• International Journal of Control, Automation, and Systems
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• v.6 no.3
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• pp.351-363
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• 2008

This paper is concerned with tasking and guidance of networked airborne sensors to achieve fault-tolerant sensing. The sensors are coordinated to locate hostile transmitters by intercepting and processing their signals. Faults occur when some sensor-carrying vehicles engaged in target location missions are lost. Faults effectively change the network architecture and therefore degrade the network performance. The first objective of the paper is to optimally allocate a finite number of sensors to targets to maximize the network life and availability. To that end allocation policies are solved from relevant Markov decision problems. The sensors allocated to a target must continue to adjust their trajectories until the estimate of the target location reaches a prescribed accuracy. The second objective of the paper is to establish a criterion for vehicle guidance for which fault-tolerant sensing is achieved by incorporating the knowledge of vehicle loss probability, and by allowing network reconfiguration in the event of loss of vehicles. Superior sensing performance in terms of location accuracy is demonstrated under the established criterion.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.12 no.4
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• pp.285-289
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• 2012

In a coastal area, all of the vessels are always exposed to the potential risk, taking into the maritime accident statistics account over the last decades. To manage vessels underway safety, the characteristics of ship movements in a fairway should be recognized by VTS system or VTS operators. The IMO has already mandated the shipboard carriage of AIS since 2004, as stated in SOLAS Chapter V Regulation 19. As a result, the static and dynamic information of AIS data has been collected for vessel traffic management in the coastal areas and used for VTS. This research proposes a simple algorithm of recognizing potentially risky ships by observing their trajectories on the fairway. The static and dynamic information of AIS data are collected and the curvature for the ship trajectory is surveyed. The proposed algorithm finds out the irregularity of ship movement. The algorithm effectively monitors the change of navigation pattern from the curvature analysis of ship trajectory. Our method improves VTS functions in an intelligent way by analyzing the navigation pattern of vessels underway.

• Journal of the Korean Institute of Navigation
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• v.23 no.3
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• pp.35-44
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• 1999

This research aims to seek active control of ball-beam position stability by resorting to neural networks whose layers are given bias weights. The controller consists of an LQR (linear quadratic regulator) controller and a neural networks controller in parallel. The latter is used to improve the responses of the established LQR control system, especially when controlling the system with nonlinear factors or modelling errors. For the learning of this control system, the feedback-error learning algorithm is utilized here. While the neural networks controller learns repetitive trajectories on line, feedback errors are back-propagated through neural networks. Convergence is made when the neural networks controller reversely learns and controls the plant. The goals of teaming are to expand the working range of the adaptive control system and to bridge errors owing to nonlinearity by adjusting parameters against the external disturbances and change of the nonlinear plant. The motion equation of the ball-beam system is derived from Newton's law. As the system is strongly nonlinear, lots of researchers have depended on classical systems to control it. Its applications of position control are seen in planes, ships, automobiles and so on. However, the research based on artificial control is quite recent. The current paper compares and analyzes simulation results by way of the LQR controller and the neural network controller in order to prove the efficiency of the neural networks control algorithm against any nonlinear system.

• Industrial Engineering and Management Systems
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• v.14 no.1
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• pp.58-72
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• 2015

A primary concern of national R&D plans is to encourage technological development in private firms and research institutes. For effective R&D planning and program support, it is necessary to assess technological impacts that may exist both directly and indirectly among technology areas within the whole technology system; however, previous studies analyze only direct impacts among technologies, failing to capture both direct and indirect impacts. Therefore, this study proposes an approach based on decision-making trial and evaluation laboratory (DEMATEL) to identifying specific characteristics of technology areas, such as technological impact and degree of cause or effect (DCE). The method employs patent co-classification analysis to construct a technological knowledge flow matrix. Next, to capture both direct and indirect effects among technology areas, it incorporates the modified DEMATEL process into patent analysis. The method helps analysts assess the technological impact and DCE of technology areas, and observe their evolving trajectories over time, thereby identifying relevant technological implications. This study presents a case study using Korean patents registered during 2003-2012. We expect our analysis results to be helpful input for R&D planning, as well as the suggested approach to be incorporated into processes for formulating national R&D plans.

• Journal of Electrical Engineering and Technology
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• v.11 no.3
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• pp.733-740
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• 2016

To achieve bipedal walking in real human environments, a bipedal robot should be capable of modifiable walking both on uneven terrain with different heights and on flat terrain. In this paper, a novel walking pattern generator based on a 3-D linear inverted pendulum model (LIPM) is proposed to achieve this objective. By adopting a zero moment point (ZMP) variation scheme in real time, it is possible to change the center-of-mass (COM) position and the velocity of the 3-D LIPM throughout the single support phase. Consequently, the proposed method offers the ability to generate a modifiable pattern for walking on uneven terrain without the necessity for any extra footsteps to adjust the COM motion. In addition, a control strategy for bipedal walking on uneven terrain with unknown height is developed. The torques and ground reaction force are measured through force-sensing resisters (FSRs) on each foot and the foot of the robot is modeled as three virtual spring-damper models for the disturbance compensation. The methods for generating the foot and vertical COM of 3-D LIPM trajectories are proposed to achieve modifiable bipedal walking on uneven terrain without any information regarding the height of the terrain. The effectiveness of the proposed method is confirmed through dynamic simulations.

