• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.37-42
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• 2005

This paper presents an autonomous system for reconstruction of three-dimensional indoor environments using a mobile robot. The system is composed of a mobile robot, a three-dimensional scanning system, and a notebook computer for registration, observation planning and real-time three-dimensional data transferring. Three-dimensional scanning system obtains three-dimensional environmental data and performs filtering of dynamic objects. Then, it registers multiple three-dimensional scans into one coordinate system and performs observation planning which finds the next scanning position by using the layered hexahedral-map and topological-map. Then, the mobile robot moves to the next scanning position, and repeats all procedures until there is no scanning tree in topological-map. In concurrence with data scanning, three-dimensional data can be transferred through wireless-LAN in real-time. This system is experimented successfully by using a mobile robot named KARA.

• 대한임베디드공학회논문지
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• 제6권1호
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• pp.16-24
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• 2011

Automotive Radar Systems are currently under development for various applications to increase accuracy and reliability. The target tracking is most important in single or multiple target environments for accuracy. The tracking algorithm provides smoothed and predicted data for target position and velocity(Doppler). To this end, the fixed gain filter(${\alpha}{\beta}$ filter, ${\alpha}{\beta}{\gamma}$ filter) and dynamic filter(Kalman filter, Singer-Kalman filter, etc) are commonly used. Gating is used to decide whether an observation is assigned to an existing track or new track. Gating algorithms are normally based on computing a statistical error distance between an observation and prediction. The data association takes the observation-to-track pairings that satisfied gating and determines which observation-to-track assignment will actually be made. For data association, NNPDA(Nearest Neighbor Probabilistic Data Association) algorithm is proposed. In this paper, we designed a target tracking system developed for an Automotive Radar System. We show the experimental results of the 77GHz FMCW radar sensor on the roads. Four tracking algorithms(${\alpha}{\beta}$ filter, ${\alpha}{\beta}{\gamma}$ filter, 2nd order Kalman filter, Singer-Kalman filter) have been compared and analyzed to evaluate the performance in test scenario.

• KSII Transactions on Internet and Information Systems (TIIS)
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• 제14권1호
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• pp.53-76
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• 2020

The synchronous phasor measurement algorithm is the core content of the phasor measurement unit. This manuscript proposes a dynamic synchronous phasor measurement algorithm based on compressed sensing theory. First, a dynamic signal model based on the Taylor series was established. The dynamic power signal was preprocessed using a least mean square error adaptive filter to eliminate interference from noise and harmonic components. A Chirplet overcomplete dictionary was then designed to realize a sparse representation. A reduction of the signal dimension was next achieved using a Gaussian observation matrix. Finally, the improved orthogonal matching pursuit algorithm was used to realize the sparse decomposition of the signal to be detected, the amplitude and phase of the original power signal were estimated according to the best matching atomic parameters, and the total vector error index was used for an error evaluation. Chroma 61511 was used for the output of various signals, the simulation results of which show that the proposed algorithm cannot only effectively filter out interference signals, it also achieves a better dynamic response performance and stability compared with a traditional DFT algorithm and the improved DFT synchronous phasor measurement algorithm, and the phasor measurement accuracy of the signal is greatly improved. In practical applications, the hardware costs of the system can be further reduced.

• Journal of the Korean Wood Science and Technology
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• 제36권5호
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• pp.49-55
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• 2008

This study was carried to investigate the effects of steaming and four different drying methods on the longitudinal liquid permeability of Korean pine (Pinus koraiensis Sieb.et Zucc.) board. Four drying methods were air drying, conventional kiln drying, microwave-vacuum drying and high temperature drying. Darcy equation was used for calculating the specific permeability of the small sapwood specimens taken from the treated boards while capillary rising method was used for the heartwood specimens. The sapwood specimens were extracted with water and benzene-alcohol solution to examine the mechanism of liquid flow in treated wood. No significant correlation was found between specific permeability and the number of resin canals of the sapwood specimens. Extraction decreased the differences of specific permeabilities of the sapwood specimens between the five treatment methods. The effects of extraction on the longitudinal permeability are different between five treatments. The fluid path in heartwood was observed by dynamic observation method.

• 대한원격탐사학회지
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• 제24권1호
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• pp.79-89
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• 2008

Irregular temporal sampling is a common feature of geophysical and biological time series in remote sensing. This study proposes an on-line system for reconstructing observation image series contaminated by noises resulted from mechanical problems or sensing environmental condition. There is also a high likelihood that during the data acquisition periods the target site corresponding to any given pixel may be covered by fog or cloud, thereby resulting in bad or missing observation. The surface parameters associated with the land are usually dependent on the climate, and many physical processes that are displayed in the image sensed from the land then exhibit temporal variation with seasonal periodicity. A feedback system proposed in this study reconstructs a sequence of images remotely sensed from the land surface having the physical processes with seasonal periodicity. The harmonic model is used to track seasonal variation through time, and a Gibbs random field (GRF) is used to represent the spatial dependency of digital image processes. The experimental results of this simulation study show the potentiality of the proposed system to reconstruct the image series observed by imperfect sensing technology from the environment which are frequently influenced by bad weather. This study provides fundamental information on the elements of the proposed system for right usage in application.

