• Title/Summary/Keyword: second-order system

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Design of Trajectory Generator for Performance Evaluation of Navigation Systems

  • Jae Hoon Son;Sang Heon Oh;Dong-Hwan Hwang
    • Journal of Positioning, Navigation, and Timing
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    • v.12 no.4
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    • pp.409-421
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    • 2023
  • In order to develop navigation systems, simulators that provide navigation sensors data are required. A trajectory generator that simulates vehicle motion is needed to generate navigation sensors data in the simulator. In this paper, a trajectory generator for evaluating navigation system performance is proposed. The proposed trajectory generator consists of two parts. The first part obtains parameters from the motion scenario file whereas the second part generates position, velocity, and attitude from the parameters. In the proposed trajectory generator six degrees of freedom, halt, climb, turn, accel turn, spiral, combined, and waypoint motions are given as basic motions with parameters. These motions can be combined to generate complex trajectories of the vehicle. Maximum acceleration and jerk for linear motion and maximum angular acceleration and velocity for rotational motion are considered to generate trajectories. In order to show the usefulness of the proposed trajectory generator, trajectories were generated from motion scenario files and the results were observed. The results show that the proposed trajectory generator can accurately simulate complex vehicle motions that can be used to evaluate navigation system performance.

Research on detecting moving targets with an improved Kalman filter algorithm

  • Jia quan Zhou;Wei Wei
    • KSII Transactions on Internet and Information Systems (TIIS)
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    • v.17 no.9
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    • pp.2348-2360
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    • 2023
  • As science and technology evolve, object detection of moving objects has been widely used in the context of machine learning and artificial intelligence. Traditional moving object detection algorithms, however, are characterized by relatively poor real-time performance and low accuracy in detecting moving objects. To tackle this issue, this manuscript proposes a modified Kalman filter algorithm, which aims to expand the equations of the system with the Taylor series first, ignoring the higher order terms of the second order and above, when the nonlinear system is close to the linear form, then it uses standard Kalman filter algorithms to measure the situation of the system. which can not only detect moving objects accurately but also has better real-time performance and can be employed to predict the trajectory of moving objects. Meanwhile, the accuracy and real-time performance of the algorithm were experimentally verified.

A Study on the Agile Approach in Battlefield Management Information System R&D Project in Korea Military (국방 전장관리정보체계 연구개발사업의 애자일 적용 방안 연구)

  • Yun, SungHyun;Lim, GyooGun
    • Journal of Information Technology Services
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    • v.20 no.1
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    • pp.41-54
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    • 2021
  • The SW-centered battlefield management information system R&D project takes a long period of 5-10 years or more by applying a complex and rigid batch acquisition strategy. In order to solve this problem, it is necessary to institutionalize a rapid and flexible battlefield management information system R&D project management procedure applying agile development methodology, and a government project management organization and contract management method to support it In this study, we analyzed the case of applying the Agile development method centered on Scrum to the US SW-centered weapon system R&D project and the characteristics and problems of the battlefield management information system R&D project in Korea, and suggested improvement measures as follows. First, the battlefield management information system R&D model applies the hybrid development method, and the system requirements analysis and system structure design use the existing waterfall development procedure, and the agile method is applied from the SW requirements analysis to the system integration stage. Second, flexible adjustment of performance, schedule, and cost by organizing an Agile IPT in which military (requirements) - DAPA (project management) - developer - functional specialized organizations (test and evaluation, quality, government research institutes, etc.) participate. Third, improving the Basic Order Agreement so that it can be applied to agile R&D.

The Multiband Interpolant Filter in the Second-order BPS System (2차 BPS 시스템의 다중 대역 interpolant 필터)

  • Kim, Hyuk;Baek, Jein
    • Journal of the Institute of Electronics and Information Engineers
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    • v.50 no.7
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    • pp.225-230
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    • 2013
  • In a bandpass sampling (BPS), the frequency of the sampler is lower than that of the signal being sampled. In this method, the baseband spectrum directly appears by the sampling operation, so that it is not necessary to use any frequency down-converter, which makes the receiver's hardware simpler. The second-order BPS uses two identical BPS samplers, of which sampling times are offset by each other. By exploiting the relationship between two sampled signals, it can be possible to cancel the aliased signal component or the interference due to the bandpass sampling. In order to cancel the interference, an interpolant filter is used to manipulate the phase characteristics of the BPS sampled signal. In this paper, it is introduced a multiband interpolant filter which can simultaneously cancel multiple interference signals that have been aliased from multiple frequency bands. In case of no need of interference cancellation, another method is suggested to enhance the signal quality by 3dB. A computer simulation has been performed, and the feasibility of the suggested methods has been verified.

