• Journal of the Korea Society for Simulation
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• v.16 no.1
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• pp.39-47
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• 2007

The travel speed between two locations within the downtown differs according to time horizon and district. Also, There is delay time on numerous traffic signals and bottle neck areas. It has an influence on planning the vehicle routing. However, there are almost no studies focusing on delay time for distance and travel time between two locations among the existing researches for vehicle routing problem (VRP). In this paper, we approach the real VRP by designing the model which estimates the delay time for traffic signal and bottle neck areas. The results of computation experiment demonstrate that proposed method performs well and have better solution than other method not considering the delay time.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.26 no.2D
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• pp.233-239
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• 2006

Most research for until at now link travel time were research for mean link travel time calculate or estimate which uses the average of the individual vehicle. however, the link travel time distribution is divided caused by with the impact factor which is various traffic condition, signal operation condition and the road conditional etc. preceding study result for link travel time distribution characteristic showed that the patterns of going through traffic were divided up to 2 in the link travel times. therefore, it will be more accurate to divide up the link travel time into the one involving delay and the other without delay, rather than using the average link travel time in terms of assessing the traffic situation. this study is it analyzed transit hour distribution characteristic and a cause using examine to the variables which give an effect at link travel time distribute using simulation program and determinate link travel time distribute ratio estimation model. to assess the distribution of the link travel times, this research develops the regression model and the fuzzy model. the variables that have high level of correlations in both estimation models are the rest time of green ball and the delay vehicles. these variables were used to construct the methods in the estimation models. The comparison of the two estimation models-fuzzy and regression model- showed that fuzzy model out-competed the regression model in terms of reliability and applicability.

• Journal of Communications and Networks
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• v.5 no.1
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• pp.65-72
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• 2003

Internet roundtrip delay/time (RTT) prediction plays an important role in detecting packet losses in reliable transport protocols for traditional web applications and determining proper transmission rates in many rate-based TCP-friendly protocols for Internet-based real-time applications. The widely adopted autoregressive and moving average (ARMA) model with fixed-parameters is shown to be insufficient for all scenarios due to its intrinsic limitation that it filters out all high-frequency components of RTT dynamics. In this paper, we introduce a novel parameter-varying RTT model for Internet roundtrip time prediction based on the information theory and the maximum entropy principle (MEP). Since the coefficients of the proposed RTT model are updated dynamically, the model is adaptive and it tracks RTT dynamics rapidly. The results of our experiments show that the MEP algorithm works better than the ARMA method in both RTT prediction and RTO estimation.

• Journal of Power System Engineering
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• v.13 no.2
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• pp.71-82
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• 2009

This paper presents a real-time haptic rendering method for a realistic force feedback in a remote environment with varying communication time-delay. The remote environment is assumed as a virtual environment based on a computer graphics, for example, on-line shopping mall, internet game and cyber-education. The properties of a virtual object such as stiffness and viscosity are assumed to be unknown because they are changed according to the contact position and/or a penetrated depth into the object. The DARMAX model based output estimator is proposed to trace the correct impedance of the virtual object in real-time. The output estimator is developed on the input-output relationship. It can trace the varying impedance in real-time by virtue of P-matrix resetting algorithm. And the estimator can trace the correct impedance by using a white noise that prevents the biased input-output information. Realistic output forces are generated in real-time, by using the inputs and the estimated impedance, even though the communication time delay and the impedance of the virtual object are unknown and changed. The generated forces trace the analytical forces computed from the virtual model of the remote environment. Performance is demonstrated by experiments with a 1-dof haptic device and a spring-damper-based virtual model.

• Journal of the Korea Institute of Military Science and Technology
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• v.12 no.6
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• pp.768-775
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• 2009

In this paper, the sound source localization system in real time which uses the time delay of arrival signal is proposed. This system uses minimum microphones and surveillance camera for estimation of the sound source localization and sound direction. To apply this system to the military field, four models(model1~model4) are derived. Model 1 can be used to evaluate the sound source localization at the long distance. Model2 and model3 can be applied to estimate the sound direction. Model4 is useful for the special purpose and potable device. It is possible for this system to be used for the military guard and surveillance. As a result of experiments, It is shown that this system can estimate the sound source localization and the sound direction using minimum microphones.

