• Journal of Astronomy and Space Sciences
• /
• v.35 no.4
• /
• pp.263-277
• /
• 2018

This paper presents a vision-based relative pose estimation algorithm and its validation through both numerical and hardware experiments. The algorithm and the hardware system were simultaneously designed considering actual experimental conditions. Two estimation techniques were utilized to estimate relative pose; one was a nonlinear least square method for initial estimation, and the other was an extended Kalman Filter for subsequent on-line estimation. A measurement model of the vision sensor and equations of motion including nonlinear perturbations were utilized in the estimation process. Numerical simulations were performed and analyzed for both the autonomous docking and formation flying scenarios. A configuration of LED-based beacons was designed to avoid measurement singularity, and its structural information was implemented in the estimation algorithm. The proposed algorithm was verified again in the experimental environment by using the Autonomous Spacecraft Test Environment for Rendezvous In proXimity (ASTERIX) facility. Additionally, a laser distance meter was added to the estimation algorithm to improve the relative position estimation accuracy. Throughout this study, the performance required for autonomous docking could be presented by confirming the change in estimation accuracy with respect to the level of measurement error. In addition, hardware experiments confirmed the effectiveness of the suggested algorithm and its applicability to actual tasks in the real world.

• Journal of the Korea Institute of Military Science and Technology
• /
• v.24 no.2
• /
• pp.245-254
• /
• 2021

The intelligent control algorithm based on the real-time biological monitoring system has been emphasized to enhance the survivability of the combat warrior in the future combat fields. In this study, AHP(Analytic Hierarchy Process) method was deployed to categorize the factors related to the improvement of survivability, then to determine the relative importances between them. As the details of the research process, the historical survivability determinants were firstly categorized, which was nextly judged their relative importance by the experts in the actual fileds through the survey of AHP. In this process, the consistency of the survey was investigated to filter out the error. As a result, the global priority of factors can be acquired to establish the optimized operational concepts in the intelligent warrior platform.

• Journal of Advanced Navigation Technology
• /
• v.20 no.6
• /
• pp.528-538
• /
• 2016

In this paper, an extend kalman filter based relative navigation algorithm is proposed for Link-K based relative navigation. Link-K is a tactical data link system for joint operation capability upgrade of ROK forces. Link-K is inter-operable with Link-16 and transmit and received information of operations and target. In Link-K communication channel, PPLI message including transmitter position and TOA measurement can be used for relative navigation. Therefore Link-K based relative navigation system can be operated. In this paper, software based simulations were carried out for operational feasibility test and performance verification as error factors of proposed Link-K based relative navigation system.

• Journal of Institute of Control, Robotics and Systems
• /
• v.18 no.5
• /
• pp.426-432
• /
• 2012

The positions of vessels in JTIDS where each vessel broadcasts its position, can be found using the relative navigation method. Besides positioning, the relative navigation could be adopted for identification friend or foe, tracking targets, monitoring battle field and etc. In this paper, we have explained the fundamental operation and technical structure for the relative navigation and implemented the simulation platform to evaluate the basic function and performance of the system in arbitrary environment. Using platform, the availability of relative navigation within the group network and the characteristic of the algorithm for position prediction was verified. Based on the simulation result, it was verified that EKF based navigation algorithm could produce great initial error and need quite convergence time. To improve the performance, we proposed a new navigation algorithm which uses the minimum norm estimation algorithm until the EKF converges. The simulation results reveal the relative navigation can be effectively used in the formation flight and collision avoidance system.

• Journal of Korea Water Resources Association
• /
• v.39 no.8 s.169
• /
• pp.659-668
• /
• 2006

The uncertainty of the risk of failure of hydraulic structures can be determined by estimating the variance of the risk of failure based on the methods of moments, probability weighted moments, and maximum likelihood assuming that the underlying model is the Gumbel distribution. In this paper, the variance of the risk of failure was derived. Monte Carlo simulation was peformed to verify the characteristics of the derived formulas for various sample size, design life, nonexceedance probability, and variation coefficient. As the results, PWM showed the smallest relative bias and root mean square error than the others while ML showed the smallest ones for relatively large sample siBes regardless of design life and nonexceedance probability. Also, it was found that variation coefficient does not effect on the relative bias and relative root mean square error.

• Journal of The Korean Society of Integrative Medicine
• /
• v.5 no.1
• /
• pp.43-53
• /
• 2017

Purpose : To examine the relative absolute reliability and validity of step test (ST) scores in subjects with chronic stroke. Method : A total of 27 stroke patients, participated in the study. A relative reliability index (intraclass correlation coefficient, ICC) was used to examine the level of agreement of inter-rater test-retest reliability for ST score. Absolute reliability indices, including the standard error of measurement(SEM) and the minimal detectable change (MDC), and limits of agreement by Bland and Altman analysis. The validity was demonstrated by spearman correlation of ST score with 10 m Walk Test (10mWT), Fugl-Meyer Assessment-Lower/Extremity (FMA-L/E)-total score, Berg Balance Scale (BBS)-total score. Result : An excellent inter-rater reliability in ST scores was found (paretic, ICC=0.993~0.996; nonparetic, ICC=0.982~0.991). In addition, excellent test-retest reliability was found (paretic, ICC=0.992; nonparetic, ICC=0.967). It all showed acceptable SEM of the ST score as paretic and nonparetic were 0.22 and 0.46 respectively (average score <10 %), and the MDC of the paretic and nonparetic were 0.61 and 1.27 respectively (possible highest score <20 %). indicating that measures had a small and acceptable measurement error. The ST score of paretic and nonparetic were also found to be significantly associated with 10MWT (r=0.77~0.79), FMA-LE scores (r=0.73~0.81) and BBS scores (r=0.72~0.76). Conclusion : The ST showed highly sufficient Inter-rater test-retest agreement and validity and acceptable measurement errors caused by due to chance variation in measurement. It also can be used by clinicians and researchers to assess the balance and mobility performance and monitor functional change in chronic stroke patients.

