• Title/Summary/Keyword: 속도기반 이동모델

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Backward Path Tracking Control of a Trailer Type Robot Using a RCGS-Based Model (RCGA 기반의 모델을 이용한 트레일러형 로봇의 후방경로 추종제어)

  • Wi, Yong-Uk;Kim, Heon-Hui;Ha, Yun-Su;Jin, Gang-Gyu
    • Journal of Institute of Control, Robotics and Systems
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    • v.7 no.9
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    • pp.717-722
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    • 2001
  • This paper presents a methodology on the backward path tracking control of a trailer type robot which consists of two parts: a tractor and a trailer. It is difficult to control the motion of a trailer vehicle since its dynamics is non-holonomic. Therefore, in this paper, the modeling and parameter estimation of the system using a real-coded genetic algorithm(RCGA) is proposed and a backward path tracking control algorithm is then obtained based on the linearized model. Experimental results verify the effectiveness of the proposed method.

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Design and Implementation of Telematics Contents Gateway Based on Interoperability (상호운영성 기반의 텔레매틱스 컨텐츠 게이트웨이 설계 및 구현)

  • Kim, Do-Hyun;Min, Kyoung-Wook;Jang, Byung-Tae;Li, Ki-Joune
    • The KIPS Transactions:PartD
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    • v.14D no.2
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    • pp.249-264
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    • 2007
  • As the need for telematics contents services due to the frequent traveling of people is increasing, it is necessary to provide various telematics contents by connecting and integrating current telematics contents which are collected and provided by each individual data provider. However, it is difficult to integrate or exchange the current telematics contents, because the data providers use different telematics contents models. Therefore, we propose a 'telematics contents gateway(TCG); system, which enables to integrate different telematics contents, so that the contents can be interoperable. The TCG can be a solution for several problems in the current telematics contents providing system. First of all, it has been impossible to search the contents without any information about data providers, because of the absence of metadata in the current systems. For this problem, TCG supports a search function based on a web-service technology. Second, TCG provides a common road network model for interoperability, and the model can be a solution to integrate different road network models into the common model. Moreover, integration algorithm for enhancing the correctness of integration will be proposed. In addition, it is designed by multi threads and multi queue structure. The TCG developed with C# on a windows system has been running and we verified that there was no information loss in the integration process. In addition, the speed of content integration and transfer satisfied the requirement of telematics services providers.

Development of Micro Thermal Image Acquisition System (마이크로 열화상 계측 시스템의 IOT 모듈화 개발)

  • Lee, Jun-Yeob;Oh, Jong-woo;Lee, DongHoon
    • Proceedings of the Korean Society for Agricultural Machinery Conference
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    • 2017.04a
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    • pp.169-169
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    • 2017
  • 스마트 돈사 내의 열환경 분석에 필수적으로 고려되어야 인자는 가축의 복사 에너지 변화로 볼 수 있다. 열환경 제어의 대상이기도 하지만 회귀적으로 열환경 변화의 인자이기도 하다. 이러한 가축의 복사 에너지 분석을 위하여 시설 내에 용이하게 배포가 가능한 열화상 계측 시스템을 개발하였다. 초소형 마이크로 열화상 계측 시스템에 부가적으로 IOT(Internet of Thing) 기반 기술을 이용한 모듈화 개발을 병행하였다. 열화상 계측 센서로 LWIR(Longwave infrared)영역에 해당하는 $8{\mu}m{\sim}4{\mu}m$의 영역에서 $0.05^{\circ}C$의 분해능을 보이는 $Lepton^{TM}$ (500-0690-00, FLIR, Goleta, CA)모델을 사용하였다. SPI(Serial Peripheral Interface) 속도 2 Mhz로 마이크로프로세서(NanoPi NEO Air, FrendlyArm, CA, USA)와 고속 통신을 수행하여 9 Hz의 계측이 가능하다. 열화상 센서와 마이컴으로 구성되는 단위 계측 시스템의 통신 기능 확장을 위하여 다음과 같이 세 단계의 정보 전달 시나리오를 설계하였다. 1) 단독적으로 열화상을 계측 하고 내장된 메모리에 저장하는 형식 2) 인접한 사용자 인터페이스에서 1번 단독 모듈에 접속하여 열화상을 실시간으로 전송하여 화면에 도시하는 형식 3) 2번 사용자 도시모듈과 병행적으로 Local WI-FI 통신을 이용한 모바일 기기에 화면을 도시하는 형식. 이와 같은 계층적이며 모듈화된 계측 시스템을 구성하기 위해서 1번 모듈에 공개 소프트웨어인 Hostapd 2.5(http://w1.fi/hostapd)버전을 설치하였다. 외부 인터넷 환경이 없는 상황에 1번 모듈 단독으로 AP(Access Point) 기능을 제공하여 지근 거리에 있는 2번 모듈과 3번 모바일 기기의 접속을 관리할 수 있다. 2번 모듈의 경우 화면 다수의 1번 모듈에 접속을 교차적으로 수행하는 방식과 2번 모듈 자체가 AP가 되어 1번 모듈의 접속을 허용하는 형태로 구성되어 있다. 계측 시스템의 계측 매트릭스 구성에 따라 선택적으로 결정할 수 있다. 1번 2번 모듈 공통적으로 TCP/IP Listener와 Client 서비스를 병렬적으로 수행할 수 있도록 개발을 하였다. 3번 모바일 기기에서 사용자 인터페이스 구현을 위하여 범용 Android 기반 GUI 프로그램과 Socket 통신을 연동시켰다. 1개의 열화상 Frame의 전송량은 9,600 Byte ($=80{\times}60{\times}2Byte$) 로 WI-FI 통신 전송 시 2회 ~ 6회 정도 내외로 가변적인 통신 수행 횟수를 나타내었다. 센서 계측 시스템과 정보 전송 시스템을 병렬적으로 구성한 모듈화 된 계측시스템의 전 요소에서 센서에서 제공하는 최대 계측 주기인 9 Hz 구현이 일반적으로 가능하였다. 이를 이용한 추후 연구를 통해 가축 객체의 열복사 정보와 돈사 내 열환경 간의 역학성을 연구할 것이다.