• Transactions on Control, Automation and Systems Engineering
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• v.2 no.3
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• pp.149-156
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• 2000

Time delay observer (TDO), thanks to the time delay control (TDC) concept, requires little knowledge of a plant model, and hence is easy to design, robust to parameter variation and computationally efficient, yet can reconstruct states rather reliable for nonlinear plant. In this paper, we propose an improved version of TDO that solves two problems inherent in TDO as follows: TDO displays large reconstruction errors due to low-frequency uncertainty and has some restrictions on selecting its gains. By introducing a low pass filter and a state associated with it, we obtain an enhanced time delay observer (ETDO). This observer turns out to have smaller reconstruction errors than those of TDO and not to have any restriction on selecting its gains, thereby solving the problems. Through performance comparison by transfer function and simulation, we validate the analysis results of two observers (TDO and ETDO) and evaluate the performances. Finally, through experiments on BLDC motor system, the analysis results are clearly conformed.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.11
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• pp.1967-1978
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• 2003

Transparency has been considered as a performance measure in bilateral teleoperation system. Therefore, many issues of transparency have been studied. This paper investigates the transparency in two-channel control architectures. At first, we show the feasibility using analytic transparency-conditions and present the two classes of two-channel control architecture, which are perfectly transparent under ideal situation. In addition, remedies to problems due to impedance model estimation errors under real situation are introduced. They are as fellows; design guideline of control parameters to reduce the effect of model estimation error effect and introduction of time delay estimation for unknown dynamics. From these analyses, the systematic control scheme, which is stable and well transparent under real implementation, is proposed in two-channel control architecture. Finally, the proposed scheme is applied to a 2 D.O.F master-slave system and the experimental results show the validity of the theoretical work.

• Journal of Drive and Control
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• v.14 no.4
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• pp.23-28
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• 2017

Time-delay control with internal model (TDCIM) is the controller for robot manipulators that applies the time-delay estimation and the concept of internal model control (IMC). TDCIM is robust against unknown dynamics and non-linear friction like coulomb friction and static friction. It is simple and computationally efficient. This study presents the relationship between the discrete TDCIM and the discrete PID controller. The PID controller is the most popular control law in the real application. But often the PID controller can be difficult to achieve the desired level of control performance. The result in this study provides a good candidate solution to these situations.

• The Journal of The Korea Institute of Intelligent Transport Systems
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• v.10 no.5
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• pp.14-22
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• 2011

This study is to estimate delay time model of signalized intersection by using travel data of Bus Information System. BIS, which applies the advanced information technology to an existing bus system, has been developing and operating in many cities. However, even though some useful traffic informations have been collected from BIS operation, utilization of real-time data to the traffic operation has not been promoted due to the inhomogeneity of modal speeds. Accordingly, in this study, a fundamental research is performed for traffic controls in urban areas and providing a traffic information throughout a methodology for estimating delay time using the data from BIS was developed. This delay time model setting bus travel time excluding service time of a bus stop as explanatory variables was constructed as a regression model, and the coefficient of determination of a linear regression model most highly appeared as 0.826. As a result of performing T-test with field survey values and model estimation values for verifying constructed models statistically, it was analyzed to be statistically significant in a confidence level of 95%.

• Journal of Positioning, Navigation, and Timing
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• v.4 no.1
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• pp.33-41
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• 2015

Compact Network Real-Time Kinematic (RTK) is a method that combines compact RTK and network RTK, and it can effectively reduce the time and spatial de-correlation errors. A network RTK user receives multiple correction information generated from reference stations that constitute a network, calculates correction information that is appropriate for one's own position through a proper combination method, and uses the information for the estimation of the position. This combination method is classified depending on the method for modeling the GPS error elements included in correction information, and the user position accuracy is affected by the accuracy of this modeling. Among the GPS error elements included in correction information, tropospheric delay is generally eliminated using a tropospheric model, and a combination method is then applied. In the case of a tropospheric model, the estimation accuracy varies depending on the meteorological condition, and thus eliminating the tropospheric delay of correction information using a tropospheric model is limited to a certain extent. In this study, correction information modeling accuracy performances were compared focusing on the Low-Order Surface Model (LSM), which models the GPS error elements included in correction information using a low-order surface, and a modified LSM method that considers tropospheric delay characteristics depending on altitude. Both of the two methods model GPS error elements in relation to altitude, but the second method reflects the characteristics of actual tropospheric delay depending on altitude. In this study, the final residual errors of user measurements were compared and analyzed using the correction information generated by the various methods mentioned above. For the performance comparison and analysis, various GPS actual measurement data were collected. The results indicated that the modified LSM method that considers actual tropospheric characteristics showed improved performance in terms of user measurement residual error and position domain residual error.