• Journal of KIISE
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• v.42 no.6
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• pp.748-754
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• 2015

This paper proposes a sequential state estimation model consisting of continuous and discrete variables, as a way of generalizing all discrete-state factorial HMM, and gives a design of gait motion model based on the idea. The discrete state variable implements a Markov chain that models the gait dynamics, and for each state of the Markov chain, we created a Gaussian process over the space of the continuous variable. The Markov chain controls the switching among Gaussian processes, each of which models the rotation or various views of a gait state. Then a particle filter-based algorithm is presented to give an approximate filtering solution. Given an input vector sequence presented over time, this finds a trajectory that follows a Gaussian process and occasionally switches to another dynamically. Experimental results show that the proposed model can provide a very intuitive interpretation of video-based gait into a sequence of poses and a sequence of posture states.

• The KIPS Transactions:PartB
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• v.8B no.5
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• pp.549-556
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• 2001

The general problems of recovering 3D for 2D imagery require the depth information for each picture element form focus. The manual creation of those 3D models is consuming time and cost expensive. The goal in this paper is to simplify the depth estimation algorithm that extracts the depth information of every region from monocular image sequence with camera translation to implement 3D video in realtime. The paper is based on the property that the motion of every point within image which taken from camera translation depends on the depth information. Full-search motion estimation based on block matching algorithm is exploited at first step and ten, motion vectors are compensated for the effect by camera rotation and zooming. We have introduced the algorithm that estimates motion of object by analysis of monocular motion picture and also calculates the averages of frame depth and relative depth of region to the average depth. Simulation results show that the depth of region belongs to a near object or a distant object is in accord with relative depth that human visual system recognizes.

• Journal of Fisheries and Marine Sciences Education
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• v.9 no.2
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• pp.179-187
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• 1997

Doppler log and current meter are based on the measurment of the doppler effect. Ship's speed over the ground measured by means of doppler log effect of underwater ultrasonic intends to get infulence by the difference of sound velocity, the ship's course, the sea bottom inclination, the trim and tranducer installation etc. This paper investigated on the error of speed over the ground by change of the trim comparing the real speed obtained by the mile post with the speed of single beam type doppler log on the trainning ship Kyeongyangho. The results are as follows ; 1. Indicating speed of doppler log is very much greatly influenced on variation of trim, but the real speed is less affected variation by trim. 2. The range of variation and error of speed over ground are smallest when ship's trim is 2.15m trim by the stern.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.1
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• pp.80-85
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• 2011

This paper presents the design of the power-assisted controller for the in-wheel type smart wheelchair by using torque estimation that is predicted by relationship between input voltage and output wheel angular velocity. Nowadays, interest of the moving assistant aids is increased according to the increase in population of the elderly and the handicapped person. However some of the moving assistant aids have problems. For example, manual wheelchair has difficulty moving at the slope, because users lack the muscular strength of their arm. In electric wheelchair case, users should be weak by being decreased muscles of upper body. To overcome these problems, power-assisted electric wheelchair are proposed. Most of the power-assisted electric wheelchair have the special rims that can measure the user's power. In here, the rims have to be designed to install the sensors to measure user's power. In this paper, we don't design the rim to measure the man power. To predict the man power, we propose a control algorithm of the in-wheeled electric wheelchair by using torque estimation from the wheel. First, we measure the wheel velocity and voltage at the in-wheel electric wheelchair. And then we extract driving will forces by using proposed mathematical model. Also they are applied at the controller as the control input, we verify to be able to control in-wheel type smart wheelchair by using simulation.

• Journal of the Korean Institute of Intelligent Systems
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• v.17 no.6
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• pp.738-743
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• 2007

In this paper, a muscle motion sensing system and an artificial arm control system are studied. The artificial arm is for the people who lost one's forearm. The muscle motion sensing system detect the intention of motion from the upper arm's muscle. In sensing system we use flex sensors which is electrical resistance type sensor. The sensor is attached on the biceps brachii muscle and coracobrachialis muscle of the upper arm. We propose an algorithm to classify the one's intention of motions from the sensor signal. Using this algorithm, we extract the 4 motions which are flexion and extension of the forearm, pronation and supination of the arm. To verify the validity of the proposed algorithms we made experiments with two d.o.f. artificial arm. To reduce the control errors of the artificial arm we also proposed a fuzzy PID control algorithm which based on the errors and error rate.

• Journal of Advanced Navigation Technology
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• v.19 no.6
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• pp.473-483
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• 2015

This paper reports the single-input-single-output cascade control by using 1-axis attitude control test-bench for quad-rotor UAV. The test-bench was designed as a see-saw shape using 2 motors and propellers, and to enable changing the center of gravity with the center of gyration using ballast. The experiment was carried out by constructing a PID-PID controller having a cascade structure with the test-bench. The SIMC based PID gain tuning process, which makes PID gain tuning easy, was grafted to cascade control. To graft SIMC method, the system parameter estimation result was conducted with second order time delay model by using Matlab-Simulink. Gain tuning was conducted by simulating with estimated system parameter. In this paper, the conventional application of SIMC was conducted and improved application was proposed for improving stability at tuning process.

