• Journal of Institute of Control, Robotics and Systems
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• v.20 no.11
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• pp.1136-1141
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• 2014

This paper proposes a new contact type ball tracking sensor to improve the control performance of a low cost ball-and-beam system. It is well-known that the impulsive measurement noise contained in ball position measurement is one of the factors which severely degrades the ball-and-beam control performance. The impulsive ball position measurement noises often appear under the sporadical ball floating on the beam. This fact motivates us to devise a simple analog preprocessing circuit to determine whether the ball loses the contact or not. Once the abnormal ball position measurement is detected, the design problem of the ball tracking sensor can be cast into the typical state estimation problem with missing data. In order to tackle the real-time implementation issue, a steady-state Kalman filter is applied to the problem. Through the experimental results, the usefulness of the proposed scheme is demonstrated.

• Journal of the Korea Society of Computer and Information
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• v.22 no.12
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• pp.17-25
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• 2017

In this paper, we have implemented a low-cost mobile robot supporting the person tracking by detection using RGB-D cameras and ROS(Robot Operating System) framework. The mobile robot was developed based on the Kobuki mobile base equipped with 2's Kinect devices and a high performance controller. One kinect device was used to detect and track the single person among people in the constrained working area by combining point cloud data filtering & clustering, HOG classifier and Kalman Filter-based estimation successively, and the other to perform the SLAM-based navigation supported in ROS framework. In performance evaluation, the person tracking by detection was proved to be robustly executed in real-time, and the navigation function showed the accuracy with the mean distance error being lower than 50mm. The mobile robot implemented has a significance in using the open-source based, general-purpose and low-cost approach.

• International Journal of Naval Architecture and Ocean Engineering
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• v.5 no.2
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• pp.246-262
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• 2013

With increases in international oil prices, the proportion of fuel cost to the operational costs of a ship is currently increasing. To reduce fuel cost, a method for determining an economical route for a ship based on the acquisition of the sea state and the estimation of fuel consumption is proposed. The proposed method consists of three items. The first item is to acquire the sea state information in real time. The second item is to estimate the fuel consumption of a ship according to the sea state. The last item is to find an economical route for minimal fuel consumption based on the previous two items. To evaluate the applicability of the proposed method, it was applied to routing problems in various ocean areas. The result shows that the proposed method can yield economical ship routes that minimize fuel consumption. The results of this study can contribute to energy savings for environmentally friendly ships.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.37 no.3
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• pp.88-97
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• 2000

This paper presents motion estimation method using region segmentation information Motion estimation which is very difficult to be implemented only by software because of intensive computation cost, is implemented by special-purpose hardware in real-time applications In this paper, we propose region based motion estimation algorithm which can reduce the computation cost by using region segmentation information and setting the variable search window compared with FSMA algorithm Secondly, another proposed algorithm is to segment semantic region like face for selective coding and transfer of semantic region using segmented region information This work alms to improving the subjective quality of skin color region or face region m the picture that has slow motion and IS mainly composed of one or two speakers of video conference and video telephony applications.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.38 no.5
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• pp.509-517
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• 2001

Full-search algorithm requires large amount of computation which causes time delay or very complex hardware architecture for real time implementation. In this paper, we propose a fast motion estimator based on bit-plane matching, which reduce the computational complexity and the hardware cost. In the proposed motion estimator, the conventional motion estimation algorithms are applied to the binary images directly extracted from the video sequence. Furthermore, in the proposed VLSI motion estimator, we employ a Pair of processing cores that calculate the motion vector continuously By controlling the data flow in a systolic fashion using the internal shift registers in the processing cores, we avoid using SRAM (local memory) so that we remove the time overhead for accessing the local memory and adopt lower-cost fabrication technology. We modeled and tested the proposed motion estimator in VHDL, and then synthesized the whole system which has been integrated in a 0.6-$\mu$m triple-metal CMOS chip of size 8.15 X 10.84$\textrm{mm}^2$.

