• Journal of the Korean Society of Marine Environment & Safety
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• v.19 no.6
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• pp.666-673
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• 2013

This paper proposes the performance evaluation test of attitude heading reference system (AHRS) suitable for small high speed autonomous underwater vehicle(AUV). Although IMU can provides the detail attitude information, it is sometime not suitable for small AUV with short operation time in view of price and the electrical power consumption. One of alternative for tactical grade IMU is the AHRS based micro-machined electro mechanical system(MEMS) which can overcome many problems that have inhibited the adoption of inertial system for small AUV such as cost and power consumption. A cost effective and small size AHRS which incorporates measurements from 3-axis MEMS gyroscopes, accelerometers, and 3-axis magnetometers has been developed to provide a complete attitude solution for AUV and the attitude calculation algorithm is derived based the coordinate transform equation and Kalman filter. The developed AHRS was validated through various performance tests as like the magnetometer calibration, operating experiments using land mobile vehicle and flight motion simulator (FMS). The test of magnetometer calibration shows the developed MEMS AHRS is robust to the external magent field change and the test with land vehicle proves the leveling error of developed MEMS AHRS is below $0.5^{\circ}/hr$. The results of FMS test shows the fact that AHRS provides the measurement with $0.5^{\circ}/hr$ error during 5 minutes operation time. These results of performance evaluation tests showed that the developed AHRS provides attitude information which error of roll and pitch are below $1^{\circ}$ and the error of yaw is below $5^{\circ}$ and satisfies the required specification. It is expected that developed AHRS can provide the precise attitude measurement under sea trial with real AUV.

• Journal of KIISE:Software and Applications
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• v.37 no.4
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• pp.282-296
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• 2010

OWL is an ontology language for the Semantic Web, and suited to modelling the knowledge of a specific domain in the real-world. Ontology also can infer new implicit knowledge from the explicit knowledge. However, the modeled knowledge cannot be complete as the whole of the common-sense of the human cannot be represented totally. Ontology do not concern handling nonmonotonic reasoning to detect incomplete modeling such as the integrity constraints and exceptions. A default rule can handle the exception about a specific class in ontology. Integrity constraint can be clear that restrictions on class define which and how many relationships the instances of that class must hold. In this paper, we propose a practical reasoning system for open and closed-world reasoning that supports a novel hybrid integration of ontology based on open world assumption (OWA) and non-monotonic rule based on closed-world assumption (CWA). The system utilizes a method to solve the problem which occurs when dealing with the incomplete knowledge under the OWA. The method uses the answer set programming (ASP) to find a solution. ASP is a logic-program, which can be seen as the computational embodiment of non-monotonic reasoning, and enables a query based on CWA to knowledge base (KB) of description logic. Our system not only finds practical cases from examples by the Protege, which require non-monotonic reasoning, but also estimates novel reasoning results for the cases based on KB which realizes a transparent integration of rules and ontologies supported by some well-known projects.

• Journal of Korean Society of Transportation
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• v.10 no.1
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• pp.55-62
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• 1992

