• Journal of Biosystems Engineering
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• v.32 no.5
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• pp.332-338
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• 2007

Yield mapping is necessary for precision farming. An on-site rice weighing system for a head-feed combine was developed to measure the total weight of rice grain harvested while the combine was operated. A load cell system was used to monitor rice weights accumulated into the combine grain tank using a load cell. This method gave cumulative grain weight readings as a function of time. The system consisted of a load cell, two supporting brackets, and a computer-based data acquisition system. The weights measured with the system from two fields were compared with those obtained with a commercially available electronic balance. The response of the load cell to varying grain weights was linearly modeled, showing a coefficient of determination of 0.998 and a standard error of ${\pm}4.09kg$.

• The Journal of Korea Robotics Society
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• v.7 no.2
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• pp.120-128
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• 2012

The loop closure problem is one of the most challenging issues in the vision-based simultaneous localization and mapping community. It requires the robot to recognize a previously visited place from current camera measurements. While the loop closure often relies on visual bag-of-words based on point features in the previous works, however, in this paper we propose a line-based method to solve the loop closure in the corridor environments. We used both the floor line and the anchored vanishing point as the loop closing feature, and a two-step loop closure algorithm was devised to detect a known place and perform the global pose correction. We propose an anchored vanishing point as a novel loop closure feature, as it includes position information and represents the vanishing points in bi-direction. In our system, the accumulated heading error is reduced using an observation of a previously registered anchored vanishing points firstly, and the observation of known floor lines allows for further pose correction. Experimental results show that our method is very efficient in a structured indoor environment as a suitable loop closure solution.

• The Bulletin of The Korean Astronomical Society
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• v.41 no.2
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• pp.66.2-66.2
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• 2016

KASI and NAOJ are making collaborating efforts to implement faster mapping capability into the new 275-500 GHz Atacama Submillimeter Telescope Experiment focal plane array (FPA). Feed horn antenna is one of critical parts of the FPA. Required fractional bandwidth is almost 60 % while that of traditional conical horn is less than 50 %. Therefore, to achieve this wideband performance, we adopted a horn of which the corrugation depths have a longitudinal profile. A profiled horn has features not only of wide bandwidth but also of shorter length compared to a linear-tapered corrugated horn, and lower cost fabrication with less error can be feasible. In our design process the flare region is represented by a cubic splined curve with several parameters. Parameters of the flare region and each dimension of the throat region are optimized by a differential evolution algorithm to keep >20 dB return loss and >30 dB maximum cross-polarization level over the operation bandwidth. To evaluate RF performance of the horn generated by the optimizer, we used a commercial mode matching software, WASP-NET. Also, Gaussian beam (GB) masks to far fields were applied to give better GB behavior over frequencies. The optimized design shows >23 dB return loss and >33 dB maximum cross-polarization level over the whole band. Gaussicity of the horn is over 96.6 %. The length of the horn is 12.5 mm which is just 57 % of the ALMA band 8 feed horn (21.96 mm).

• The KSFM Journal of Fluid Machinery
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• v.14 no.2
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• pp.5-10
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• 2011

The purpose of this study is to develop a software for the performance evaluation and blade design of a pitch-controlled HAWT using BEMT(Blade Element Momentum Theory) with Prandtl's tip loss. The HERACLES V2.0 software consist of three major part ; basic blade design, aerodynamic coefficient mapping and performance calculation including stall or pitch control option. A 1MW wind turbine blade was designed at the rated wind speed(12m/s) composing five different airfoils such as FFA-W-301, DU91-W250, DU93-W-210, NACA 63418 and NACA 63415 from hub to tip. The mechanical power predicted by BEMT at the rated wind speed is about 1.27MW. Also, CFD analysis was performed to confirm the validity of the BEMT results. The comparison results show good agreement about the error of 6.5% in rated mechanical power.

• Journal of Communications and Networks
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• v.16 no.3
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• pp.270-279
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• 2014

The Viterbi decoding algorithm, which provides maximum - likelihood decoding, is currently considered the most widely used technique for the decoding of codes having a state description, including the class of linear error-correcting convolutional codes. Two classes of nonbinary convolutional codes are presented. Distance preserving mapping convolutional codes and M-ary convolutional codes are designed, respectively, from the distance-preserving mappings technique and the implementation of the conventional convolutional codes in Galois fields of order higher than two. We also investigated the performance of these codes when combined with a multiple frequency-shift keying (M-FSK) modulation scheme to correct narrowband interference (NBI) in power-line communications channel. Themodification of certain detectors of the M-FSK demodulator to refine the selection and the detection at the decoder is also presented. M-FSK detectors used in our simulations are discussed, and their chosen values are justified. Interesting and promising obtained results have shown a very strong link between the designed codes and the selected detector for M-FSK modulation. An important improvement in gain for certain values of the modified detectors was also observed. The paper also shows that the newly designed codes outperform the conventional convolutional codes in a NBI environment.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.6 no.3
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• pp.223-231
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• 2006