• The KIPS Transactions:PartD
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• v.10D no.7
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• pp.1137-1144
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• 2003

The existing Function Point method to estimate the software size has been utilized frequently with the management information system. Due to the expanding usage of the real-time and embedded system, the Full Function Point method is being proposed. However, despite many research is being carried out relation to the software size, the research on the model to estimate the development cost from the measured software size is inadequate. This paper analyzed the linear regression model and power regression model which estimate the development cost from the software FFP The power model is selected, which shows its estimation is most adequate.

• The Journal of Korea Robotics Society
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• v.2 no.1
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• pp.1-8
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• 2007

This paper presents a PID automatic gain-tuning algorithm for the electronic throttle valve which is driven by wire. Since the system characteristics of position control for electronic throttle valve are so complicated that both the real time robustness and the manufacturing cost must be considered for mass production. To resolve this paradox, a kind of algorithm called RLS (Recursive Least Square) is adopted for the control of the ETB (Electronic Throttle Body). Using this algorithm, the PID gains can be adjusted automatically with the estimated system parameters. Furthermore, a pre-filter is supplemented for the sake of the robustness against the friction and loads. From the industrial requests for the system, the design specifications are decided as follows: the settling time should be less than 1sec and the overshoot should be kept below 3%. The results of the experiments based on this approach show that the high robustness can be achieved while the system stability is satisfied steadily. A parameter estimation scheme and a gain-tuning algorithm have been properly combined and utilized in this research and the effectiveness is verified through the real experiments.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.9
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• pp.931-938
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• 2008

In this paper, a novel localization algorithm robust to the unmodeled systematic odometry errors is proposed for low-cost non-holonomic mobile robots. It is well known that the most pose estimators using odometry measurements cannot avoid the performance degradation due to the dead-reckoning of systematic odometry errors. As a remedy for this problem, we tty to reflect the wheelbase error in the robot motion model as a parametric uncertainty. Applying the Krein space estimation theory for the discrete-time uncertain nonlinear motion model results in the extended robust Kalman filter. This idea comes from the fact that systematic odometry errors might be regarded as the parametric uncertainties satisfying the sum quadratic constrains (SQCs). The advantage of the proposed methodology is that it has the same recursive structure as the conventional extended Kalman filter, which makes our scheme suitable for real-time applications. Moreover, it guarantees the satisfactoty localization performance even in the presence of wheelbase uncertainty which is hard to model or estimate but often arises from real driving environments. The computer simulations will be given to demonstrate the robustness of the suggested localization algorithm.

• Proceedings of the Korean Institute Of Construction Engineering and Management
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• 2006.11a
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• pp.154-160
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• 2006

There wasn't very successful practice cases for the quantity take-off based on the CAD system since the CAD system is used in the construction industry more than 20 years in Korea. It was also not easy to use 3D CAD system in design management and cost management in the construction industry although 3D CAD system is very successful in the manufacturing industry for those areas recently. It is important to construct 3D libraries and to supply those libraries for the designers in time. Architectural work is a kind of creative work. So, Architects like to create their own model. Unlike the manufacturing industry, 3D CAD system can not be survived in the construction industry without new 3D objects supply in the right time. Moreover, the estimation system for 3D must support the schematic design phase, detailed design phase and construction design phase. The product called "Constructor" of Graphisoft consist of modeller, estimator and scheduler based on 3D model. We applied the system to a real project and compared the estimation result and we made a very successful case study.

• Environmental and Resource Economics Review
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• v.30 no.1
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• pp.107-128
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• 2021

It has been recognized that implementing the marginal price mechanism to CBP is not acceptable due to the lack of revenue of the marginal generators. This study shows that it is not the problem of marginal price mechanism but the structural problems originated by the suspension of restructuring, the technical limits of RSC program and inaccuracy of the generation cost estimation method. This study explains the method to calculate the cost function in operating modes of the CC generators and proposes the modeling for the CC generators in RSC program. To implementing the cost function in operating modes could give an opportunity to change the price setting mechanism from average to marginal cost. The price setting mechanism based on the marginal cost will be one of the main points to provide the right price signals and to introduce a real-time and A/S markets to prepare the energy transition era.