• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.12
• /
• pp.1256-1265
• /
• 2011

Automated parking assist systems are being commercialized and rapidly spread in the market. In order to improve odometry accuracy, we proposed a practical odometry calibration scheme of Car-Like Mobile Robot (CLMR). However, there were some open problems in our prior work. For example, it was not clear whether the kinematic parameters always converged or not using the proposed calibration scheme. In addition, test driving had to be carried out "twice" without detailed explanation. This research aims to provide answers for the addressed questions though the convergence property analysis of the calibration scheme. In this paper, we evaluate on the effect of the kinematic parameter error on the odometry error at the final pose by numerical computation. The evaluation will show that the wheel diameter and tread of the CLMR can be calibrated by iterative test drives. In addition, the region of convergence in the parametric space will be discussed. Presented experimental results clearly showed that the proposed calibration scheme would be useful in practical applications.

• Journal of Advanced Marine Engineering and Technology
• /
• v.40 no.1
• /
• pp.45-49
• /
• 2016

The performance of underwater acoustic communication systems is sensitive to inter-symbol interference caused by delay spread developed from multipath signal propagation. The multipath nature of underwater channels causes signal distortion and error floor. In order to improve the performance, it is necessary to employ an iterative coding scheme. Of the various iterative coding schemes, turbo code and convolutional code based on the BCJR algorithm have recently dominated this application. In this study, the performance of iterative codes based on turbo equalizers with equivalent coding rates and similar code word lengths were analyzed. Underwater acoustic communication system experiments using these two coding techniques were conducted on Kyeong-chun Lake in Munkyeong City. The distance between the transmitter and receiver was 400 m, and the data transfer rate was 1 Kbps. The experimental results revealed that the performance of turbo codes is better for channeling than that of convolutional codes that use a BCJR decoding algorithm.

• Korean Journal of Remote Sensing
• /
• v.33 no.6_3
• /
• pp.1233-1242
• /
• 2017

In this study, we tried to analyze deforestation due to forest fire by using KOMPSAT satellite imagery. For deforestation analysis, unsupervised change detection algorithm is applied to multitemporal images. Through ITPCA (ITerative Principal Component Analysis) of NDVI (Normalized Difference Vegetation Index) generated from multitemporal satellite images before and after forest fire, changed areas due to deforestation are extracted. In addition, a post-processing method using SRTM (Shuttle Radar Topographic Mission) data is involved in order to minimize the error of change detection. As a result of the experiment using KOMPSAT-2 and 3 images, it was confirmed that changed areas due to deforestation can be efficiently extracted.

• Journal for History of Mathematics
• /
• v.11 no.2
• /
• pp.63-76
• /
• 1998

When teaching the linear regression analysis in the class, the power transformation must be introduced to fit the linear regression model for nonlinear data. Box and Cox (1964) proposed the attractive power transformation technique which is so called Box-Cox transformation. In this paper, an effective algorithm selecting an appropriate value for Box-Cox transformation is developed which is considered to find a value minimizing error sum of squares. When the proposed algorithm is used to find a value for transformation, the number of iterations needs to be considered. Thus, the number of iterations is examined through simulation study. Since SAS is one of most widely used packages and does not provide the procedure that performs iterative Box-Cox transformation, a SAS program automatically choosing the value for transformation is developed. Hence, the students could learn how the Box-Cox transformation works, moreover, researchers can use this for analysis of data.

• Proceedings of the KSME Conference
• /
• 2007.05a
• /
• pp.1143-1148
• /
• 2007

LRE(Liquid propellant Rocket Engine) is one of the important parts to control the motion of rocket. For operation of rocket in error boundary of the set-up trajectory, it is necessarily to control the thrust of LRE according to the required thrust profile and control the mixture ratio of propellants fed into combustor for the constant mixture ratio. It is not easy to control thrust and mixture ratio of propellants since there are co-interferences among the components of LRE. In this study, the dynamic model of LRE was constructed and the dynamic characteristics were analyzed with control system as PID control and PID+Q-ILC(Iterative Learning Control with Quadratic Criterion) control. From the analysis, it could be observed that PID+Q-ILC control logic is more useful than standard PID control system for control of LRE.