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DEM-based numerical study on discharge behavior of EPB-TBM screw conveyor for rock (EPB-TBM 암반굴착시 스크류컨베이어의 배토 거동에 대한 DEM 기반 수치해석적 연구)

  • Lee, Gi-Jun;Kwon, Tae-Hyuk;Kim, Huntae
    • Journal of Korean Tunnelling and Underground Space Association
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    • v.21 no.1
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    • pp.127-136
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    • 2019
  • Tunnel construction by TBMs should be supported by the performance of a screw conveyor in order to obtain the optimum penetration rate, so studies related to the screw conveyor performance have been being conducted. Compared to the study on the performance of the screw conveyor for the soil, however, the research on the performance of the screw conveyor for the rock is insufficient. Considering the domestic tunnel sites with more rock layers than soil layers, simulation of discharge of 6 types of rock chips by the screw conveyor was conducted using DEM. Regardless of the shape and volume of the rock chips, the discharge rates of the rock chips by the parallel placed screw conveyor at a speed of 10 RPM in the same rock mass were about 20% (standard deviation: 1.3%) of the maximum volume of discharge rate by the screw conveyor. It is expected that this study can be used as a reference material for screw conveyor design and operation in TBM excavations in rock masses.

The Study on Development on LUAV Software based on DO-178 (DO-178 기반 무인비행장치 소프트웨어 개발 방안에 대한 고찰)

  • Ji-hun Kwon;Dong-min Lee;Kyung-min Park;Ye-won Na;Ye-ju Kim;Gi-moung Lee;Jong-whoa Na
    • Journal of Advanced Navigation Technology
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    • v.27 no.4
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    • pp.382-390
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    • 2023
  • The Korea market for LUAV (Light Unmanned Aerial Vehicle) weighing less than 150 kg is growing rapidly. As a result, the market for manufacturing and operating LUAV is expanding, and domestic development of parts and finished products is actively taking place. However, the flight control system and onboard software, which are key components of domestic LUAV, are largely dependent on overseas products due to the excessive cost and period required for development. This paper presented a domestic software development and certification procedure using DO-178C, a guideline for aircraft software development, and the Model-based Development method, and conducted a survey of those involved in the development, manufacturing, and certification of LUAV and analyzed the results. In addition, a case study was conducted to apply the software development plan to the helicopter FCC (Flight Control Computer).

