• Journal of Mechanical Science and Technology
• /
• v.15 no.8
• /
• pp.1097-1107
• /
• 2001

In this paper, the wall following navigation algorithm of the mobile robot using a mono vision system is described. The key points of the mobile robot navigation system are effective acquisition of the environmental information and fast recognition of the robot position. Also, from this information, the mobile robot should be appropriately controlled to follow a desired path. For the recognition of the relative position and orientation of the robot to the wall, the features of the corridor structure are extracted using the mono vision system, then the relative position, the offset distance and steering angle of the robot from the wall, is derived for a simple corridor geometry. For the alleviation of the computation burden of the image processing, the Kalman filter is used to reduce search region in the image space for line detection. Next, the robot is controlled by this information to follow the desired path. The wall following control scheme by the PD control scheme is composed of two control parts, the approaching control and the orientation control, and each control is performed by steering and forward-driving motion of the robot. To verify the effectiveness of the proposed algorithm, the real time navigation experiments are performed. Through the result of the experiments, the effectiveness and flexibility of the suggested algorithm are verified in comparison with a pure encoder-guided mobile robot navigation system.

• Proceedings of the IEEK Conference
• /
• 2001.10a
• /
• pp.443-447
• /
• 2001

A laboratory-scale electrodewatering system for enhancing conventional filter pressure dewatering by an electric field has been developed to decrease the water content of sludge generated in the wastewater treatment. It consists of a piston-typed filter press, a power supply and data acquisition system. The offset of electrodewatering is investigated as a function of applied pressure, applied voltage, sludge type and filtration time. Also the optimal conditions for maximizing the dewatering efficiency in the eletrodewatering system are investigated. Electric field strength and mechanical pressure are in the range of from 0 to 120 V/cm and from 98.1 to 392.4 kPa. The dewatering rates increased with increasing electric strength. These experiments produced a final sludge cake with water content of 60 wt% using electrodewatering technology, compared with a 80 wt% using pressure filtration alone. The conventional filtration system using the electrodewatering shows the potential to be effective method for improving dewatering Sludge.

• Journal of Power System Engineering
• /
• v.13 no.5
• /
• pp.76-81
• /
• 2009

The fatalities of pedestrian account for about 21.2% of all fatalities at 2007 year in Korea. To reconstruct exactly the accident, it is important to calculate the throw distance of pedestrian in car to pedestrian accident. The frontal shape of SUV vehicle is dissimilar to passenger car and bus, so the trajectory and throw distance of pedestrian by SUV vehicle is not the same of passenger car and bus. The influencing on it can be classified into the factors of vehicle and pedestrian, and road factor. It was analyzed by PC-CRASH for simulation, and SPSS s/w was used for regression analysis. From the simulation results, the maximum impact energy of multi-body of pedestrian was occurred to that of torso body at the same time. And the throw distance increased with the increasing of impact velocity, and decreased with the increasing of impact offset. Also it decreased with the increasing of velocity of pedestrian at accident, and the throw distance of wet road was longer than that of dry road. Finally, the regression analysis model of SUV(Nissan Pathfinder type)vehicle in car to pedestrian accident was as follows; $$disti_i=-0.87-0.11offseti_i+0.69speed_i-4.27height_i+0.004walk_i+0.63wet_i+{\epsilon}_i$$.

• The Korean Journal of Applied Statistics
• /
• v.24 no.4
• /
• pp.575-586
• /
• 2011

In this paper, we study an asymptotic behavior of the finite-time ruin probability of the compound Poisson model in the case that the initial surplus is large. To compare an exact ruin probability with an approximate one, we place the focus on the exact calculation for the ruin probability when the claim size distribution is regularly varying tailed (i.e. exponential claims and inverse Gaussian claims). We estimate an adjustment coefficient in these examples and show the relationship between the adjustment coefficient and the safety premium. The illustration study shows that as the safety premium increases so does the adjustment coefficient. Larger safety premium means lower "long-term risk", which only stands to reason since higher safety premium means a faster rate of safety premium income to offset claims.

