• International Journal of Naval Architecture and Ocean Engineering
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• 제6권1호
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• pp.175-185
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• 2014

This study presents the prediction of propagated wave profiles using the wave information at a fixed point. The fixed points can be fixed in either space or time. Wave information based on the linear wave theory can be expressed by Fredholm integral equation of the first kinds. The discretized matrix equation is usually an ill-conditioned system. Tikhonov regularization was applied to the ill-conditioned system to overcome instability of the system. The regularization parameter is calculated by using the L-curve method. The numerical results are compared with the experimental results. The analysis of the numerical computation shows that the Tikhonov regularization method is useful.

• Nuclear Engineering and Technology
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• 제51권1호
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• pp.146-154
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• 2019

An improved principal component analysis (PCA) method is applied for sensor fault detection and isolation (FDI) in a nuclear power plant (NPP) in this paper. Data pre-processing and false alarm reducing methods are combined with general PCA method to improve the model performance in practice. In data pre-processing, singular points and random fluctuations in the original data are eliminated with various techniques respectively. In fault detecting, a statistics-based method is proposed to reduce the false alarms of $T^2$ and Q statistics. Finally, the effects of the proposed data pre-processing and false alarm reducing techniques are evaluated with sensor measurements from a real NPP. They are proved to be greatly beneficial to the improvement on the reliability and stability of PCA model. Meanwhile various sensor faults are imposed to normal measurements to test the FDI ability of the PCA model. Simulation results show that the proposed PCA model presents favorable performance on the FDI of sensors no matter with major or small failures.

• 한국전산구조공학회논문집
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• 제26권4호
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• pp.301-308
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• 2013

본 논문에서는 새로운 비중첩 영역 분할 기법을 바탕으로 한 병렬해석의 정확도 분석이 수행된다. Tak 등(2013)에 의해 제안된 이 방법에서 분할된 하위도메인들은 서로 중첩되지 않으며 계면요소(interfacial element)라 불리는 가상연결유한요소를 통해 서로 간의 관계가 결정된다. 이 접근법의 주요 장점은 영역 분할시 floating 도메인에서 발생할 수 있는 특이강성행렬(singular stiffness matrix)을 계면요소의 결합을 이용하여 가역행렬(invertible matrix)로 변환할 수 있다는 것과 기존의 FETI법에 비하여 해석시간과 스토리지(storage) 사용을 줄일 수 있다는 것이다. 반면에 3개 이상의 하위도메인들이 한 점에서 연결되는 경우를 의미하는 cross point에서는 해석의 정확도가 저하되는 경향이 나타났다. 따라서 본 논문에서는 새로운 비중첩 영역 분할기법에 대해 다양한 영역분할의 경우에 따라 발생하는 하나의 cross point에 접촉하는 하위도메인의 개수에 따른 정확도 분석이 수행되고 정확도가 저하되는 원인분석 및 대책이 논의된다.

• 한국정보통신학회논문지
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• 제24권11호
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• pp.1431-1436
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• 2020

현대사회에서 CCTV, 블랙박스 등 다양한 영상기기로 편리함을 도모한다. 하지만 야간에서 촬영된 영상이나 영상 신호가 송, 수신되는 과정에서 잡음이 빈번하게 발생한다. 이러한 잡음을 제거하지 않으면 영상의 식별이 어렵다는 문제점이 발생한다. 따라서 영상 정보에서 영상의 잡음 제거는 필수불가결한 단계이다. 영상 잡음 중 대표적인 임펄스 잡음으로 Salt and Pepper 잡음이 있다. 잡음을 제거하기 위한 방법으로 선행연구가 진행되어져 왔고 그중 대표적인 방법으로 CWMF, MMF, A-TMF 등이 있다. 이러한 필터들은 공통적으로 저밀도 잡음 영역에서는 우수한 성능을 보이지만 고밀도 잡음 영역에서 잡음 제거 성능이 다소 부족하다는 단점이 있다. 따라서 제안한 알고리즘은 히스토그램 그래프의 변곡점을 이용하여 영역을 나누어 특이점을 제거하고, 히스토그램 분포를 이용한 가중치 필터를 제안한다. 객관적인 판단을 위해 PSNR을 이용하였다.

• 한국군사과학기술학회지
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• 제18권3호
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• pp.226-233
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• 2015

Pose estimation is an important operation for many vision tasks. This paper presents a method of estimating the camera pose, using a known landmark for the purpose of autonomous vertical takeoff and landing(VTOL) unmanned aerial vehicle(UAV) landing. The proposed method uses a distinctive methodology to solve the pose estimation problem. We propose to combine extrinsic parameters from known and unknown 3-D(three-dimensional) feature points, and inertial estimation of camera 6-DOF(Degree Of Freedom) into one linear inhomogeneous equation. This allows us to use singular value decomposition(SVD) to neatly solve the given optimization problem. We present experimental results that demonstrate the ability of the proposed method to estimate camera 6DOF with the ease of implementation.

