• Journal of KIISE:Software and Applications
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• v.37 no.8
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• pp.641-646
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• 2010

This paper presents algorithms for real-time navigation of a humanoid robot with a stereo vision but no other sensors. Using the algorithms, a robot can recognize its 3D environment by retrieving SIFT features from images, estimate its position through the Kalman filter, and plan its path to reach a destination avoiding obstacles. Our approach focuses on estimating the robot’s central walking path trajectory rather than its actual walking motion by using an approximate model. This strategy makes it possible to apply mobile robot localization approaches to humanoid robot localization. Simple collision free path planning and motion control enable the autonomous robot navigation. Experimental results demonstrate the feasibility of our approach.

• Journal of Microbiology and Biotechnology
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• v.17 no.6
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• pp.1002-1009
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• 2007

A rapid, convenient homogeneous competitive enzyme immunoassay for estimating the amount of fenthion is described. The assay utilizes glucose-6-phosphate dehydrogenase-hapten conjugates that are inhibited in solution by antibodies obtained from bovine serum albumin-hapten conjugates. In order to investigate the effects of bridging group recognition on the sensitivity of dose response characteristics, the bridging groups of varying alkyl chain length were attached at the phosphate position of fenthion. Among the antibodies used, the one obtained from the use of hapten (fenthion analog) with the same bridging group structure that was used in preparing the enzyme-fenthion conjugates showed maximum inhibition (up to 51.8%) in the absence of fenthion. In the presence of fenthion, the activity of the enzyme-hapten conjugate is regained in an amount proportional to the fenthion concentration. Under the optimized condition, the $ED_{50}$ value for fenthion was $0.809{\mu}g/ml$. The assay developed in this study is a rapid effective screening method for fenthion prior to precise analysis.

• Smart Structures and Systems
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• v.7 no.2
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• pp.103-116
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• 2011

This paper is concerned with the trajectory tracking and vibration suppression of a single-link flexible arm by using piezoelectric materials. The dynamics of a single flexible arm with PZT patches as sensor and actuator is derived using extended Hamilton's principle. Resulting equations show that the coupled beam dynamics including beam vibration and its rigid in-plane rotation takes place in two different time scales. By using singular perturbation theory, the system dynamics is divided into two subsystems. Then, a composite control scheme is elaborated that makes the orientation of the arm track a desired trajectory while suppressing its vibration. The proposed controller has two parts: one is a tracking controller designed for the slow (rigid) subsystem, and the other one is a stabilizing controller for the fast (flexible) subsystem. The outputs considered for the system are angular position of the hub and voltage of the sensor mounted on the structure. To avoid requiring further measurements of beam vibration and also angular velocity of the hub for the fast and slow control laws, respectively, two sliding mode observers for estimating the unknown states are also designed.

• Journal of KIISE:Software and Applications
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• v.37 no.1
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• pp.74-79
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• 2010

The amino acid composition of a protein provides basic information for solving many problems in bioinformatics. We propose a new method that uses biologically relevant similarity between amino acids to determine the amino acid composition, where the BOLOSUM matrix is exploited to define a similarity measure between amino acids. Futhermore, to extract more information from a protein sequence than conventional methods for determining amino acid composition, we exploit the concepts of spectral analysis of signals such as radar and speech signals-the concepts of time-dependent analysis, time resolution, and frequency resolution. The proposed method was applied to predict subcellular localization of proteins, and showed significantly improved performance over previous methods for amino acid composition estimation.

• Journal of Astronomy and Space Sciences
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• v.29 no.3
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• pp.287-293
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• 2012

Satellite operating agencies are constantly monitoring conjunctions between satellites and space objects. Two line element (TLE) data, published by the Joint Space Operations Center of the United States Strategic Command, are available as raw data for a preliminary analysis of initial conjunction with a space object without any orbital information. However, there exist several sorts of uncertainties in the TLE data. In this paper, we suggest and analyze a method for estimating the uncertainties in the TLE data through mean, standard deviation of state vector residuals and covariance matrix. Also the estimation results are compared with actual results of orbit determination to validate the estimation method. Characteristics of the state vector residuals depending on the orbital elements are examined by applying the analysis to several satellites in various orbits. Main source of difference between the covariance matrices are also analyzed by comparing the matrices. Particularly, for the Korea Multi-Purpose Satellite-2, we examine the characteristics of the residual variation of state vector and covariance matrix depending on the orbital elements. It is confirmed that a realistic consideration on the space situation of space objects is possible using information from the analysis of mean, standard deviation of the state vector residuals of TLE and covariance matrix.