A Benchmark of AI Application based on Open Source for Data Mining Environmental Variables in Smart Farm (스마트 시설환경 환경변수 분석을 위한 Open source 기반 인공지능 활용법 분석)

  • Min, Jae-Ki;Lee, DongHoon
    • Proceedings of the Korean Society for Agricultural Machinery Conference
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    • 2017.04a
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    • pp.159-159
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    • 2017
  • 스마트 시설환경은 대표적으로 원예, 축산 분야 등 여러 형태의 농업현장에 정보 통신 및 데이터 분석 기술을 도입하고 있는 시설화된 생산 환경이라 할 수 있다. 근래에 하드웨어적으로 급증한 스마트 시설환경에서 생산되는 방대한 생육/환경 데이터를 올바르고 적합하게 사용하기 위해서는 일반 산업 현장과는 차별화 된 분석기법이 요구된다고 할 수 있다. 소프트웨어 공학 분야에서 연구된 빅데이터 처리 기술을 기계적으로 농업 분야의 빅데이터에 적용하기에는 한계가 있을 수 있다. 시설환경 내/외부의 다양한 환경 변수는 시계열 데이터의 난해성, 비가역성, 불특정성, 비정형 패턴 등에 기인하여 예측 모델 연구가 매우 난해한 대상이기 때문이라 할 수 있다. 본 연구에서는 근래에 관심이 급증하고 있는 인공신경망 연구 소프트웨어인 Tensorflow (www.tensorflow.org)와 대표적인 Open source인 OpenNN (www.openn.net)을 스마트 시설환경 환경변수 상호간 상관성 분석에 응용하였다. 해당 소프트웨어 라이브러리의 운영환경을 살펴보면 Tensorflow 는 Linux(Ubuntu 16.04.4), Max OS X(EL capitan 10.11), Windows (x86 compatible)에서 활용가능하고, OpenNN은 별도의 운영환경에 대한 바이너리를 제공하지 않고 소스코드 전체를 제공하므로, 해당 운영환경에서 바이너리 컴파일 후 활용이 가능하다. 소프트웨어 개발 언어의 경우 Tensorflow는 python이 기본 언어이며 python(v2.7 or v3.N) 가상 환경 내에서 개발이 수행이 된다. 주의 깊게 살펴볼 부분은 이러한 개발 환경의 제약으로 인하여 Tensorflow의 주요한 장점 중에 하나인 고속 연산 기능 수행이 일부 운영 환경에 국한이 되어 제공이 된다는 점이다. GPU(Graphics Processing Unit)의 제공하는 하드웨어 가속기능은 Linux 운영체제에서 활용이 가능하다. 가상 개발 환경에 운영되는 한계로 인하여 실시간 정보 처리에는 한계가 따르므로 이에 대한 고려가 필요하다. 한편 근래(2017.03)에 공개된 Tensorflow API r1.0의 경우 python, C++, Java언어와 함께 Go라는 언어를 새로 지원하여 개발자의 활용 범위를 매우 높였다. OpenNN의 경우 C++ 언어를 기본으로 제공하며 C++ 컴파일러를 지원하는 임의의 개발 환경에서 모두 활용이 가능하다. 특징은 클러스터링 플랫폼과 연동을 통해 하드웨어 가속 기능의 부재를 일부 극복했다는 점이다. 상기 두 가지 패키지를 이용하여 2016년 2월부터 5월 까지 충북 음성군 소재 딸기 온실 내부에서 취득한 온도, 습도, 조도, CO2에 대하여 Large-scale linear model을 실험적(시간단위, 일단위, 주단위 분할)으로 적용하고, 인접한 세그먼트의 환경변수 예측 모델링을 수행하였다. 동일한 조건의 학습을 수행함에 있어, Tensorflow가 개발 소요 시간과 학습 실행 속도 측면에서 매우 우세하였다. OpenNN을 이용하여 대등한 성능을 보이기 위해선 병렬 클러스터링 기술을 활용해야 할 것이다. 오프라인 일괄(Offline batch)처리 방식의 한계가 있는 인공신경망 모델링 기법과 현장 보급이 불가능한 고성능 하드웨어 연산 장치에 대한 대안 마련을 위한 연구가 필요하다.