• 한국소음진동공학회논문집
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• 제24권8호
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• pp.628-635
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• 2014

The procedure to estimate the sources of noise and vibrations in a typical drum-type washing machine was presented. The sources should be identified to predict the radiated noise with computational model of structure. Source identification techniques based on singular decomposition were implemented using the measured signals of accelerometers and microphones. The finite element analysis and indirect boundary element analysis were implemented to predict the structural vibrations and the acoustic pressures at the field points. The predicted results by only structural sources were compared with those by both structural and acoustical sources. It was verified that not only the structural-borne source but also air-borne source should be considered to predict the radiated noise with better accuracy. The contribution analysis with respect to the transfer path was also preformed.

• 품질경영학회지
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• 제23권4호
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• pp.28-41
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• 1995

We consider the problem of identifying multiple outliers in linear model. The available regression diagnostic methods often do not succeed in detecting multiple outliers because of the masking and swamping effect. Recently, among the various robust estimator of reducing the effect of outliers, LMS(Least Meadian Square) estimator has been to be a suitable method proposed to expose outliers and leverage points. However, as you know it, the data analysis method with LMS estimator is to be taken the median of the squared residuals in the sample which is extracted the sample space. Then this model causes the trouble, for the number of the chosen sample is nCp, i.e. as the size of sample space n is increasing, the number is increasing fastly. And the covariance matrix may be the singular matrix, so that matrix is approching collinearity. Thus we propose a procedure ELMS for the resampling in LMS method and study the size of the effective elementary set in this algorithm.

• 한국산업융합학회 논문집
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• 제20권1호
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• pp.49-55
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• 2017

This study proposes a new approach to Control and trajectory generation of a 8 DOF human robot arm with computational complexity and singularity problem. To deal with such problems, analytical methods for a redundant robot arm have been researched to enhance the performance of research, we propose an analytical kinematics algorithm for a 8 DOF bipped dual robot arm. Using this algorithm, it is possible to generate a trajectory passing through the singular points and intuitively move the elbow without regarding to the end-effector pose. Performance of the proposed algorithm was verified by simulation test with various conditions. It has been verified that the trajectory planning using this algorithm.

• 한국멀티미디어학회논문지
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• 제15권6호
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• pp.770-783
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• 2012

본 논문에서는 다중 영상에서 추출된 특징점을 사용해서 투영 공간에서의 카메라 행렬과 3차원 정점좌표를 계산하는 방법을 제안한다. 수치적인 안정성을 위해서 특징점을 정규화한 후 복원하며 얻어지는 카메라 행렬과 3차원 정점에 대해서 비정규화한다. 카메라 행렬과 3차원 정점의 초기값을 얻기 위해서 특이값 분해기법을 사용해서 투영 깊이가 적용된 측정 행렬을 분해한다. 행렬 분해 제약을 사용하여 카메라 행렬과 3차원 정점을 투영 복원한다. 투영 복원 과정에서는 비선형 반복적 최적화 방법이 사용된다. 실험 결과 제안방법은 대체로 적절한 정확성을 얻었고 오차의 편차가 크지 않았다.

• Journal of Advanced Marine Engineering and Technology
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• 제39권10호
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• pp.1023-1030
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• 2015

The purpose of this paper is to present the basic mathematical modeling of a hexacopter, which could be used to develop proper methods for stabilization and trajectory control. A hexacopter consists of six rotors with three pairs of counter-rotating fixed-pitch blades. This mechanism is an under-actuated, dynamically unstable, six-degrees-of-freedom system. The whole motion of this object consists of translational and rotational motion in three dimensions, where the translational motion is created by changing the direction and magnitude of the upward propeller thrust. The hexacopter is controlled by adjusting the angular velocities of the rotors, which are spun by electric motors. It is assumed to be a rigid body; thus, the differential equation of the hexacopter dynamics can be derived from the Newton-Euler equation. The Euler-angle parametrization of the three-dimensional rotations contains singular points in the coordinate space that can cause failure of both the dynamical model and control. In order to avoid singularities, the rotations of the hexacopter are parametrized in terms of quaternions. This choice has been made considering the linearity of the quaternion formulation and their stability and efficiency. Further, control simulation of a hexacopter applying cascaded-PID control is also presented in this paper.