• International Journal of Ocean System Engineering
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• 제3권2호
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• pp.50-60
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• 2013

This paper presents a novel approach to the design of an adaptive fuzzy sliding mode controller for depth control of an autonomous underwater vehicle (AUV). So far, AUV's dynamics are highly nonlinear and the hydrodynamic coefficients of the vehicles are difficult to estimate, because of the variations of these coefficients with different operating conditions. These kinds of difficulties cause modeling inaccuracies of AUV's dynamics. Hence, we propose an adaptive fuzzy sliding mode control with novel fuzzy adaptation technique for regulating vertical positioning in presence of parametric uncertainty and disturbances. In this approach, two fuzzy approximator are employed in such a way that slope of the linear sliding surface is updated by first fuzzy approximator, to shape tracking error dynamics in the sliding regime, while second fuzzy approximator change the supports of the output fuzzy membership function in the defuzzification inference module of fuzzy sliding mode control (FSMC) algorithm. Simulation results shows that, the reaching time and tracking error in the approaching phase can be significantly reduced with chattering problem can also be eliminated. The effectiveness of proposed control strategy and its advantages are indicated in comparison with conventional sliding mode control FSMC technique.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
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• pp.21-26
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• 2006

This paper focuses on modeling and predicting differential GPS corrections transmitted by marine radio-beacon systems using artificial neural networks. Various neural network structures with various training algorithms were examined, including Linear, Radial Biases, and Feedforward. Matlab Neural Network toolbox is used for this purpose. Data sets used in building the model are the transmitted pseudorange corrections and broadcast navigation message. Model design is passed through several stages, namely data collection, preprocessing, model building, and finally model validation. It is found that feedforward neural network with automated regularization is the most suitable for our data. In training the neural network, different approaches are used to take advantage of the pseudorange corrections history while taking into account the required time for prediction and storage limitations. Three data structures are considered in training the neural network, namely all round, compound, and average. Of the various data structures examined, it is found that the average data structure is the most suitable. It is shown that the developed model is capable of predicting the differential correction with an accuracy level comparable to that of beacon-transmitted real-time DGPS correction.

• 대한원격탐사학회지
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• 제26권3호
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• pp.335-346
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• 2010

Recently, ESA (European Space Agency) has launched CryoSAT-2 for polar ice observations. CryoSAT-2 is equipped with a SIRAL (SAR/interferometric radar altimeter), which is a high spatial resolution radar altimeter. Conventional altimeters cannot measure a precise three-dimensional ground position because of the large footprint diameter, while SIRAL altimeter system accomplishes a precise three-dimensional ground positioning by means of interferometric synthetic aperture radar technique. In this study, we developed an efficient SIRAL SARIn mode processing technique to measure a precise three-dimensional ground position. We first simulated SIRAL SARIn RAW data for the ideal target by assuming the flat Earth and linear flight track, and second accessed the precision of three-dimensional geopositioning achieved by the proposed algorithm. The proposed algorithm consists of 1) azimuth processing that determines the squint angle from Doppler centroid, and 2) range processing that estimates the look angle from interferometric phase. In the ideal case, the precisions of look and squint angles achieved by the proposed algorithm were about -2.0 ${\mu}deg$ and 98.0 ${\mu}deg$, respectively, and the three-dimensional geopositioning accuracy was about 1.23 m, -0.02 m, and -0.30 m in X, Y and Z directions, respectively. This means that the SIRAL SARIn mode processing technique enables to measure the three-dimensional ground position with the precision of several meters.

• 한국근적외분광분석학회:학술대회논문집
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• 한국근적외분광분석학회 2001년도 NIR-2001
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• pp.1267-1267
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• 2001

The existing fruit sorter has the method of tilting tray and extracting fruits by the action of solenoid or springs. In peaches, the most sort processing is supported by man because the sorter make fatal damage to peaches. In order to sustain commodity and quality of peach non-destructive, non-contact and real time based sorter was needed. This study was performed to develop peach sorter using near-infrared spectroscopy in real time and nondestructively. The prototype was developed to decrease internal and external damage of peach caused by the sorter, which had a way of extracting tray with it. To decrease positioning error of measuring sugar contents in peaches, fiber optic with two direction diverged was developed and attached to the prototype. The program for sorting and operating the prototype was developed using visual basic 6.0 language to measure several quality index such as chlorophyll, some defect, sugar contents. The all sorting result was saved to return farmers for being index of good quality production. Using the prototype, program and MLR(multiple linear regression) model, it was possible to estimate sugar content of peaches with the determination coefficient of 0.71 and SEC of 0.42bx using 16 wavelengths. The developed MLR model had determination coefficient of 0.69, and SEP of 0.49bx, it was better result than single point measurement of 1999's. The peach sweetness grading system based on NIR reflectance method, which consists of photodiode-array sensor, quartz-halogen lamp and fiber optic diverged two bundles for transmitting the light and detecting the reflected light, was developed and evaluated. It was possible to predict the soluble solid contents of peaches in real time and nondestructively using the system which had the accuracy of 91 percentage and the capacity of 7,200 peaches per an hour for grading 2 classes by sugar contents. Draining is one of important factors for production peaches having good qualities. The reason why one farm's product belows others could be estimated for bad draining, over-much nitrogen fertilizer, soil characteristics, etc. After this, the report saved by the peach grading system will have to be good materials to farmers for production high quality peaches. They could share the result or compare with others and diagnose their cultural practice.

