• 항공우주기술
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• 제12권1호
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• pp.120-127
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• 2013

최근, 항공우주 분야에서 오픈 소스 소프트웨어에 대한 관심이 늘고 있다. 대표적인 사례로 우주환경을 3D로 가시화하는 소프트웨어인 셀레스티아가 있다. 셀레스티아는 오픈소스 소프트웨어로서 여러 장점이 있다. 첫째 사용하기 쉽고, 둘째 스크립트 언어를 지원하여 필요한 기능을 쉽게 추가할 수 있다. 이런 특징으로, 다른 시스템과의 연계도 용이하다. 그러나, 셀레스타아를 동일 시스템이 아닌 원격시스템에서 제어하는 기능은 부족하다. 본 논문은 위성 시뮬레이션 도구인 GenSim에서 UDP 통신을 이용하여 원격으로 명령을 전송하는 모듈의 설계 및 구현 과정에 대해 기술하고, 개발시 겪었던 문제와 이에 대한 해결방법을 기술한다.

• 한국통신학회논문지
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• 제37권5A호
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• pp.305-310
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• 2012

이 논문은 단일 반송파 시스템에 적용 가능한 특히 순차적 역컨벌루션 기법과 단일 반송파 변조를 하이브리드하게 사용한 송수신 기법에 선택적 결합 기법을 활용하여 성능을 향상시킨 알고리즘을 제안한다. 선택적 결합 알고리즘은 안테나 공간 다이버시티 효과를 갖는 알고리즘으로서 수신기 입장에서 좋은 채널을 선택할 수 있다는 장점이 있고 이것을 활용할 경우 수신기 입장에서는 안테나 개수만 증가하고 기저대역은 종래의 수신기와 동일한 구조를 유지할 수 있다는 장점이 있다. 제안하는 알고리즘은 종래의 주파수 영역 등화기를 사용한 단일 반송파 전송 알고리즘과 비교하여 성능향상이 우수한 것으로 나타났다.

• 전기학회논문지P
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• 제65권3호
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• pp.171-177
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• 2016

Noise problem that occurs in living environment is a big trouble in the economic, social and environmental aspects. In this paper, the filtered-X LMS algorithms, the adjoint LMS algorithms, and the robust adjoint LMS algorithms will be introduced for applications in active noise control(ANC). The filtered-X LMS algorithms is currently the most popular method for adapting a filter when the filter exits a transfer function in the error path. The adjoint LMS algorithms, that prefilter the error signals instead of divided reference signals in frequency band, is also used for adaptive filter algorithms to reduce the computational burden of multi-channel ANC systems such as the 3D space. To improve performance of the adjoint LMS ANC system, an off-line measured transfer function is connected parallel to the LMS filter. This parallel-fixed filter acts as a noise controller only when the LMS filter is abnormal condition. The superior performance of the proposed system was compared through simulation with the adjoint LMS ANC system when the adaptive filter is in normal and abnormal condition.

• 한국해양공학회지
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• 제30권5호
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• pp.426-430
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• 2016

Recently, many unmanned surface vehicles (USVs) have been developed and researched for various fields such as the military, environment, and robotics. In order to perform purpose specific tasks, common autonomous navigation technologies are needed. Obstacle avoidance is important for safe autonomous navigation. This paper describes a vector field histogram+ (VFH+) based obstacle avoidance method that uses the monocular vision of an unmanned surface vehicle. After creating a polar histogram using VFH+, an open space without the histogram is selected in the moving direction. Instead of distance sensor data, monocular vision data are used for make the polar histogram, which includes obstacle information. An object on the water is recognized as an obstacle because this method is for USV. The results of a simulation with sea images showed that we can verify a change in the moving direction according to the position of objects.

• Safety and Health at Work
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• 제7권2호
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• pp.102-110
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• 2016

Background: This work presents an experimental and modeling study of the electromagnetic environment in the vicinity of a high voltage substation located in eastern Algeria (Annaba city) specified with a very high population density. The effects of electromagnetic fields emanating from the coupled multi-lines high voltage power systems (MLHV) on the health of the workers and people living in proximity of substations has been analyzed. Methods: Experimental Measurements for the Multi-lines power system proposed have been conducted in the free space under the high voltage lines. Field's intensities were measured using a referenced and calibrated electromagnetic field meter PMM8053B for the levels 0 m, 1 m, 1.5 m and 1.8 m witch present the sensitive's parts as organs and major functions (head, heart, pelvis and feet) of the human body. Results: The measurement results were validated by numerical simulation using the finite element method and these results are compared with the limit values of the international standards. Conclusion: We project to set own national standards for exposure to electromagnetic fields, in order to achieve a regional database that will be at the disposal of partners concerned to ensure safety of people and mainly workers inside high voltage electrical substations.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제13권5호
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• pp.2299-2318
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• 2019

Location-aware networks are of great importance for both civil lives and military applications. Methods based on line-of-sight (LOS) measurements suffer sever performance loss in harsh environments such as indoor scenarios, where sensors can receive both LOS and non-line-of-sight (NLOS) measurements. In this paper, we propose a data association (DA) process based on the expectation maximization (EM) algorithm, which enables us to exploit multipath components (MPCs). By setting the mapping relationship between the measurements and scatters as a latent variable, coefficients of the Gaussian mixture model are estimated. Moreover, considering the misalignment of sensor position, we propose a space-alternating generalized expectation maximization (SAGE)-based algorithms to jointly update the target localization and sensor position information. A two dimensional (2-D) circularly symmetric Gaussian distribution is employed to approximate the probability density function of the sensor's position uncertainty via the minimization of the Kullback-Leibler divergence (KLD), which enables us to calculate the expectation step with low computational complexity. Moreover, a distributed implementation is derived based on the average consensus method to improve the scalability of the proposed algorithm. Simulation results demonstrate that the proposed centralized and distributed algorithms can perform close to the Monte Carlo-based method with much lower communication overhead and computational complexity.