• Journal of Institute of Control, Robotics and Systems
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• v.17 no.5
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• pp.505-511
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• 2011

In this paper, we have developed an automatic velocity control system of a small-sized commercial treadmill (belt length of 1.2 m and width of 0.5 m) which is widely used at home and health centers. The control objective is to automatically adjust the treadmill velocity so that the subject's position is maintained within the track when the subject walks at a variable velocity. The subject's position with respect to a reference point is measured by a low-cost sonar sensor located on the back of the subject. Based on an encoder sensor measurement at the treadmill motor, a state feedback control algorithm with Kalman filter was implemented to determine the velocity of the treadmill. In order to reduce the unnatural inertia force felt by the subject, a predefined acceleration limit was applied, which generated smooth velocity trajectories. The experimental results demonstrate the effectiveness of the proposed method in providing successful velocity changes in response to variable velocity walking without causing significant inertia force to the subject. In the pilot study with three subjects, users could change their walking velocity easily and naturally with small deviations during slow, medium, and fast walking. The proposed automatic velocity control algorithm can potentially be applied to any locomotion interface in an economical way without having to use sophisticated and expensive sensors and larger treadmills.

• Particle and aerosol research
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• v.17 no.4
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• pp.81-89
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• 2021

Understanding particle-laden flow around cylindrical bodies is essential for the better design of various applications such as filters. In this study, laminar flows around two tandem cylinders and the motions of particles in the flow are numerically investigated at low Reynolds numbers. We aim to reveal the effects of the spacing between cylinders, Reynolds number and particle Stokes number on the characteristics of particle trajectories. When the cylinders are placed close, the unsteady flow inside the inter-cylinder gap at Re = 100 shows a considerable modification. However, the steady recirculation flow in the wake at Re = 10 and 40 shows an insignificant change. The change in the flow structure leads to the variation of particle dispersion pattern, particularly of small Stokes number particles. However, the dispersion of particles with a large Stokes number is hardly affected by the flow structure. As a result, few particles are observed in the cylinder gap regardless of the cylinder spacing and the Reynolds number. The deposition efficiency of the upstream cylinder shows no difference from that of a single cylinder, increasing as the Stokes number increases. However, the deposition on the downstream cylinder is found only at Re = 100 with large spacing. At this time, the deposition efficiency is generally small compared to that of an upstream cylinder, and the deposition location is also changed with no deposited particles near the stagnation point.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.26 no.1
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• pp.89-96
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• 2016

TDOA(time delay of arrival) position estimate from acoustic measurement of artillery shell impact is studied in order to develop a targeting evaluation system. Impact position is calculated from the intersections of hyperbolic estimates based on the least square Taylor series method. The mathematical process of Taylor series estimation is known to be robust. However, the concern lays with the accuracy because it is sensitive to the bias caused by the randomness of measurement situation. The measurement error typically occurs from the distortion of waveform, change of travelling path, and sensor position error. For outdoor measurement, a consideration should be made on the atmospheric condition such as temperature and wind which can possibly change the trajectories of rays of sound. It produces wrong propagation time events accordingly. Ray tracing and optimization techniques are introduced in this study to minimize the bias induced by the ray of sound. The numerical simulation shows that the atmospheric correction improves the estimation accuracy.

• 한국노년학
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• v.37 no.1
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• pp.15-32
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• 2017

The current study aims to identify the heterogeneous changes of functional disabilities in old age rather than to identify an average longitudinal pattern and to explore the effect of health status and social status as risk factors in functional disability trajectories. The sample consisted of a representative sample of community dwellers aged 65 and older from the Korean Longitudinal Study of Ageing (2006 - 2012) was the focus of the study. Latent Class Growth Analysis was used to identify the functional disability trajectory groups. Variables regarding health status and social status changes by class were identified using multinomial logistic regression. The results showed various change patterns in functional disability, which include independent (78%), stable high (4.4%), steeply increasing (7.1%), slightly increasing (5.5%), and moderate to low (4.7%). Aggravation in depressive symptoms and cognitive functions as well as decline in social participations and social engagements were significant predictors of membership in increasing group of functional disability. The findings provide important initial empirical information to target clinical practice and have implications in the importance of conducting research on groups with different characteristics.

• Korean Journal of Social Welfare
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• v.67 no.1
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• pp.83-107
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• 2015

The present study examines the development of self-esteem from young adulthood to old age, as well as predictors of change in self-esteem over time. The eight waves of Korean Welfare Panel Data(KOWEPS) were used for analyses, and a nationally representative sample of 15,511 individual aged 19 years and above were included. The multilevel growth curve model was specified to address the research questions. The result shows that the self-esteem trajectory differed across different age groups with those in early adulthood and adulthood showed an increasing linear trajectories while the old age showed a declining slope. Furthermore, predictors of changes in self-esteem also differed across the age groups that while depression and relationship variables were constant in predicting self-esteem change for all three age groups, some variables such as marital status, poverty status, and employment status predicted individuals in certain age groups. Such results demonstrate the need to understand and examine the change in self-esteem at the individual level.