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Analysis of Cyclic Adenosine Monophosphate (cAMP) Separation via RP-HPLC (reversed-phase high-performance liquid chromatography) by the Moment Method and the van Deemter Equation (역상 크로마토그래피에서 모멘트 방법과 van Deemter 식을 이용한 고리형 아데노신 일인산의 분리특성 연구)

  • Lee, Il Song;Ko, Kwan Young;Kim, In Ho
    • Korean Chemical Engineering Research
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    • v.53 no.6
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    • pp.723-729
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    • 2015
  • The moment analysis of cyclic adenosine monophosphate (cAMP) was performed using chromatograms that were obtained with the pulse input method from an octadecyl silica (ODS) high-performance liquid chromatography (HPLC) column. The general rate (GR) model was employed to calculate the first absolute moment and the second central moment. Three important coefficients for moment analysis, which are molecular diffusivity ($D_m$), external mass transfer coefficient ($k_f$), and intra-particle diffusivity ($D_e$), were estimated by the Wilke-Chang equation, Wilson-Geankoplis equation, and comparing van Deemter equation to theoretical plate number equation, respectively. Experiments were conducted by various conditions of flow rates, methanol volume ratio of the mobile phase, and solute concentration. After the moment analysis, results were organized by van Deemter plots. Also van Deemter coefficients were compared each other to effect $H_{ax}$, $H_f$, and $H_d$ on height equivalent to a theoretical plate (HETP, $H_{total}$). The value of intraparticle diffusion ($H_d$) was the primary factor which makes for HETP whereas external mass transfer ($H_f$) was disregardable factor.

Implementation of integrated monitoring system for trace and path prediction of infectious disease (전염병의 경로 추적 및 예측을 위한 통합 정보 시스템 구현)

  • Kim, Eungyeong;Lee, Seok;Byun, Young Tae;Lee, Hyuk-Jae;Lee, Taikjin
    • Journal of Internet Computing and Services
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    • v.14 no.5
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    • pp.69-76
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    • 2013
  • The incidence of globally infectious and pathogenic diseases such as H1N1 (swine flu) and Avian Influenza (AI) has recently increased. An infectious disease is a pathogen-caused disease, which can be passed from the infected person to the susceptible host. Pathogens of infectious diseases, which are bacillus, spirochaeta, rickettsia, virus, fungus, and parasite, etc., cause various symptoms such as respiratory disease, gastrointestinal disease, liver disease, and acute febrile illness. They can be spread through various means such as food, water, insect, breathing and contact with other persons. Recently, most countries around the world use a mathematical model to predict and prepare for the spread of infectious diseases. In a modern society, however, infectious diseases are spread in a fast and complicated manner because of rapid development of transportation (both ground and underground). Therefore, we do not have enough time to predict the fast spreading and complicated infectious diseases. Therefore, new system, which can prevent the spread of infectious diseases by predicting its pathway, needs to be developed. In this study, to solve this kind of problem, an integrated monitoring system, which can track and predict the pathway of infectious diseases for its realtime monitoring and control, is developed. This system is implemented based on the conventional mathematical model called by 'Susceptible-Infectious-Recovered (SIR) Model.' The proposed model has characteristics that both inter- and intra-city modes of transportation to express interpersonal contact (i.e., migration flow) are considered. They include the means of transportation such as bus, train, car and airplane. Also, modified real data according to the geographical characteristics of Korea are employed to reflect realistic circumstances of possible disease spreading in Korea. We can predict where and when vaccination needs to be performed by parameters control in this model. The simulation includes several assumptions and scenarios. Using the data of Statistics Korea, five major cities, which are assumed to have the most population migration have been chosen; Seoul, Incheon (Incheon International Airport), Gangneung, Pyeongchang and Wonju. It was assumed that the cities were connected in one network, and infectious disease was spread through denoted transportation methods only. In terms of traffic volume, daily traffic volume was obtained from Korean Statistical Information Service (KOSIS). In addition, the population of each city was acquired from Statistics Korea. Moreover, data on H1N1 (swine flu) were provided by Korea Centers for Disease Control and Prevention, and air transport statistics were obtained from Aeronautical Information Portal System. As mentioned above, daily traffic volume, population statistics, H1N1 (swine flu) and air transport statistics data have been adjusted in consideration of the current conditions in Korea and several realistic assumptions and scenarios. Three scenarios (occurrence of H1N1 in Incheon International Airport, not-vaccinated in all cities and vaccinated in Seoul and Pyeongchang respectively) were simulated, and the number of days taken for the number of the infected to reach its peak and proportion of Infectious (I) were compared. According to the simulation, the number of days was the fastest in Seoul with 37 days and the slowest in Pyeongchang with 43 days when vaccination was not considered. In terms of the proportion of I, Seoul was the highest while Pyeongchang was the lowest. When they were vaccinated in Seoul, the number of days taken for the number of the infected to reach at its peak was the fastest in Seoul with 37 days and the slowest in Pyeongchang with 43 days. In terms of the proportion of I, Gangneung was the highest while Pyeongchang was the lowest. When they were vaccinated in Pyeongchang, the number of days was the fastest in Seoul with 37 days and the slowest in Pyeongchang with 43 days. In terms of the proportion of I, Gangneung was the highest while Pyeongchang was the lowest. Based on the results above, it has been confirmed that H1N1, upon the first occurrence, is proportionally spread by the traffic volume in each city. Because the infection pathway is different by the traffic volume in each city, therefore, it is possible to come up with a preventive measurement against infectious disease by tracking and predicting its pathway through the analysis of traffic volume.

