• 한국기계연구소 소보
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• s.19
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• pp.93-115
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• 1989

Cerebellar Model Arithmetic Controller(CMAC) has been introduced as an adaptive control function generator. CMAC computes control functions referring to a distributed memory table storing functional values rather than by solving equations analytically or numerically. CMAC has a unique mapping structure as a coarse coding and supervisory delta-rule learning property. In this paper, learning aspects and a convergence of the CMAC were investigated. The efficient training algorithms were developed to overcome the limitations caused by the conventional maximum error correction training and to eliminate the accumulated learning error caused by a sequential node training. A nonlinear function generator and a motion generator for a two d. o. f. manipulator were simulated. The efficiency of the various learning algorithms was demonstrated through the cpu time used and the convergence of the rms and maximum errors accumulated during a learning process; A generalization property and a learning effect due to the various gains were simulated. A uniform quantizing method was applied to cope with various ranges of input variables efficiently.

• Journal of Satellite, Information and Communications
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• v.5 no.1
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• pp.75-79
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• 2010

Satellite structure is distorted by thermal load in orbit. The structural distortion induces the pointing errors of observation unit that is difference between initial pointing direction at ground integration and at in-orbit. In that case, satellite is not able to point along required direction. As observation capability becomes higher, structural distortion due to thermal load should be smaller to achieve successful mission. In this paper, the method to predict pointing error and results are described.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.33 no.3
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• pp.145-153
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• 2015

This study aims to accurately estimate population distribution more specifically than administrative unites using a RK (Regression-Kriging) model. The RK model is the areal interpolation technique that involves linear regression and the Kriging model. In order to estimate a population’s distribution using a sample region, four different models were used, namely; a regression model, RK model, OK (Ordinary Kriging) model and CK (Co-Kriging) model. The results were then compared with each other. Evaluation of the accuracy and validity of evaluation analysis results were the basis RMSE (Root Mean Square Error), MAE (Mean Absolute Error), G statistic and correlation coefficient (ρ). In the sample regions, every statistic value of the RK model showed better results than other models. The results of this comparative study will be useful to estimate a population distribution of the metropolitan areas with high population density

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.6 no.10
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• pp.2750-2763
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• 2012

The Domain Name System (DNS) is a critical Internet infrastructure that provides name to address mapping services. In the past decade, Denial-of-Service (DoS) attacks have targeted the DNS infrastructure and threaten to disrupt this critical service. While the flooding DoS attacks may be alleviated by the DNS caching mechanism, we show in this paper that flooding DoS attacks utilizing name error queries is capable of bypassing the cache of resolvers and thereby impose overwhelming flooding attacks on the name servers. We analyze the impacts of such DoS attacks on both name servers and resolvers, which are further illustrated by May 19 China's DNS Collapse. We also propose the detection and defense approaches for protecting DNS servers from such DoS attacks. In the proposal, the victim zones and attacking clients are detected through monitoring the number of corresponding responses maintained in the negative cache. And the attacking queries can be mitigated by the resolvers with a sample proportion adaptive to the percent of queries for the existent domain names. We assess risks of the DoS attacks by experimental results. Measurements on the request rate of DNS name server show that this kind of attacks poses a substantial threat to the current DNS service.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.12
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• pp.1061-1067
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• 2016

Position of the vehicle for driving is essential to autonomous navigation. However, there appears GPS position error due to multipath which is occurred by tall buildings in downtown area. In this paper, GPS position error is corrected by using camera sensor and highly accurate map made with 3D-Lidar. Input image through inverse perspective mapping is converted into top-view image, and it works out map matching with the map which has intensity of 3D-Lidar. Performance comparison was conducted between this method and traditional way which does map matching with input image after conversion of map to pinhole camera image. As a result, longitudinal error declined 49% and complexity declined 90%.