• Journal of the Korea Computer Industry Society
• /
• v.3 no.8
• /
• pp.1085-1092
• /
• 2002

Studies on image information processing have been performed since long time ago because in daily life most of information are acquired by the since of sight. Since there should be a lot of data to describe image as a digital form, data compression is required in order to store or transmit digital image. Lately among most of image compression methods adopted on image compression standards, transform coding methods have been primarily used which transforms the correlations between pixels of image on frequency domain before image compression. It is blown that the standard methods using especially DCT features blocking effect which is the major cause of degrading the quality of image at high compression rate. Fractal encoding using quadtree partition is applied after reducing original image, and we are to find a optimal encoding for the number of scaling bit and offset bit.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.18 no.2
• /
• pp.207-217
• /
• 1993

In this paper, knowing a priori probability of phase offset between transmitted codes and reference codes in the receiver, we construct the state diagram of acquisition process of the direct sequence spread-spectrum communication system using the expanding window search. The scannings are performed from the cell with higher probability code epoch synchronization to that with lower one. We expand window size from initial value by r times of its previous size in each search, construct the corresponding the state diagrams, and derive average synchronization time using the Markov process and Mason's gain formula. Average synchronization times versus number of search n and detection probability $P_d$ are calculated.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.32 no.10A
• /
• pp.950-957
• /
• 2007

In this paper, a recursive intercarrier interference (ICI) cancellation technique for cooperative space-time block coded orthogonal frequency division multiplexing (STBC-OFDM) with different carrier frequency offsets (CFOs) is proposed. Also, different CFOs existing in a cooperative STBC-OFDM system is shown to produce phase difference in the received signal, causing noise enhancement effect in the STBC decoding process. The performance degradation caused by the noise enhancement effect can be effectively reduced by a proposed ML-based recursive ICI cancellation technique. It is shown by computer simulation that the proposed recursive ICI cancellation technique is effective in reducing ICI, especially for STBC-OFDM systems with a large FFT size and large CFOs.

• 제어로봇시스템학회:학술대회논문집
• /
• 2000.10a
• /
• pp.357-357
• /
• 2000

In this study, we consider a multi-input multi-output styrene polymerization reactor system for which the monomer conversion and the weight average molecular weight are controlled by manipulating the jacket inlet temperature and the feed flow rate. The reactor system is identified by using a linear subspace identification method and then the output feedback model predictive controller is constructed on the basis of the identified model. Here we use the Best Linear Unbiased Estimation (BLUE) filter as a stochastic estimator instead of the Kalman filter. The BLUE filter observes the state successfully without any a priori information of initial states. In contrast to the Kalman filter, the BLUE filter eliminates the offset by observing the state of the augmented system regardless of a priori information of the initial state for an integral white noise augmented system. A BLUE filter has a finite impulse response (FIR) structure which utilizes finite measurements and inputs on the most recent time interval [i-N, i] in order to avoid long processing times.

• The Journal of Korean Institute of Communications and Information Sciences
• /
• v.29 no.7A
• /
• pp.836-843
• /
• 2004

In per survivor processing (PSP) has a better performance than conventional phase offset estimators. But itsdefect is that it has a high complexity. In this paper, we propose the adaptive reduced state estimator (ARSE) algorithm not only to reduce the complexity, but also to have a good performance. The main principle of ARSE is changing the number of estimators dynamically during the decoding process according to the channel condition.

• Journal of the Korean Society of Industry Convergence
• /
• v.2 no.2
• /
• pp.91-102
• /
• 1999

The paper describes a robust adaptive control algorithm for induction motor drive without speed sensor at low speed range. The control algorithm use only current sensors in a space vector pulse width modulation within loop control with rotor speed estimation and voltage source inverter. On-line rotor speed estimation is based on utilizing parallel model reference adaptive control system. MRAC of the modified flux model for flux and rotor speed estimator uses dual-adaptation mechanism, ${\omega}_r$ and ${\omega}_e$ scheme. The estimated flux components in the model can be compensated from the effects of offset errors on pure integrals. It can be compensated to the parameter variations and torque fluctuation with speed estimation in less then 10 rad/sec. In a simulation, the proposed induction motor control algorithm without speed sensor at very low speed range are shown to operate very well in spite of variable rotor time constant and fluctuating load without change the controller parameters. The suggested control strategy and estimation method have been validated by simulation study, and it proposed the designed system for the implementation using TI320C31 DSP/ASIC controller.