교통수요는 교통정책 및 교통시설 계획의 수립 및 평가에 중요한 영향을 미치게 되므로 교통수요의 예측은 교통연구에서 중요한 부문을 차지하고 있다. 도로밑에 설치된 전자차량감지기(Electronic Vehicle Detector)로부터 자동 수집된 링크 교통량 자료(Traffic Counts)를 주요 입력자료로 이용하여 계획지역의 기종점 통행표(Origin Destination Trip Matrix)를 작성할 수 있는 기법 들이 최근 수년동안 많이 발달하게 되었다. 이러한 새로운 기법들은 가구조사(Home Inteview), 노변면접조사(Road-Side Interview)등을 토하여 조사된 자료를 기초로하는 전통적은 4단계 교통수요추정방법(Conventional 4-Stage Estimation Method)-통행발생(Generation), 통행분포(Distribution), 수단선택(Modal Split), 교통배분(Assignment)-과 비교하여 첫째로 정확도가 높은 링크 교통량 자료를 별도의 조사를 거치지 않고서도 수집이 가능하기 때문에 조사비용이 거의 들지 않아도 되어 경제적이고, 둘째로 전통적인 수요예측방법들에서 요구되어지는 복잡한 모형수립 및 계수조정(Parameter Calibration)이 필요하지 않아 간편하고 셋째로 오래전에 작성된 기종점 통행표를 단순히 링크 교통량 자료만을 이용하여 쉽게 보완할 수 있어 지속적인 자료의 축적(Data Age-ing)이 가능하며 더 나아 가서 소위 연속적인 교통 계획 및 교통시설관리(Continuous Transport Planning and Management)를 가능케 하는 등의 여러 장점 때문에 많은 주목을 받아 오고 최근 몇 년이 꾸준히 실무에 유용하게 적용이 되고 있는 실정이다. 본 연구는 링크 교통량자료를 이용하여 기종점 통행표를 작성하기 위하여 개발된 기존의 여러 기법들 가운데 특히 용량제약조건(Capacity-Restrained Condition)하에서 기존의 방법들을 상호 검토한 후 Wardrop의 교통망 평형원칙(Wardrop's First Network Equilibrium Principle)을 만족하는 새로운 추정기법을 제의하고 이의 시험결과를 논의하는 것을 주요내용으로 한다. 링크 교통량 자료를 이용하여 기종점 통행표를 작성하는 기법들의 근본 목표는 조사된 링크 교통량(Ob-served Traffic Counts)에 가장 근접한 교통망 통행 배정 링크 교통량(Assigned Link Volumes)을 재현(Re-producing)할 수 있는 기종점 통행표들 중에서 최적의 기종점 통행표를 발견하는 것이다. 따라서 교통망에서 통행자의 여행 경로 배정을 가장 잘 반영할 수 있는 현실적인(Realistic) 교통망 통행 배정 모형(Net-work Traffic Assignment Model)의 선택은 중요한 요소가 되며 특히 교통망에 교통체증(Traffic Conges-tion)이 심할 경우 교통망 통행자 평형조건(Network Traffic Equilibrium Condition)을 고려하기 위한 특별한 처리가 요구되어진다. 본 연구는 Whllumsen(Hall, Van Vliet and Willumsen, 1980)에 의하여 개발된 ME2(Maximum Entropy Matrix Estimation)기법에서 반복식 추정방법(Sequential Estimation Method)을 사용할 경우 Wardrop의 평형조건을 만족하는 기종점 통행표를 구할 수 없다는 단점을 극복하기 위한 방안으로서 엔트로피 극대화문제와 교통망 평형 조건(Entropy Maximisation and Network Equilibrium Condition)의 두 문제를 동시에 해결할 수 있는 새로운 수식모형과 이를 풀기 위한 알고리즘(Simultaneous Solution Algorithm)을 제의하였다. 제의된 수식모형과 알고리즘을 예제 교통망(Example Network)을 이용한 시험하고 그 결과를 ME2 의 반복식 추정 방법으로부터 구한 기종점 통행표와 비교 검토하였다.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.999-1004
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• 2005

An algorithm for a hybrid controller consists of a sliding mode control part and a fuzzy logic part which ar purposely for nonlinear systems. The sliding mode part of the solution is based on "eigenvalue/vector"-type controller is used as the backstepping approach for tracking errors. The fuzzy logic part is a Mamdani fuzzy model. This is designed by applying sliding mode control (SMC) method to the dynamic model. The main objective is to keep the update dynamics in a stable region by used SMC. After that the plant behavior is presented to train procedure of adaptive neuro-fuzzy inference systems (ANFIS). ANFIS architecture is determined and the relevant formulation for the approach is given. Using the error (e) and rate of error (de), occur due to the difference between the desired output value (yd) and the actual output value (y) of the system. A dynamic adaptation law is proposed and proved the particularly chosen form of the adaptation strategy. Subsequently VSC creates a sliding mode in the plant behavior while the parameters of the controller are also in a sliding mode (stable trainer). This study considers the ANFIS structure with first order Sugeno model containing nine rules. Bell shaped membership functions with product inference rule are used at the fuzzification level. Finally the Mamdani fuzzy logic which is depends on adaptive neuro-fuzzy inference systems structure designed. At the transferable stage from ANFIS to Mamdani fuzzy model is adjusted for the membership function of the input value (e, de) and the actual output value (y) of the system could be changed to trapezoidal and triangular functions through tuning the parameters of the membership functions and rules base. These help adjust the contributions of both fuzzy control and variable structure control to the entire control value. The application example, control of a mass-damper system is considered. The simulation has been done using MATLAB. Three cases of the controller will be considered: for backstepping sliding-mode controller, for hybrid controller, and for adaptive backstepping sliding-mode controller. A numerical example is simulated to verify the performances of the proposed control strategy, and the simulation results show that the controller designed is more effective than the adaptive backstepping sliding mode controller.

