in low extremity. The radiotherapy for the pelvic region by Tomotherapy should be considering variation for the rotational angles including Yaw and Pitch direction that incorrect setup error during the treatment. In addition the choice of an appropriate immobilization device is important because an unalterable rotation angle affects the setup error.

• Journal of the Korean Society of Hazard Mitigation
• /
• v.6 no.1 s.20
• /
• pp.83-95
• /
• 2006

This study aims to analysis of suspended-load concentration in related to those data by measuring vertical sediments distribution with rainfall using the ASM (Argus Surface Meter)- IV at the channel reach of a upstream and a downstream in small river. The watershed, small river basin where had taken for experimental study was selected, which is a drainage area lied at Walha in Yunkee-Gun, Chungnam Province. Measured data of suspended-load concentration consists of two groups with 2,145 data during 1hr 11min 30sec and 1,216 data during 40min 32sec for measuring time of 2 second in the study reaches at river, respectively. In order to analyze of the vertical concentration distribution, using the data sets are selected the measuring time 16 sets one of these data by random in the study reaches. As a results, the Rouse number of a measured and a calculated value show that a rang of $0.00129{\sim}0.02394$, averaged value of 0.01129 md, a rang of $0.00118{\sim}0.00822$, averaged value of 0.00436 in upstream reaches, and also a rang of $0.065115{\sim}0.065295$, averaged value of 0.06521, and a rang of $0.057315{\sim}0.059109$, averaged value of 0.05795 in downstream reaches, respectively. These difference show that measured Rouse number compared with downstream reach errors of less than in upstream reach, but between measured and calculated of the Rouse number compared with downstream reach errors of more than in upstream reach, respectively. It seems to will be included one of the occurrence errors of variable estimations when Rouse number of calculated value to be made computed by the fall velocity with a high temperature of water using equation of empirical kinematic viscosity was derived in this study.

• Asian-Australasian Journal of Animal Sciences
• /
• v.32 no.9
• /
• pp.1349-1354
• /
• 2019

Objective: The objective of this study was to determine the best approach for handling missing records of first to successful insemination (FS) in Japanese Black heifers. Methods: Of a total of 2,367 records of heifers born between 2003 and 2015 used, 206 (8.7%) of open heifers were missing. Four penalty methods based on the number of inseminations were set as follows: C1, FS average according to the number of inseminations; C2, constant number of days, 359; C3, maximum number of FS days to each insemination; and C4, average of FS at the last insemination and FS of C2. C5 was generated by adding a constant number (21 d) to the highest number of FS days in each contemporary group. The bootstrap method was used to compare among the 5 methods in terms of bias, mean squared error (MSE) and coefficient of correlation between estimated breeding value (EBV) of non-censored data and censored data. Three percentages (5%, 10%, and 15%) were investigated using the random censoring scheme. The univariate animal model was used to conduct genetic analysis. Results: Heritability of FS in non-censored data was $0.012{\pm}0.016$, slightly lower than the average estimate from the five penalty methods. C1, C2, and C3 showed lower standard errors of estimated heritability but demonstrated inconsistent results for different percentages of missing records. C4 showed moderate standard errors but more stable ones for all percentages of the missing records, whereas C5 showed the highest standard errors compared with noncensored data. The MSE in C4 heritability was $0.633{\times}10^{-4}$, $0.879{\times}10^{-4}$, $0.876{\times}10^{-4}$ and $0.866{\times}10^{-4}$ for 5%, 8.7%, 10%, and 15%, respectively, of the missing records. Thus, C4 showed the lowest and the most stable MSE of heritability; the coefficient of correlation for EBV was 0.88; 0.93 and 0.90 for heifer, sire and dam, respectively. Conclusion: C4 demonstrated the highest positive correlation with the non-censored data set and was consistent within different percentages of the missing records. We concluded that C4 was the best penalty method for missing records due to the stable value of estimated parameters and the highest coefficient of correlation.

• The Korean Journal of Cytopathology
• /
• v.9 no.1
• /
• pp.37-44
• /
• 1998

OBJECTIVE: False negatives of cervical smears due to screening errors pose a significant and persistent problem. AutoPap 300 QC System, an automated screening device, is designed to rescreen conventionally prepared Pap smears initially screened by cytotechnologists as normal. Clinical experience and sensitivity of the AutoPap 300 QC System were assessed and compared with current 10% random qualify control technique. MATERIALS AND METHODS: In clinical practice, a total of 18,592 "within normal limits" or "benign cellular changes" cases classified by The Bethesda System were rescreened by the Autopap System. In study for sensitivity of The AutoPap System to detect false negatives, a total of 1,680 "within normal limits" or "benign cellular changes" cases were rescreened both manually and by the AutoPap System. The sensitivity of the AutoPap System to these false negatives was assessed at 10% review rate to compare 10% random manual rescreen. RESULTS: In clinical practice, 38 false negatives were identified by the AutoPap System and we had achieved 0.2% reduction in the false negative rate of screening error. In study for sensitivity, 37 false negatives were identified by manual rescreening, and 23 cases(62.2%) of the abnormal squamous cytology were detected by the AutoPap System at 10% review rate. CONCLUSONS: The AutoPap 300 QC System is a sensitive automated rescreening device that can detect potential false negatives prior to reporting and can reduce false negative rates in the laboratory. The device is confirmed to be about eight times superior to the 10% random rescreen in detecting false negatives.

• Journal of Soil and Groundwater Environment
• /
• v.21 no.6
• /
• pp.179-191
• /
• 2016

In addition to the measurement of the concentration of soil contaminants, the new idea of indicative parameters was proposed to validate the remedial works through the monitoring for the changes of soil characteristics after applying the clean up technologies. The parameters like CFU (colony forming unit), pH and soil texture were recommended as indicative parameters for land farming. In case of soil washing, water content and the particle size distribution of the sludge were recommended as indicative parameters. The sludge is produced through the particle separation process in soil washing and it is usually treated as a waste. The parameters like water content, organic matter content, CEC (cation exchange capacity) and CFU were recommended as indicative parameters for the low temperature thermal desorption method. Besides the indicative parameter, sampling methods in stock pile and the optimal minimum amount of composite soil sample were proposed. The rates of sampling error in regular grid, zigzag, four bearing, random grid methods were 17.3%, 17.6%, 17.2% and 16.5% respectively. The random grid method showed the minimum sampling error among the 4 kinds of sampling methods although the differences in sampling errors were very little. Therefore the random grid method was recommended as an appropriate sampling method in stock pile. It was not possible to propose a value of optimal minimum amount of composite soil sample based on the real analytical data due to the dynamic variation of $CV_{fund{\cdot}error}$. Instead of this, 355 g of soil was recommended for the optimal minimum amount of composite soil sample under the assumption of ISO 10381-8.