Automatic Interpretation of Epileptogenic Zones in F-18-FDG Brain PET using Artificial Neural Network (인공신경회로망을 이용한 F-18-FDG 뇌 PET의 간질원인병소 자동해석)

  • 이재성;김석기;이명철;박광석;이동수
    • Journal of Biomedical Engineering Research
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    • v.19 no.5
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    • pp.455-468
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    • 1998
  • For the objective interpretation of cerebral metabolic patterns in epilepsy patients, we developed computer-aided classifier using artificial neural network. We studied interictal brain FDG PET scans of 257 epilepsy patients who were diagnosed as normal(n=64), L TLE (n=112), or R TLE (n=81) by visual interpretation. Automatically segmented volume of interest (VOI) was used to reliably extract the features representing patterns of cerebral metabolism. All images were spatially normalized to MNI standard PET template and smoothed with 16mm FWHM Gaussian kernel using SPM96. Mean count in cerebral region was normalized. The VOls for 34 cerebral regions were previously defined on the standard template and 17 different counts of mirrored regions to hemispheric midline were extracted from spatially normalized images. A three-layer feed-forward error back-propagation neural network classifier with 7 input nodes and 3 output nodes was used. The network was trained to interpret metabolic patterns and produce identical diagnoses with those of expert viewers. The performance of the neural network was optimized by testing with 5~40 nodes in hidden layer. Randomly selected 40 images from each group were used to train the network and the remainders were used to test the learned network. The optimized neural network gave a maximum agreement rate of 80.3% with expert viewers. It used 20 hidden nodes and was trained for 1508 epochs. Also, neural network gave agreement rates of 75~80% with 10 or 30 nodes in hidden layer. We conclude that artificial neural network performed as well as human experts and could be potentially useful as clinical decision support tool for the localization of epileptogenic zones.

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Analysis of National Vertical Datum Connection Using Tidal Bench Mark (기본수준점을 이용한 국가수직기준연계 분석 연구)

  • Yoon, Ha Su;Chang, Min Chol;Choi, Yun Soo;Huh, Yong
    • Journal of Korean Society for Geospatial Information Science
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    • v.22 no.3
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    • pp.47-56
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    • 2014
  • Recently, the velocity of sea-level rising has increased due to the global warming and the natural disasters have been occurred many times. Therefore, there are various demands for the integration of vertical reference datums for the ocean and land areas in order to develop a coastal area and prevent a natural disaster. Currently, the vertical datum for the ocean area refers to Local Mean Sea Level(LMSL) and the vertical datum for the land area is based on Incheon Mean Sea Level(IMSL). This study uses 31 points of Tidal Gauge Bench Mark (TGBM) in order to compares and analyzes the geometric heights referring LMSL, IMSL, and the nationally determined geoid surface. 11 points of comparable data are biased more than 10 cm when the geometric heights are compared. It seems to be caused by the inflow of river, the relocation of Tidal Gauge Station, and the topographic change by harbor construction. Also, this study analyze the inclination of sea surface which is the difference between IMSL and LMSL, and it shows the inclination of sea surface increases from the western to southern, and eastern seas. In this study, it is shown that TGBM can be used to integrate vertical datums for the ocean and land areas. In order to integrate the vertical datums, there need more surveying data connecting the ocean to the land area, also cooperation between Korea Hydrographic and Oceanographic Administration and National Geographic Information Institute. It is expected that the integrated vertical datum can be applied to the development of coastal area and the preventative of natural disaster.