• Journal of Information Processing Systems
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• v.16 no.1
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• pp.155-170
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• 2020

Passive ranging is a critical part of machine vision measurement. Most of passive ranging methods based on machine vision use binocular technology which need strict hardware conditions and lack of universality. To measure the distance of an object placed on horizontal plane, we present a passive ranging method based on monocular vision system by smartphone. Experimental results show that given the same abscissas, the ordinatesis of the image points linearly related to their actual imaging angles. According to this principle, we first establish a depth extraction model by assuming a linear function and substituting the actual imaging angles and ordinates of the special conjugate points into the linear function. The vertical distance of the target object to the optical axis is then calculated according to imaging principle of camera, and the passive ranging can be derived by depth and vertical distance to the optical axis of target object. Experimental results show that ranging by this method has a higher accuracy compare with others based on binocular vision system. The mean relative error of the depth measurement is 0.937% when the distance is within 3 m. When it is 3-10 m, the mean relative error is 1.71%. Compared with other methods based on monocular vision system, the method does not need to calibrate before ranging and avoids the error caused by data fitting.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.44 no.2 s.314
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• pp.12-18
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• 2007

The three dimensional interpolation is widely used for many kinds of color signal transformation such as real-time color gamut mapping. Given input color signal, the output color signal is approximately calculated by the interpolation with the input point and extracted values from a lookup table which is constructed by storing the values of transformation at regularly packed sample points. Apparently, errors of the interpolated approximation heavily depend on the selection of the lookup table. In this paper, a least square method is applied to assigning values of the lookup table with fixed size in order to minimize error of three-dimensional interpolation. The experimental result shows that the proposed method has better interpolation performance.

• Journal of Wetlands Research
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• v.21 no.spc
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• pp.51-60
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• 2019

In this study, we performed At-site Frequency Analysis(AFA) and Regional Frequency Analysis(RFA) using the observed and climate change scenario data, and the relative root mean squared error(RMMSE) was compared and analyzed for both approaches through Monte Carlo simulation. To evaluate the rainfall quantile, the daily rainfall data were extracted for 615 points in Korea from HadGEM3-RA(12.5km) climate model data, one of the RCM(Regional Climate Model) data provided by the Korea Meteorological Administration(KMA). Quantile mapping(QM) and inverse distance squared methods(IDSM) were applied for bias correction and spatial disaggregation. As a result, it is shown that the RFA estimates more accurate rainfall quantile than AFA, and it is expected that the RFA could be reasonable when estimating the rainfall quantile based on climate change scenarios.

• Journal of Astronomy and Space Sciences
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• v.26 no.2
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• pp.211-220
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• 2009

As one of the GNSS error simulation case studies, we computed tropospheric signal delays based on three well-known models (Hopfield, Modified Hopfield and Saastamoinen) and a simple model. In the computation, default meteorological values were used. The result was compared with the GIPSY result, which we assumed as truth. The RMS of a simple model with Marini mapping function was the largest, 31.0 cm. For the other models, the average RMS is 5.2 cm. In addition, to quantify the influence of the accuracy of meteorological information on the signal delay, we did sensitivity analysis of pressure and temperature. As a result, all models used this study were not very sensitive to pressure variations. Also all models, except for the modified Hopfield model, were not sensitive to temperature variations.

• Journal of the Korean Institute of Intelligent Systems
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• v.26 no.6
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• pp.505-510
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• 2016

This paper presents a searching method of corresponding points robust to rotational error for scan-matching used for SLAM(Simultaneous Localization and Mapping) in mobile robot. A differential driving mechanism is one of the most popular type for mobile robot. For driving curved path, this type controls the velocities of each two wheels independently. This case increases a wheel slip of the mobile robot more than the case of straight path driving. And this is the reason of a drifting problem. To handle this problem and improves the performance of scan-matching, this paper proposes a searching method of corresponding points using extraction of a closest point based on rotational radius of the mobile robot. To verify the proposed method, the experiment was conducted using LRF(Laser Range Finder). Then the proposed method is compared with an existing method, which is an existing method based on euclidian closest point. The result of our study reflects that the proposed method can improve the performance of searching corresponding points.