In high-speed fuzzy control systems applied to intelligent systems such as robot control, one of the most important problems is the improvement of the execution speed of the fuzzy inference. In particular, it is more important to have high-speed operations in the consequent part and the defuzzification stage. To improve the speedup of fuzzy controllers for intelligent systems, this paper presents an integer line mapping algorithm to convert [0, 1] real values of the fuzzy membership functions in the consequent part to a $400{\times}30$ grid of integer values. In addition, this paper presents a method of eliminating the unnecessary operations of the zero items in the defuzzification stage. With this representation, a center of gravity method can be implemented with only integer additions and one integer division. The proposed system is analyzed in the air conditioner control system for execution speed and COG, and applied to the truck backer-upper control system. The proposed system shows a significant increase in speed as compared with conventional methods with minimal error; simulations indicate a speedup of an order of magnitude. This system can be applied to real-time high-speed intelligent systems such as robot arm control.

• Transactions of the Korean Society of Mechanical Engineers
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• v.17 no.2
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• pp.393-406
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• 1993

In resistance spot welding process, size of molten nuggest have been utilized to assess the integrity of the weld quality. However real-time monitoring of the nugget size is an extremely difficult problem. This paper describes the design of an artificial neural networks(ANN) estimator to predict the nugget size for on-line use of weld quality monitoring. The main task of the ANN estimator is to realize the mapping characteristics from the sampled dynamic resistance signal to the actual negget size through training. The structure of the ANN estimator including the number of hidden layers and nodes in a layer is determined by an estimation error analysis. A series of welding experiments are performed to assess the performance of the ANN estimator. The results are quite promissing in that real-time estimation of the invisible nugget size can be achieved by analyzing the dynamic resistance signal without any conventional destructive testing of welds.

• Journal of the Korean Society for Precision Engineering
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• v.30 no.2
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• pp.177-184
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• 2013

This paper proposes an enhanced Simultaneous Localization and Mapping (SLAM) algorithm based on matching laser image and Extended Kalman Filter (EKF). In general, laser information is one of the most efficient data for localization of mobile robots and is more accurate than encoder data. For localization of a mobile robot, moving distance information of a robot is often obtained by encoders and distance information from the robot to landmarks is estimated by various sensors. Though encoder has high resolution, it is difficult to estimate current position of a robot precisely because of encoder error caused by slip and backlash of wheels. In this paper, the position and angle of the robot are estimated by comparing laser images obtained from laser scanner with high accuracy. In addition, Speeded Up Robust Features (SURF) is used for extracting feature points at previous laser image and current laser image by comparing feature points. As a result, the moving distance and heading angle are obtained based on information of available points. The experimental results using the proposed laser slam algorithm show effectiveness for the SLAM of robot.

• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.8 no.2
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• pp.197-206
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• 1997

The purpose of this paper is to propose an improvement method of BER for coded 16QAM over Rayleigh fading channel. To overcome the BER degradation due to the fading under mobile communication, we apply trellis coded modulation technique which is efficient to get a coding gain without the expansion of bandwidth. Especially, to minimize the burst error which are the main factor of the BER degradation for mobile communication systems, we apply interleaving/deinterleaving method to the studying system. Also we apply asymmetric signal mapping methods to this TCM scheme. From the computer simulation, BER performance of asymmetric case has achieved about 1 dB improvement of about $10^{-4}$, compared to the traditional symmetric case.

• Proceedings of the KSME Conference
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• 2008.11a
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• pp.1588-1593
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• 2008

This paper describes a real-time isometric pinch force prediction algorithm from surface electromyogram (sEMG) using multilayer perceptron (MLP) for human robot interactive applications. The activities of seven muscles which are observable from surface electrodes and also related to the movements of the thumb and index finger joints were recorded during pinch force experiments. For the successful implementation of the real-time prediction algorithm, an off-line analysis was performed using the recorded activities. Four muscles were selected for the force prediction by using the Fisher linear discriminant analysis among seven muscles, and the four muscle activities provided effective information for mapping sEMG to the pinch force. The MLP structure was designed to make training efficient and to avoid both under- and over-fitting problems. The pinch force prediction algorithm was tested on five volunteers and the results were evaluated using two criteria: normalized root mean squared error (NRMSE) and correlation (CORR). The training time for the subjects was only 2 min 29 sec, but the prediction results were successful with NRMSE = 0.112 ${\pm}$ 0.082 and CORR = 0.932 ${\pm}$ 0.058. These results imply that the proposed algorithm is useful to measure the produced pinch force without force sensors in real-time. The possible applications include controlling bionic finger robot systems to overcome finger paralysis or amputation.