• Journal of Biosystems Engineering
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• v.16 no.2
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• pp.167-177
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• 1991

곡물 빈에서 벼 건조시 외기 온도에 따른 연료 자동 조절 및 배출공기의 재순환이 에너지 소비, 건조비용 및 건조 시간에 미치는 효과를 분석하기 위해 슬램 II(SLAM II : Simulation Language for Alternative Modeing II)를 이용한 시뮬레이션 모텔을 개발하였다. 따라서 약 64톤의 벼를 연료 자동조절 버너를 갖춘 곡물빈에서 열풍 건조할 때, 절약 가능한 에너지 양과 공기 재순환의 효과를 시뮬레이션을 통해 분석하였으며 이를 실제의 자료와 비교하여 이 모델을 검증하였다. 시뮬레이션에 의한 본 연구의 결과는 다음과 같다. 1. 배출공기를 재순환 시키지 않는 상태에서 자동 연료조절 버너를 사용할 경우 관행 버너를 이용한 빈 시스템에 비해, 루이지애나 주에서 8월에 25%의 에너지를 절약할 수 있으며 12월에는 8%의 에너지를 절약할 수 있다. 실제의 건조 실험에서는 8월에 약 30%의 에너지를 절감할 수 있었다. 2. 자동 연료조절 버너를 갖춘 빈 시스템에서 제습을 하지 않은 배출 공기의 재순환은 건조 에너지 소비량과 건조 시간을 증가시켰으며 연료 자동조절 장치의 에너지 절약 효과를 감소시켰다. 따라서 배출 공기를 재순환하여 에너지를 절감하고자 할 때에는 반드시 배출 공기를 제습시켜 습도를 재조절 해야만 했다. 또한 제습된 공기의 재순환 효과는 여름보다 겨울에 더 컸다. 3. 연료 자동조절 버너를 갖춘 빈 시스템에서 벼를 건조할 경우 루이지애나 주, 8월에 물벼의 톤당 건조 비용은 $2.13이었으며 관행 버너를 갖춘 시스템에서는 $2.69이었다. 실험에 의한 실제 건조비용은 자동화 시스템에서 $2.17이었고 관행 시스템에서는 $2.62이었다.

• IE interfaces
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• v.11 no.3
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• pp.77-87
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• 1998

Intelligent Peripheral(IP) system is to provide specialized resource functions (SRF) such as playing announcement, collecting user information, and receiving messages in the Advanced Intelligent Network (AIN). We analyze the call processing capacity of an AIN IP system being developed in ETRI through an extensive simulation using SLAM II under a variety of AIN service scenarios. We consider televoting (VOT) and universal personal telecommunication (UPT) services which are to be provided at the fit implementation of the AIN in Korea. As the performance criteria to determine the call processing capacity, processor utilization, delay and call loss probability are considered. It turns out that the major processor called SAMP is the bottleneck processor, the service response delay dominates the delay performance, and the call loss probability becomes the primary criterion in determining the call processing capacity of the AIN IP system. It is also shown that the call processing capacity of the AIN IP system is determined by the utilization of the processor and the delay performance when the VOT ratio is below 70 percent but it is determined by the call loss probability due to the lack of service channels for providing the SRF operations.

• Journal of Positioning, Navigation, and Timing
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• v.9 no.3
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• pp.285-292
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• 2020

This paper introduces a new computational efficient Dilution of Precision (DOP)-based landmark exclusion method while ensuring the safety of the LiDAR-based navigation system that uses an innovation-based Nearest-Neighbor (NN) Data Association (DA) process. The NN DA process finds a correct landmark association hypothesis among all potential landmark permutations using Kalman filter innovation vectors. This makes the computational load increases exponentially as the number of landmarks increases. In this paper, we thus exclude landmarks by introducing DOP that quantifies the geometric distribution of landmarks as a way to minimize the loss of integrity performance that can occur by reducing landmarks. The number of landmarks to be excluded is set as the maximum number that can satisfy the integrity risk requirement. For the verification of the method, we developed a simulator that can analyze integrity risk according to the landmark number and its geometric distribution. Based on the simulation, we analyzed the relationship between DOP and integrity risk of the DA process by excluding each landmark. The results showed a tendency to minimize the loss of integrity performance when excluding landmarks with poor DOP. The developed method opens the possibility of assuring the safety risk of the Lidar-based navigation system in real-time applications by reducing a substantial amount of computational load.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.250-255
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• 2005

For navigation of a service robot, mapping and localization are very important. To estimate the robot pose, the map of the environment is required and it can be built by exploration or SLAM. Exploration is the fundamental task of guiding a robot autonomously during mapping such that it covers the entire environment with its sensors. In this paper, an efficient exploration scheme based on the position probability of the end nodes of a topological map is proposed. In this scheme, a topological map is constructed in real time using the thinning-based approach. The robot then updates the position probability of each end node maintaining its position at the current location based on the Bayesian update rule using the range data. From this probability, the robot can determine whether or not it needs to visit the specific end node to examine the environment around this node. Various experiments show that the proposed exploration scheme can perform exploration more efficiently than other schemes in that, in most cases, exploration for the entire environment can be completed without directly visiting everywhere in the environment.