• International Journal of Fuzzy Logic and Intelligent Systems
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• 제7권4호
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• pp.228-235
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• 2007

The main purpose of this paper is to manage the container property effectively at the container yard by applying the RTLS technology to the field of port logistics. Yet, many kinds of noises happen to be inputted with the distance value(between the reader and the tag) which is to be inputted into the location identification algorithm, which makes the distance value jumped due to the system noise of the ultrasonic sensor module and the measurement noise. The Kalman Filter is widely used to prevent this jump occurrence; the noises are eliminated by using the EKF(Extended Kalman Filter) while considering that the distance information of the ultrasonic sensor is non-linear. Also, the 3D RTLS system at the port container yard suggested in this research is designed not to be interrupted for its ultrasonic transmission by positioning the antenna at the front of each sector of the container where the active tags are installed. We positioned the readers, which function as antennas for location identification, to four places randomly in the absolute coordinate and let the positions of the active tags identified by using the distance data delivered from the active tags. For the location identification algorithm used in this paper, the triangulation measurement that is most used in general is applied and newly reorganized to calculate the position of the container. In the first experiment, we dealt with the error resulting in the angle and the distance of the ultrasonic sensor module, which is the most important in the hardware performance; in the second, we evaluated the performance of the location identification algorithm, which is the most important in the software performance, and tested the noise cancellation effects for the EKF. According to the experiment result, the ultrasonic sensor showed an average of 3 to 5cm error up to $45^{\circ}$ in case of $60^{\circ}$ or more, non-reliable linear distances were obtained. In addition, the evaluation of the algorithm performance showed an average of $4^{\circ}{\sim}5^{\circ}$ error due to the error of the linear distance-this error is negligible for most container location identifications. Lastly, the experiment results of noise cancellation and jump preservation by using the EKF showed that noises were removed in the distance information which was entered from the input of the ultrasonic sensor and as a result, only signal was extracted; thus, jumps were able to be removed and the exact distance information between the ultrasonic sensors could be obtained.

• 한국광학회지
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• 제9권5호
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• pp.277-281
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• 1998

일차원적 비균일 진폭변조가 광학계의 최적 상평면 상에서의 MTF에 미치는 영향을 연구하였다. 시험평가 렌즈는 국산 유효경 10mm, 초점거리 87.8mm인 이중렌즈를 택하였다. 시험렌즈의 수차특성은 축상과 시계각 $1^{\circ}$와 $2^{\circ}$인 비축에 대해 각각 ray-fan 과 파면수차를 계산하여 그림으로 도시하였다. 진폭변조는 시험렌즈 앞에 근접하여 진폭변조판을 위치함으로 이루어 진다. 진폭변조판은 계단식으로 투과도가 다른 것과 연속적으로 투과도가 변하는 것으로서 미국 Edmund사 제품을 사용하였다. 진폭변조하였을 때에 각각의 경우 60line/mm의 공간주파수에서 최대 MTF값을 가지는 상평면을 best of focus 로 결정하였다. 진폭변조의 경우와 변조하지 않은 경우에 대하여 MTFM를 측정해서 그 값을 서로 비교하였다. Gaussian 상평면 상에서 MTF를 측정하였을 때와는 상이한 결과가 나타났다. 축상에서는 변조할 경우에 MTF 값이 변조하지 않은 경우에 비해 고주파로 갈수록 증진되는 효과가 나타났으며 축외에서는 시계각 $1^{\circ}$에서는 다양한 결과가 나타나서 현저하게 증진되는 경우가 있는가 하면 오히려 감소하는 경우도 있다. 시계각 $2^{\circ}$에서는 변조할 경우에 MTF 값이 변조하지 않은 경우 보다 대체로 감소하여 역효과가 나타났고 고주파 부분에서 다소 증가하는 경우가 있으나 그 값 자체가 매우 작으므로 실용적인 가치가 적게 나타났다.

• 한국지능시스템학회논문지
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• 제19권3호
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• pp.408-414
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• 2009