• Magazine of the Korean Society of Agricultural Engineers
• /
• v.45 no.5
• /
• pp.97-109
• /
• 2003

This study is mainly conducted to derive the design drought rainfall by the consecutive duration using probability weighted moments with rainfall in the regional drought frequency analysis. It is anticipated to suggest optimal design drought rainfall of hydraulic structures for the water requirement and drought frequency of occurrence for the safety of water utilization through this study. Preferentially, this study was conducted to derive the optimal regionalization of the precipitation data that can be classified by the climatologically and geographically homogeneous regions all over the regions except Cheju and Ulreung islands in Korea. Five homogeneous regions in view of topographical and climatological aspects were accomplished by K-means clustering method. Using the L-moment ratio diagram and Kolmogorov-Smirnov test, generalized extreme value distribution was confirmed as the best fitting one among applied distributions. At-site and regional parameters of the generalized extreme value distribution were estimated by the method of L-moments. Design drought rainfalls using L-moments following the consecutive duration were derived by the at-site and regional analysis using the observed and simulated data resulted from Monte Carlo techniques. Relative root-mean-square error (RRMSE), relative bias (RBIAS) and relative reduction (RR) in RRMSE for the design drought rainfall derived by at-site and regional analysis in the observed an simulated data were computed and compared. In has shown that the regional frequency analysis procedure can substantially more reduce the RRMSE. RBIAS and RR in RRMSE than those of at-site analysis in the prediction of design drought rainfall. Consequently, optimal design drought rainfalls following the regions and consecutive durations were derived by the regional frequency analysis.

• Progress in Medical Physics
• /
• v.28 no.1
• /
• pp.11-15
• /
• 2017

Relative biological effectiveness (RBE) of particle beam needs to be evaluated at particle beam therapy centers before the clinical application of the particle beam. However, since RBE analysis is implemented manually, it is useful to have a tool that can easily and effectively handle the data of experiments to generate cell survival curve and to analyze RBE simultaneously. In this work, the development of a program for RBE analysis of particle beam therapy was presented. This RBE analysis program was developed to include two parts; fitting the cell survival curves to linear-quadratic model and calculating the RBE values at a certain endpoint using fitting results. This program was also developed to simultaneously compare and analyze the template results that stored experiment data with photon and particle beam irradiations. The results of the cell survival curve obtained by each irradiation can be analyzed by the user on a desired data after reading the template stored in the easy-to-use excel file. The analysis results include the cell survival curves with error range, which are appeared in the screen and the ${\alpha}$ and ${\beta}$ parameters of linear-quadratic model with 95% confidence intervals, RBE values, and $R^2$ values to evaluate goodness-of-fit of survival curves to model, which are stored in a text cvs file. This software can generate cell survival curve, fit to model, and calculate RBE all at once with raw experiment data, so it helps users to save time for data handling and to reduce the possibility of making error on analysis. As a coming plan, we will create a user-friendly graphical user interface to present the results more intuitively.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
• /
• 2002.05a
• /
• pp.694-699
• /
• 2002

As the demand for slim laptops requires ion'-height optical disc drives, vibration problems of optical disc drives are of great concern. Additionally, with the decrease of a track width and a depth of focus in high density drives, studies on vibration resonance between mechanical parts become more important. From the vibration point of view, the performance of optical disc drives is closely related with the relative displacement between a disc and an objective lens which is controlled by servo mechanism. In other words, to read and write data properly, the relative displacement between an optical disc and an objective lens should be within a certain limit. The relative displacement is dependent on not only an anti-vibration mechanism design but also servo control capability. Good servo controls can make compensation for poor mechanisms, and vice versa. In a usual development process, robustness of the anti-vibration mechanism is always verified with the servo control of an objective lens. Engineers partially modify servo gain margin in case of a data reading error. This modification cannot correct the data reading error occasionally and the mechanism should be redesigned more robustly. Therefore it is necessary to verify a mechanism with respect to the possible servo gain plot. In this study we propose the experimental verification method far anti-vibration mechanism with respect to the existing servo gain plot. This method verifies axial vibration characteristics of optical disc drives on the basis of transmissibility. Using this method, we verified our mechanism and modified the mechanism for better anti-vibration characteristics.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.30 no.5
• /
• pp.459-466
• /
• 2012

The ionospheric delay is the largest error source in GPS positioning after the SA effect has been turned off. The ionospheric error can be easily removed by using ionospheric-free combinations but it is only restricted for dual-frequency receivers. Therefore, in this study, the regional ionospheric grid model was developed for single-frequency receivers. The developed model was compared with GIM to validate its accuracy. As a result, it yielded RMSE of 3.8 TECU for 10 days. And L1 medium- and long-range relative positioning was performed to evaluate positioning accuracy improvements. The positioning accuracy was improved by 46.7% compared with that without any correction of ionosphere and troposphere and was improved by 14.5% compared with that only tropospheric correction.