• Journal of the Korean Society for Precision Engineering
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• v.15 no.2
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• pp.114-123
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• 1998

In the end milling process, the information of the surface errors plays an important role in adaptive control systems for precision machining. As the measuring accuracy of the surface errors directly matches the control's, it is an important factor for evaluating the performance of the system. In order to obtain the surface errors, the prediction using the cutting force, torque, motor power etc. is frequently practiced owing to the easiness in measurement. In the implementation of the prediction, the information on the cutting depths make it concrete and precise. Actually the axial depth of cut limits the range of the calculation. In general, it is not easy to know the cutting depths due to irregular shape of workpieces, inaccurate positioning of them on the table of machine tool, and machining error in the previous cutting. In addition to, even if cutting depths are informed, it is difficult to match the individual position of the cutter on the varying shape of the work material. This work suggests an algorithm estimating the cutting depths based on cutting force and makes it precise to predict the surface error. The proposed algorithm can be applied in more extensive cutting situations, such as presence of the tool wear, change of the work material hardness, etc.

• Journal of information and communication convergence engineering
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• v.7 no.2
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• pp.119-124
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• 2009

In this paper, we propose a novel approach to estimating the real-time moving trajectory of an object is proposed in this paper. The object's position is obtained from the image data of a CCD camera, while a state estimator predicts the linear and angular velocities of the moving object. To overcome the uncertainties and noises residing in the input data, a Extended Kalman Filter(EKF) and neural networks are utilized cooperatively. Since the EKF needs to approximate a nonlinear system into a linear model in order to estimate the states, there still exist errors as well as uncertainties. To resolve this problem, in this approach the Kohonen networks, which have a high adaptability to the memory of the input-output relationship, are utilized for the nonlinear region. In addition to this, the Kohonen network, as a sort of neural network, can effectively adapt to the dynamic variations and become robust against noises. This approach is derived from the observation that the Kohonen network is a type of self-organized map and is spatially oriented, which makes it suitable for determining the trajectories of moving objects. The superiority of the proposed algorithm compared with the EKF is demonstrated through real experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.20 no.1
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• pp.101-105
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• 2014

For a localization system, the TDOA (Time Difference of Arrival) measurement and AOA (Angle of Arrival) measurement are often used for estimating target's positions. Although it is known that the accuracy of TDOA based localization is superior to that of AOA based one, it may have a poor vertical accuracy in bad geometrical conditions. This paper, therefore, proposes a localization algorithm in which the vertical position is estimated by AOA measurements and the horizontal one is estimated by TDOA measurement in order to achieve high 3D-location accuracy. And this algorithm is applied to a GPS jammer localization systems because it has a large value of the DOP (Dilution of Precision) when the jammer is located far away from the system. Simulation results demonstrate that the proposed hybrid TDOA/AOA location algorithm gives much higher location accuracy than TDOA or AOA only location.

• Nuclear Engineering and Technology
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• v.32 no.4
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• pp.379-394
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• 2000

As an in-vessel retention (IVR) design concept in coping with a severe accident in the nuclear power plant during which time a considerable amount of core material may melt, external cooling of the reactor vessel has been suggested to protect the lower head from overheating due to relocated material from the core. The efficiency of the ex-vessel management may be estimated by the thermal margin defined as the ratio of the critical heat flux (CHF）to the actual heat flux from the reactor vessel. Principal factors affecting the thermal margin calculation are the amount of heat to be transferred downward from the molten pool, variation of heat flux with the angular position, and the amount of removable heat by external cooling In this paper a thorough literature survey is made and relevant models and correlations are critically reviewed and applied in terms of their capabilities and uncertainties in estimating the thermal margin to potential failure of the vessel on account of the CHF Results of the thermal margin calculation are statistically treated and the associated uncertainties are quantitatively evaluated to shed light on the issues requiring further attention and study in the near term. Our results indicated a higher thermal margin at the bottom than at the top of the vessel accounting for the natural convection within the hemispherical molten debris pool in the lower plenum. The information obtained from this study will serve as the backbone in identifying the maximum heat removal capability and limitations of the IVR technology called the Cerium Attack Syndrome Immunization Structures (COASISO) being developed for next generation reactors.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.26 no.5
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• pp.501-510
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• 2016

Capabilities of several beamforming techniques are compared for estimating the position of a moving source. Beamforming has enabled to widen our perspective of aeroacoustics in wind tunnel experiments and has provided useful approach in array measurements. Meanwhile beamforming techniques have been developed in a way to improve estimation accuracy and to save ing effort at the same time. In order to achieve reasonable outcome from aeroacoustic measurement, it is important to identify the spectral characteristics of source and to select an appropriate beamformer. Though aeroacoustic sources normally generates broadband noises, many array signal processing have been focused on narrowband processing which makes calculation numerically efficient. However, calculation in frequency-domain requires selection of single frequency of interest which affects spatial resolution and sidelobe level as a consequence. To be able to localize broadband noise source, it is proposed to use broadband beamforming. The formulas implements the deletion of diagonal term from cross spectral matrix. In this study, trajectory of flying source emitting broadband noise was simulated and several beamformers are applied.