• Journal of Positioning, Navigation, and Timing
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• 제10권4호
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• pp.243-251
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• 2021

Real-Time Kinematic (RTK) is a phase-based differential GNSS technique and uses additional observations from permanent reference stations to mitigate or eliminate effects like atmospheric delays or satellite clocks and orbit errors. In particular, as the position accuracy required in the fields of autonomous vehicles and drones is gradually increasing, the demand for RTK-based precise navigation that can provide cm-level position is increasing. Recently, with the rapid growth of the open-source software market, the use of open-source software for building navigation system of unmanned vehicles, which is difficult to mount an expensive GNSS receivers, is gradually increasing. RTKLIB is an open-source software package that can perform RTK positioning and is widely used for research and education purposes. However, since the performance and stability of RTK algorithm of RTKLIB is inevitably inferior to that of commercial GNSS receivers, users need to verify whether RTKLIB can satisfy the navigation performance requirements of unmanned vehicles. Therefore, in this paper, the performance evaluation of the RTK positioning algorithm of RTKLIB was performed using GNSS observation data acquired in a dynamic environment. Therefore, in this paper, the RTK positioning performance of RTKLIB was evaluated using GNSS observation data acquired in a dynamic environment. Our results show that the current RTK algorithm of RTKLIB is not suitable for precise navigation of unmanned vehicles.

• 대기
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• 제21권2호
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• pp.185-196
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• 2011

The performance assessment in radiosonde observation on the special observation program (ProbeX-2009) is performed and the characteristics of precipitation using Auto Weather System (AWS) and radiosonde data in 2009 at the Ulleungdo are investigated. The launching time, observation time, and maximum altitude of radiosonde are satisfied with the regulation from Korea Meteorological Administration (KMA) and World Meteorological Organization (WMO) but the duration of observational time of radiosonde is much shorter than that of the ProbeX-2007 because the altitude of launching site is higher than others in 2007. From the analysis of trajectories of radiosonde, most radiosondes at the Ulleungdo tend to move into the east because the westerly prevail at the middle latitude. However, when the Okhotsk high is expanded to the Korean peninsula and the north-westerly winds strengthen over the East Sea as the subtropical high is retreated, radiosonde tends to move into the south-west and south-east, respectively. Maximum distance appears at the end of observation level before May but the level of maximum distance is changed into 100 hPa after June because the prevailing wind direction is reversed from westerly to easterly at the stratosphere during summer time. The condition of precipitation was more correlated with the dynamic instability except Changma season. Precipitation in 2009 at the Ulleungdo occurred under the marine climate so that total precipitation amounts and precipitation intensity were increased and intensified during nighttime. The local environment favorable for the precipitation during nighttime was while the wind speed at the surface and the inflow from the shoreline were strengthened. Precipitation events also affected by synoptic condition but the localized effect induced by topography was more strengthened at the northern part of Ulleungdo.

• The Journal of Korean Physical Therapy
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• 제29권5호
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• pp.246-254
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• 2017

Purpose: Previous studies have reported that action observation training has beneficial effects on enhancing the motor task, such as balance and gait functions. On the other hand, there have been few studies combined with action observation training and auditory feedback. The purpose of this study was to determine the effects of action observation training with auditory feedback on the gait function in stroke patients with hemiparesis Methods: A total of 24 inpatients with post-stroke hemiparesis were assigned randomly to either an experimental group 1 (EG 1, n=8), experiment group 2 (EG 2, n=8), control group (CG, n=8, EG 1). The EG 2 and CG watched video clip demonstrating three functional walking tasks with auditory feedback, without auditory feedback, and showing a landscape image, respectively. The exercise program consisted of 30 minutes, five times a week, for four weeks. The participants were measured to 10MWT (10 m walk test), 6MWT (6 minutes walking distance test), TUG (timed up and go test), DGI (dynamic gait index), time and steps of F8WT (figure-of-8 walk test). Results: In the intra-group comparison after the intervention, EG 1 and EG 2 showed a significantly different gait function (10MWT, 6MWT, DGI, TUG, F8WT) (p<0.05). In the inter-group comparison after intervention, EG 1 showed significant improvements in the entire gait parameters and EG 2 only showed significant improvement in DGI and TUG compared to CG (p<0.05). Conclusion: These findings show that action observation training with auditory feedback may be used beneficially for improving the gait function of stroke patients with hemiparesis.

• 한국해안·해양공학회논문집
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• 제32권5호
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• pp.285-295
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• 2020

해상에 설치된 관측타워에 미치는 환경 하중 변화에 따른 구조물의 동특성 파악은 구조물의 안전성 평가에 중요한 인자로 활용되고 있다. 이 연구에서는 새만금 방조제 인근에 위치한 만경해상관측타워(이하 만경타워) 구조물에 대한 현장계측실험을 통하여 동특성을 분석하고 수치해석모델을 구성하였다. 계측실험 결과, 조위가 하강할수록 고유주파수는 증가하는 추세를 보였다. 또한 동일한 모드가 2개의 주파수를 갖는 것을 확인하였으며, 이는 세굴에 의하여 파일과 지반이 접촉 시에 고유주파수가 일부 증가하는 현상으로 판단되었다. 수치해석을 위하여 구조물의 상부 질량, 가상고정점, 세굴 깊이 및 유체 영향을 고려한 부가 질량 등을 만경타워의 구조적 특성으로 반영하였으며, 추정된 고유주파수 및 패턴서치 알고리즘으로부터 수치해석모델에 대한 모델 개선 작업을 수행하였다. 개선된 해석모델로부터 추후 만경타워에 대한 안정성 검토 측면에서의 연구에 적용될 수 있을 것으로 기대된다.

• 한국소음진동공학회논문집
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• 제13권5호
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• pp.341-347
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• 2003

This paper presents an improved escalator dynamic model so as to reflect the experimental observation on the pseudo-resonance affected by load applied. The experimental evidence reveals that backlash on gearbox as well as sag of driving Chain are most critical factors to the pseudo-resonance in escalators. The dynamic model effectively reflects vibration characteristics measured in real escalators with respect to different conditions of driving chain and the number of passengers. For validation of the dynamic model developed. numerical results from the model are compared with experimental results. The developed model and its simulation results are used rigorously for the design of escalator systems in enhancing the ride comfort.