• 로봇학회논문지
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• 제16권3호
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• pp.260-269
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• 2021

To verify performance or conduct experiments using actual robots, a lot of costs are needed such as robot hardware, experimental space, and time. Therefore, a simulation environment is an essential tool in robotics research. In this paper, we develop the HUMIC simulator using ROS and Gazebo. HUMIC is a humanoid robot, which is developed by HCIR Lab., for human-robot interaction and an upper body of HUMIC is similar to humans with a head, body, waist, arms, and hands. The Gazebo is an open-source three-dimensional robot simulator that provides the ability to simulate robots accurately and efficiently along with simulated indoor and outdoor environments. We develop a GUI for users to easily simulate and manipulate the HUMIC simulator. Moreover, we open the developed HUMIC simulator and GUI for other robotics researchers to use. We test the developed HUMIC simulator for object detection and reinforcement learning-based navigation tasks successfully. As a further study, we plan to develop robot behavior intelligence based on reinforcement learning algorithms using the developed simulator, and then apply it to the real robot.

• 한국컴퓨터정보학회논문지
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• 제14권2호
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• pp.69-77
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• 2009

스트림 서비스 환경에서는 지속적으로 입력되는 막대한 양의 데이터에 대해 원하는 조건을 탐색하는 실시간 질의처리가 요구된다. 기존의 R-tee기반 질의처리 기술은 각 이벤트에 대해 트리 전체에 대해 동일한 탐색과정을 반복해야 하므로 이를 효율적으로 감당할 수 없었다. 한편 센서 측정값을 비롯한 대부분의 스트림 데이터는 매우 높은 지역성을 가지며 이를 활용하여 탐색 공간을 크게 줄일 수 있다. 따라서 본 연구에서는 스트림 데이터의 지역성을 활용하여 스트림 환경에 적합한 질의처리 기법을 제안하였다. 또한 이 프레임웍을 활용하여 스트림 환경에서 어플리케이션이 요구하는 다양한 질의처리 서비스를 개발할 수 있을 것으로 기대된다. 본 연구에서 구현한 프로토타입 시스템을 스트림 환경에 적용해 얻은 실험 결과를 통해, 스트림 환경에서 기존질의처리 기법보다 더 적합하고 효율이 크게 개선됨을 확인할 수 있었다.

• 한국항해항만학회지
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• 제30권10호
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• pp.855-860
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• 2006

컨테이너 터미널과 같이 다수의 AGV(Automated Guided Vehicle)를 한정된 공간에서 동시에 운용하는 환경에서는 AGV의 작업생산성에 악영향을 주는 충돌, 데드락(deadlock), 라이브락(liveiock)이 발생할 확률이 높다. 또한, AGV의 가/감속 운동은 AGV의 주행시간을 예측하기 어렵게 만들기 때문에 AGV 라우팅을 더욱 어렵게 만드는 요인이다. 본 논문에서는 AGV 사이의 충돌, 데드락, 라이브락을 방지하기 위해 점유영역 예약테이블(Occupancy Area Reservation table; OAR table)을 이용하는 방법과 최적주행경로를 선택하기 위해 가감속 운동을 고려하여 AGV의 주행시간을 추정하는 방법을 제안한다. 시간중심 시뮬레이 션(time-driven simulation)을 통해 제안방안을 실험 한 결과 제안방안의 효과를 확인하였다.

• 한국소음진동공학회논문집
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• 제21권9호
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• pp.820-827
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• 2011

Recently, noise has been regarded as one of the most notorious and frequent environmental pollutions which can be often encountered not only in the living space but also in the industrial site. Studies on physiological and psychological effects of long-term noise exposure to human being have commanded the public interest on noise issues. Since environmental noises such as traffic noise and construction noise is mainly flowed through the open window, it is necessary to develop the active noise control system to reduce it inside the building. Although control speakers and microphones for the noise signal measurement in the control region are essential for the conventional active noise control methods, it is impossible to implement them in the control region in the building environment because the control region is the living quarter and they may hinder activities of the residents. Therefore, we proposed the active window system to reduce the exterior noise flowed through the open window with microphones installed outside the window and control speakers installed at the frame of the window. To confirm the performance of the proposed active window, we carried out the simulation and experiment using active window system with 8 control speakers. Simulation results showed the noticeable noise reduction effect inside the control region within the frequency range without the spatial aliasing. Experimental result showed that the total acoustic potential energy inside the room of the scale model is reduced to about 10dB within the interest of frequency range.