• 제어로봇시스템학회:학술대회논문집
• /
• 1993.10a
• /
• pp.1018-1023
• /
• 1993

In mechanical structure design area, many FEM (Finite Element Method) packages are used. But the design using FEM packages depends on an iterative trial and error manner and general CAD systems cannot cope with the change of parameters. This paper presents a methodology for building a designing system of a mechanical structure. This system can generate the drawing for a designed structure automatically. It consists of three steps: generation of a structure by selection of the parameters, stress analysis, and generation of a drawing using CAD system. FEM module and parametric CAD module are developed for this system. Inference engine module generates the parameters with a rule base and a model base, and also evaluates the current structure. The parametric design module generates geometric shapes automatically with given dimension. Parametric design is implemented with the artificial intelligent technique. In older to the demonstrate the effectiveness of the developed system, a frame set of bicycle was designed. The system was implemented on an SUN workstation using C language under OpenWindows environment.

• 제어로봇시스템학회:학술대회논문집
• /
• 1987.10a
• /
• pp.886-891
• /
• 1987

In this paper, we present a effective method to control robotic systems by an iterative learning algorithm. This method is based on the concepts of the learning control law which is introduced in this paper, that is, avoidance of using derivative of system state and ignorance of high frequency influence in system performance. By means of the betterment of performance due to the improvement of estimated unknown information, the learning control algorithm compels the system to gradually approach in desired trajectory, and eventually the tracking error asymptotically converges upon zero. In order to verify its utility, one degree of freedom of manipulator has been used in the experiments and the results illustrate this control scheme is very effective.

• The Transactions of the Korean Institute of Electrical Engineers D
• /
• v.54 no.10
• /
• pp.630-638
• /
• 2005

In FIR (Finite Impulse Response) filter applications, Nth-band F]U digital filters are known to be important due to their reduced computational requirements. The conventional methods for designing F]U filters use iterative approaches such as the well-known Parks-Mcclellan algorithm. The Parks-Mcclellan algorithm is also used to design Nth-band FIR digital filters. But a disadvantage of the Parks-Mcclellan algorithm is that it needs a good amount of design time. This paper describes a direct design method for Nth-band FIR Filters using Chebyshev polynomials, which provides a reduced design time over indirect methods such as the Parks-Mcclellan algorithm. The response of the resulting filter is equiripple in passband. Our proposed method produces a passband response that is equripple to within a minuscule error, comparable to that of the Parks-Mcclellan algorithm.

• Proceedings of the Computational Structural Engineering Institute Conference
• /
• 2001.10a
• /
• pp.159-166
• /
• 2001

Structural optimization often requires the evaluation of design sensitivities. The Semi Aanalytic method(SAM) for computing sensitivity is popular in shape optimization because this method has several advantages. But when relatively large rigid body motions are identified for individual elements, the SA method shows severe inaccuracy. In this paper, the improvement of design sensitivities corresponding to the rigid body mode is evaluated by exact differentiation of the rigid body modes. Moreover, the error of the SA method caused by numerical difference scheme is alleviated by using a series approximation for the sensitivity derivatives and considering the higher order terms. Finally, this paper shows that the refined SA method including the iterative method improves the results of sensitivity analysis in dynamic problems.

• Transactions of Materials Processing
• /
• v.9 no.6
• /
• pp.598-603
• /
• 2000

In order to improve trial-and-error based conventional practices for optimizing forming processes, a direct design method to guide iterative design practices, called the ideal forming theory, has been previously developed. In the theory, material elements are required to deform following the minimum Plastic work Path. The theory can be used to determine the ideal initial blank shape needed to best achieve a specified final shape while resulting in optimum strain distributions. In this work, the direct design method based on the ideal forming theory was applied to design initial design shape for VCR deck chassis. Based on the solution of the ideal forming theory, FEM analysis was utilized to evaluate an optimum blank shape to be formed without tearing. Simulation results are in good agreement with experimental data. It was shown that the proposed sequential design procedure based on direct design method and FEM can be successfully applied to optimize the die design Procedure of sheet metal forming processes.