UGV가 임무를 수행하기 위해서는 먼저 자신의 위치를 인식하는 것이 중요하며, 위치 인식을 위해 일반적으로 GPS나 INS 등 하나의 센서로 구성된 항법시스템을 이용한다. 그러나 GPS와 INS와 같은 센서들은 각각 단독으로 사용되기에는 제한사항을 가지고 있다. 즉 GPS는 정확한 위치정보의 제공이 가능하지만 기상과 환경에 의해 위치정보가 단절되며, INS는 독자적인 항법정보의 제공이 가능하지만 오차가 누적되어 정확한 위치추정이 어렵다는 문제점을 가지고 있다. 따라서 연속적이고 정확한 위치추정을 위해서는 센서 융합을 통한 복합 항법시스템이 필요하다. 따라서 본 논문에서는 GPS와 INS를 융합한 복합 항법시스템을 구성하기 위해 퍼지추론과 언센티드 파티클 필터를 이용한 UGV의 데이터 융합 및 위치추정 알고리즘을 제안한다. 퍼지추론은 GPS와 INS를 융합하는데 있어 수학적인 방법보다 더 간단하게 구현이 가능하며, 언센티드 파티클 필터는 오차보정에 탁월한 성능을 보여주는 비선형 추정 필터이다. 제안한 알고리즘의 성능을 비교분석하기 위해 실험을 실시하였으며, 실험 결과 제안한 알고리즘이 기존 알고리즘보다 연속적이고 정밀한 위치추정이 가능함을 입증하였다.

• 융합신호처리학회논문지
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• 제16권4호
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• pp.156-161
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• 2015

본 논문에서는 GPS(Global positioning System)-Bluetooth-DSRC(Dedicated short range communication) 대역의 신호를 동시에 수신할 수 있는 차량용 이중편파 다중대역 안테나를 적층형으로 설계하였다. 안테나는 다층 구조(Multi-Layer)이고, 유전율이 4.4이고, 두께가 1.6mm 인 FR4-epoxy 기판을 사용하였다. GPS와 DSRC 대역은 원형편파(Circular Polarization) 특성을 가지고, 블루투스 대역은 선형편파(Linear Polarization) 특성을 가지며, 이들 안테나는 단일 프루브 급전하였다. 안테나는 Ansys HFSS v11로 시뮬레이션 하였고, 측정결과와 비교하면서 크기가 $67mm{\times}67mm{\times}4.8mm$인 안테나를 설계하였다. 최적 설계된 안테나는 -10dB 대역폭이 각 대역에서 82MHz, 127MHz, 862MHz로 측정되었고, GPS 및 DSRC 대역의 3dB 축비 대역폭은 12MHz와 112MHz로 시뮬레이션 되었다. 이 결과는 시스템이 요구하는 사양을 만족하고 있음을 확인하였다.

• 한국음향학회지
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• 제41권6호
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• pp.680-690
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• 2022

일반적으로 배관에서 발생하는 진동은 배관을 파손시키는 문제를 넘어 배관 파손으로 유발되는 다른 위험한 문제의 원인이 된다. 배관 진동의 원인 분석과 이를 줄이기 위한 수많은 연구들이 존재하는데, 그 중 마찰 지지대를 이용한 배관 진동저감에 대한 연구가 소수 진행되고 있다. 하지만 마찰 지지대에 관한 연구들은 마찰 지지대 성능 예측과 평가에만 집중하였고, 지지대 설치 위치에 따라 달라지는 마찰 지지대의 효과는 고려하지 않았다. 따라서, 본 연구에서는 마찰 지지대의 설치 위치에 따른 배관 진동 저감 효과를 입증하고 전체 시스템의 진동을 줄이기 위한 마찰 지지대 위치 선정 방법을 제시한다. 설계단계에서 최적화 방법을 효과적으로 적용하기 위해 선형 해석으로만 마찰 지지대의 최적 위치를 예측하고, 설계된 마찰 지지대를 시간 영역 해석을 통해 방법론의 타당성을 입증하였다. 또한, 배관 시스템에서 마찰 지지대의 우수한 진동 저감 효과를 정량적으로 해석하여, 지지대 설치 위치를 예측하는 방법의 효용성을 증명하였다.

• 대한방사선기술학회지:방사선기술과학
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• 제46권5호
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• pp.401-408
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• 2023

Thyroid uptake measurements can be subject to measurement errors due to the scoping and positioning of the thyroid gland. To compensate for these limitations, the clinical utility of the thyroid simultaneous counting method as an alternative to thyroid uptake measurement was analyzed and evaluated experimentally through quantitative analysis of images acquired after thyroid scanning. Experimental data were obtained using a Gamma camera (GE infinia), a thyroid uptake system (KOROID 1), and a thyroid neck phantom. Based on the thyroid uptake rate of 1-5% according to the protocol of thyroid scan test (^99mTcO₄ - , 370 MBq) in normal results, ^99mTcO₄ - was set in the range of 3.7-18.5 MBq (Matrix: 256×256, Scan time: 1 min, collimator: pin hole, phantom-collimator distances: 7 cm). The acquired images were corrected for the attenuation of isotopes due to the set-up time and half-life by applying the Auto Region of interest (ROI) drawing system, and the significance of the experimental results was evaluated by Multiple linear regression analysis (SPSS, ver. 22, IBM). The thyroid uptake rate showed a significant correlation between the dose and the measured counts when using the thyroid uptake system equipment. Meanwhile, the quantitative analysis counts of phantom images using Gamma camera also showed a significant correlation. Thus confirmed that the correlation between these two experiments was statistically significant (P<0.05). The simultaneous counting protocol, which indirectly measures thyroid uptake from thyroid scans, is likely to be clinically relevant if complemented by additional studies with different variables in patients with thyroid disease.