• The Journal of the Acoustical Society of Korea
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• v.7 no.4
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• pp.54-76
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• 1988

In Part Ⅰ of the paper, we have developed various block least mean-square (BLMS) adaptive digital filters (ADF's) based on a unified matrix treatment. In Part Ⅱ we analyze the convergence behaviors of the self-orthogonalizing frequency-domain BLMS (FBLMS) ADF and the unconstrained FBLMS (UFBLMS) ADF both for the overlap-save and overlap-add sectioning methods. We first show that, unlike the FBLMS ADF with a constant convergence factor, the convergence behavior of the self-orthogonalizing FBLMS ADF is governed by the same autocorrelation matrix as that of the UFBLMS ADF. We then show that the optimum solution of the UFBLMS ADF is the same as that of the constrained FBLMS ADF when the filter length is sufficiently long. The mean of the weight vector of the UFBLMS ADF is also shown to converge to the optimum Wiener weight vector under a proper condition. However, the steady-state mean-squared error(MSE) of the UFBLMS ADF turns out to be slightly worse than that of the constrained algorithm if the same convergence constant is used in both cases. On the other hand, when the filter length is not sufficiently long, while the constrained FBLMS ADF yields poor performance, the performance of the UFBLMS ADF can be improved to some extent by utilizing its extended filter-length capability. As for the self-orthogonalizing FBLMS ADF, we study how we can approximate the autocorrelation matrix by a diagonal matrix in the frequency domain. We also analyze the steady-state MSE's of the self-orthogonalizing FBLMS ADF's with and without the constant. Finally, we present various simulation results to verify our analytical results.

• The Transactions of the Korea Information Processing Society
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• v.7 no.8
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• pp.2484-2496
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• 2000

High speed switches have been developing to interconnect a large number of nodes. It is important to analyze the switch performance under various conditions to satisfy the requirements. Queueing analysis, in general, has the intrinsic problem of large state space dimension and complex computation. In fact, The petri net is a graphical and mathematical model. It is suitable for various applications, in particular, manufacturing systems. It can deal with parallelism, concurrence, deadlock avoidance, and asynchronism. Currently it has been applied to the performance of computer networks and protocol verifications. This paper presents a framework for modeling and analyzing ATM switch using stochastic activity networks (SANs). In this paper, we provide the ATM switch model using SANs to extend easily and an approximate analysis method to apply A TM switch models, which significantly reduce the complexity of the model solution. Cell arrival process in output-buffered Queueing A TM switch with finite buffer is modeled as Markov Modulated Poisson Process (MMPP), which is able to accurately represent real traffic and capture the characteristics of bursty traffic. We analyze the performance of the switch in terms of cell-loss ratio (CLR), mean Queue length and mean delay time. We show that the SAN model is very useful in A TM switch model in that the gates have the capability of implementing of scheduling algorithm.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.42 no.2
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• pp.523-535
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• 2017