Angular Modulation of the Giant Magnetoresistance at the Second Antiferromagnetic Maximum in Co/Cu Multilayered System

  • Kang, S.J.;Kim, K.Y.;Ye, W.T.;Lee, J.
    • Journal of Magnetics
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    • v.5 no.4
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    • pp.135-138
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    • 2000
  • In order to study the effect of the magnetic anisotropy on the giant magnetoresistance in a Co/Cu multilayered system, the angle dependent magnetoresistance (MR) was measured. The experimental results showed that the maximum MR ratio depends on the angle between the direction of the applied field and the easy axis. The angular modulation of the MR ratio can be explained by the alignments of the two 'effective' magnetization vectors that are bound to their own easy axes. Two maxima observed in MR loops at the second antiferromagnetic maximum are discussed in relation to the magnetic anisotropy, The simulated results under the assumption of the existence of two in-plane easy axes in the sample are compared with the experiments.

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Training Algorithms of Neuro-fuzzy Systems Using Evolution Strategy (진화전략을 이용한 뉴로퍼지 시스템의 학습방법)

  • 정성훈
    • Proceedings of the IEEK Conference
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    • 2001.06c
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    • pp.173-176
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    • 2001
  • This paper proposes training algorithms of neuro-fuzzy systems. First, we introduce a structure training algorithm, which produces the necessary number of hidden nodes from training data. From this algorithm, initial fuzzy rules are also obtained. Second, the parameter training algorithm using evolution strategy is introduced. In order to show their usefulness, we apply our neuro-fuzzy system to a nonlinear system identification problem. It was found from experiments that proposed training algorithms works well.

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Optimal servo control of pneumatic actuator with time-delay (공기압 액츄에이터의 시간지연을 고려한 최적 서보제어)

  • 진상호
    • 제어로봇시스템학회:학술대회논문집
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    • 1996.10b
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    • pp.1455-1458
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    • 1996
  • In this paper trajectory tracking control problems are described for a robot manipulator by using pneumatic actuator. Under the assumption that the so-called independent joint control is applied to the control system, the dynamic model for each link is identified as a linear second-order system with input time-delay by the step response. Then, an optimal servo controller is designed by taking account of such a time-delay. The effectiveness of the proposed control method is illustrated through some simulations and experiments for the robot manipulator.

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A New Approach to System Identification Using Hybrid Genetic Algorithm

  • Kim, Jong-Wook;Kim, Sang-Woo
    • 제어로봇시스템학회:학술대회논문집
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    • 2001.10a
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    • pp.107.6-107
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    • 2001
  • Genetic alogorithm(GA) is a well-known global optimization algorithm. However, as the searching bounds grow wider., performance of local optimization deteriorates. In this paper, we propose a hybrid algorithm which integrates the gradient algorithm and GA so as to reinforce the performance of local optimization. We apply this algorithm to the system identification of second order RLC circuit. Identification results show that the proposed algorithm gets the better and robust performance to find the exact values of RLC elements.

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Design of self-tuning controller utilizing neural network (신경회로망기법을 이용한 자기동조제어기 설계)

  • 구영모;이윤섭;김대종;임은빈;우광방
    • 제어로봇시스템학회:학술대회논문집
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    • 1989.10a
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    • pp.399-401
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    • 1989
  • Utilizing an interconnected set of neuron-like elements, the present study is to provide a method of parameter estimation for a second order linear time invariant system of self-tuning controller. The result from the proposed method is evaluated by comparing with those obtained by the recursive least square (RLS) identification algorithm and extended recursive least square (ERLS) algorithm, and it shows that, although the smoothness of system performance is still to be improved, the effectiveness of shorter computing time is demonstrated which may be of considerable value to real time computing.

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Trajectory tracking controls for a robot manipulator with artificial muscles (인공 고무 근육을 이용한 로보트 메니퓨레이터의 선형 궤도 추적 제어)

  • ;Watanabe, Keigo;Nakamura, Masatoshi
    • 제어로봇시스템학회:학술대회논문집
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    • 1992.10a
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    • pp.642-646
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    • 1992
  • Trajectory tracking control problems are described for a two-link robot manipulator with artificial rubber muscle actuators. Under the assumption that the so-called independent joint control is applied to the control system, the dynamic model for each link is identified as a linear second-order system with time-lag by the step response. Two control laws such as the feedforward and the computed torque control methods, are experimentally applied for controlling the circular trajectory of an actual robot manipulator.

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