• The KSFM Journal of Fluid Machinery
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• v.3 no.4 s.9
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• pp.52-58
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• 2000

The numerical study on the waterhammer was carried out for the intake pumping station of the metropolitan water supply 6th stage project. Because the waterhammer problems as a result of the pump power failure were the most important, these situations were carefully investigated. The surge tank and the stand pipes effectively protected the tunnels md the downstream region of pipeline from the pressure surge. In case the moment of inertia of the pump and motor was above $5080\;kg{\cdot}m^2$, the column separation did not occur in the pipeline between the pumping station and the inlet of 1st tunnel. As the moment of inertia increased, the pressure surges decreased in the pipeline conveying raw water. The pump control valve was chosen as the main surge suppression device for the intake pumping station. After power failure, the valve disc should be rapidly closed in 2.5 seconds and controlled the final closure to 15 seconds by the oil dashpot. If the slamming happened to the pump control valve, there was some danger of this system damaging. As the reverse flow through the valve increased, the upsurge extremely increased.

• Journal of the Korea Institute of Military Science and Technology
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• v.18 no.6
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• pp.711-720
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• 2015

Recently many studies of Radar systems mounted on ground vehicles for autonomous driving, SLAM (Simultaneous localization and mapping) and collision avoidance have been reported. Since several pixels per an object may be generated in a close-range radar application, a width of an object can be estimated automatically by various signal processing techniques. In this paper, we tried to attempt to develop an algorithm to estimate obstacle width using Radar images. The proposed method consists of 5 steps - 1) background clutter reduction, 2) local peak pixel detection, 3) region growing, 4) contour extraction and 5)width calculation. For the performance validation of our method, we performed the test width estimation using a real data of two cars acquired by commercial radar system - I200 manufactured by Navtech. As a result, we verified that the proposed method can estimate the widths of targets.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.19 no.3
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• pp.434-441
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• 1994

In this paper, performance of MAP management system traffic is analyzed, to realize the network management function in automated manufacturing network mini-MAP. The network management system, which controls and supervises the network resources in the communication network, is the function that is necessarily required in this network. Since the real time response must be required in the Mini-MAP network, the delay performance of the network needs to be analyzed. By means of both analytical method and simulation for cyclic queueing model, the delay time distributions due to the increasement of transmission data are obtained in the implemented management network where SLAM II package is used for simulation. In addition, the parameters of the management function affecting the transmission delay are considered so that these parameters can be used to implement network management system.

• Journal of Institute of Control, Robotics and Systems
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• v.15 no.12
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• pp.1232-1239
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• 2009

This paper proposes an exploration strategy to efficiently find a specific place in large unknown environments with wall-following based path planning. Many exploration methods proposed so far showed good performance but they focused only on efficient planning for modeling unknown environments. Therefore, to successfully accomplish the room finding task, two additional requirements should be considered. First, suitable path-planning is needed to recognize the room number. Most conventional exploration schemes used the gradient method to extract the optimal path. In these schemes, the paths are extracted in the middle of the free space which is usually far from the wall. If the robot follows such a path, it is not likely to recognize the room number written on the wall because room numbers are usually too small to be recognized by camera image from a distance. Second, the behavior which re-explores the explored area is needed. Even though the robot completes exploration, it is possible that some rooms are not registered in the constructed map for some reasons such as poor recognition performance, occlusion by a human and so on. With this scheme, the robot does not have to visit and model the whole environment. This proposed method is very simple but it guarantees that the robot can find a specific room in most cases. The proposed exploration strategy was verified by various experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.19 no.9
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• pp.813-821
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• 2013

In this paper, we present the development of P-SURO II hybrid AUV (Autonomous Underwater Vehicle) which can be operated in both of AUV and ROV (Remotely Operated Vehicle) modes. In its AUV mode, the vehicle is supposed to carry out some of underwater missions which are difficult to be achieved in ROV mode due to the tether cable. To accomplish its missions such as inspection and maintenance of complex underwater structures in AUV mode, the vehicle is required to have high level of autonomy including environmental recognition, obstacle avoidance, autonomous navigation, and so on. In addition to its systematic development issues, some of algorithmic issues are also discussed in this paper. Various experimental studies are also presented to demonstrate these developed autonomy algorithms.

• Journal of IKEEE
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• v.6 no.1 s.10
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• pp.1-9
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• 2002

Converged LAN accepts diverse traffics so that performance analysis is very important for successful development of converged LAN. In this paper, we develop simulation program using SALM II and simulate queue management scheme and scheduling algorithm for converged LAN. The result of simulation shows the effect of performance for cyclic service algorithm larger than priority algorithm using weight. And queue management can be easy by implementation of Back Pressure scheme.