• 한국방재학회:학술대회논문집
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• 2011.02a
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• pp.182-182
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• 2011

현재 국내에서 PSC 거더의 제작은 주로 포스트텐션방식을 사용하고 있다. 포스트텐션방식은 콘크리트 양생 후 긴장력을 도입하여 제작회전율이 높은 특성을 가지나 쉬스, 그라우팅, 정착장치 등이 요구되어 조립과정이 복잡하고 제작단가가 높다. 교량에 적용되는 PSC 거더를 포스트텐션방식 대신에 프리텐션방식으로 제작한다면 제작단가를 대폭 감소시킬 수 있을 것이나, 교량용 PSC 거더의 길이가 일반적으로 30~50m이므로 공장에서 제작하여 현장으로 운반하는 것은 운반비용의 상승 및 운반 가능한 크기의 제한을 받게 된다. 운반의 문제를 해결하기 위해서는 현장에서 PSC 거더를 제작하여야 하는데 현장에 긴장대를 고정식으로 설치하는 것은 제작단가의 상승으로 이어져 경제성을 잃게 된다. 따라서 현장에서 사용할 수 있도록 이동식 긴장대를 제작한다면 경제성을 갖춘 프리텐션방식의 PSC 거더 생산이 가능할 것이다. 50m급 이동식 긴장대에는 약 10MN에 이르는 매우 큰 긴장력이 가해져 이동식 긴장대가 콘크리트 양생전까지 이 긴장력을 저항하여야 한다. 본 논문에서는 유한요소 해석프로그램인 ABAQUS를 사용하여 50m급 PSC 거더를 생산할 수 있는 이동식 긴장대를 모델링하여 약 10MN에 이르는 긴장력이 가해질 때에 이동식 긴장대의 각 구성요소의 거동특성 및 하중에 대한 안전성 및 좌굴에 대한 안정성 확보 여부를 해석적으로 파악하고자 한다. 이동식 긴장대는 구성요소인 정착블럭(긴장BOX)과 중간연결블럭으로 나누어 모델링하였다. 정착블럭(긴장BOX)은 다수의 강판을 4절점 쉘요소(S4R)를 사용하여 직육면체의 BOX 형상에 내부를 보강한 단면으로 구성하였고, 중간연결블럭은 H형강 2개를 일체화한 긴장대 거더와 콘크리트 바닥판 블록이 볼트로 합성된 구조이며, H형강은 4절점 쉘요소(S4R), 바닥판블럭은 8절점솔리드요소(C3D8R)를 사용하였다. 긴장대거더와 바닥판블럭은 합성거동을 하도록 weld option을 사용하여 부분적으로 결합하였다. 정적해석결과 이동식 긴장대에 발생하는 응력은 도로교 설계기준에 SS400 강재의 허용응력 140MPa 보다 작으며 선형탄성좌굴 해석결과 가력하중의 2.22배 약 21MN의 하중이 가력되어야 전체좌굴이 발생하게 될 것으로 추정된다. 해석결과를 보아 50m급 PSC 거더를 생산할 수 있는 이동식 긴장대는 하중에 대한 안전성 및 좌굴에 대한 안정성을 확보하고 있는 것으로 판단된다.

• Journal of Korean Society of Environmental Engineers
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• v.36 no.11
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• pp.725-732
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• 2014

Phytoremediation is a technology to mitigate the pollutant concentrations such as metals, pesticides, solvents, oils, or others in contaminated water and soils with plants. The plants absorb contaminants through the root and store them in the root, stems, or leaves. Rapid growth trees such as poplar are used to remove low concentrated contaminants eco-friendly and economically in a wide contaminated region. This study was practiced to evaluate an activated carbon production system by using poplar wood discarded after phytoremediation. Life cycle assessment methodology was used to analyze environmental impacts of the system, and the functional unit was one ton of harvested poplar. It was estimated that the small size rotary kiln for activated carbon production from poplar wood had an environmental benefit in optimized conditions to minimize energy consumptions. The results of an avoided environmental impact analysis show that the system contribute to reduce environmental impacts in comparison with activated carbon production from coconut shell.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.29 no.2
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• pp.128-137
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• 2018

In this paper, we propose a novel class separability measure for radar signals. To reduce the sensitivity of the relative aspect angle between a target and radar, to evaluate the discriminatory power of radar signals, the proposed method first calculates the correlation coefficients between two radar cross sections (RCSs) or linearly shifts one-dimensional (1D) radar signals (i.e., high-resolution range profiles (HRRPs)), or rotates two 2D radar signals (i.e., inverse synthetic aperture radar (ISAR) images). Then, it uses the maximum correlation coefficient when two radar signals are best aligned. Next, the proposed method obtains new correlation-based discriminant matrices (CDM) using maximum correlation coefficients. Finally, the cumulative distribution function (CDF) in the CDM and the value corresponding to the specific probability in the CDF are obtained, and this value represents the discriminatory power of the radar signal. Experimental results show that the proposed method can accurately measure the target separability.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.24 no.3
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• pp.115-121
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• 2024

As the radar mounted on a moving platform moves and rotates, the state of the radar's coordinate system also changes. At this time, in order to track target, the target's coordinates should be converted using the platform state measured from the sensor, and tracking performance may deteriorate due to causes such as sensor noise, communication delay, and sensor update cycle. In this paper, to minimize the degradation of tracking performance because of sensor error, we designed a navigation filter to estimate the state of the moving platform and analyzed the effect of improving tracking performance by applying the navigation filter through a simulation test. To design this navigation filter, three filter algorithms were applied and analyzed to confirm the effect of improving platform position and attitude performance for each filter, and the navigation filter designed by applying the highest performance filter algorithm was applied to a tracking simulation test. Finally we confirmed Improvement in tracking performance before and after applying navigation filters.