Local intelligent services aim at controlling local services such as cooling or lightening services in a certain local area, using Internet-of-Things (IoT) sensor data in the area. As the IoT paradigm has evolved, local intelligent services have gained increasing attention. However, most of the local intelligent service mechanism proposed so far do not directly take the users' presence and service preference information into account for controlling local services. This study proposes an individual presence-and-preference-based local service system (IPP-LISS). We present a intelligent service control algorithm and implement a prototype system of IPP-LISS. Typically, the intelligence part of IPP-LISS including the prediction models, is generated on remote server in the cloud because of their compute-intense aspect. However, this can cause huge data traffic between IoT devices and servers in the cloud. The emerging mobile edge computing technology will be a promising solution of this challenge of IPP-LISS. In this paper, we implement IPP-LISS in the cloud, and then, based on the implementation result, we discuss applying the mobile edge computing technology to the IPP-LISS application.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.31 no.3B
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• pp.293-303
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• 2011

An efficient diagonalized approximate factorization algorithm (DAF) is developed for the solution of three-dimensional incompressible viscous flows. The pressure-based, artificial compressibility (AC) method is used for calculating steady incompressible Navier-Stokes equations. The AC form of the governing equations is discretized in space using a second-order-accurate finite volume method. The present DAF method is applied to derive a second-order accurate splitting of the discrete system of equations. The primary objective of this study is to investigate the computational efficiency of the present DAF method. The solutions of the DAF method are evaluated relative to those of well-known four-stage Runge-Kutta (RK4) method for fully developed and developing laminar flows in curved square ducts and a laminar flow in a cavity. While converged solutions obtained by DAF and RK4 methods on the same computational meshes are essentially identical because of employing the same discrete schemes in space, both algorithms shows significant discrepancy in the computing efficiency. The results reveal that the DAF method requires substantially at least two times less computational time than RK4 to solve all applied flow fields. The increase in computational efficiency of the DAF methods is achieved with no increase in computational resources and coding complexity.

• Transactions of the Korean Society of Mechanical Engineers
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• v.16 no.4
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• pp.737-752
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• 1992

Analysis of elasto-dynamic deformation of flexible linkage mechanism is conducted using the finite element method. The equations of motion of the system are derived from the static structural problem in which dynamic inertia, gravitational and driving forces are treated as external loads. Linear spring model is included in the formulation of equation of motions to represent the effects of deformation of elastic bearings of revolute joints on the system behavior. A computer program is constructed and applied to analyze a specific crank-lever 4-bar mechanism. The algorithm of the program is as follows. First, the natural frequencies and the mode shapes of the system are calculated by solving the eigenproblem of the mechanism system which can be considered as a static structure by assuming the input shaft (crank shaft) to be fixed at any given configuration of mechanism. And finally, the elasto-dynamic deformation of the whole system is obtained using mode superposition method for the case of constant input speed. The effect of geometric stiffness on the mechamism is included in the program with the axial forces of links obtained through the quasi-static displacement analysis. It is found that the geometric stiffness exerts an important effect upon the elasto-dynamic behavior of the flexible linkage mechanism. Elastic deformation of bearing lowers the natural frequencies of the system, resulting smaller elastic displacement at the mid-point of the links and bigger elestic displacement at the ends of the links than rigid bearing. The above investigation of flexible linkage mechanism shows that the effects of the elastic deformation of bearing on the mechanism should be considered to design the mechanism which satisfies more preciously the purpose and the condition of design.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.42 no.2 s.302
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• pp.27-36
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• 2005

This thesis proposed an effective encryption method for the DCT-based image/video contents and made it possible to operate in a high speed by implementing it as an optimized hardware. By considering the increase in the amount of the calculation in the image/video compression, reconstruction and encryption, an partial encryption was performed, in which only the important information (DC and DPCM coefficients) were selected as the data to be encrypted. As the result, the encryption cost decreased when all the original image was encrypted. As the encryption algorithm one of the multi-mode AES, DES, or SEED can be used. The proposed encryption method was implemented in software to be experimented with TM-5 for about 1,000 test images. From the result, it was verified that to induce the original image from the encrypted one is not possible. At that situation, the decrease in compression ratio was only $1.6\%$. The hardware encryption system implemented in Verilog-HDL was synthesized to find the gate-level circuit in the SynopsysTM design compiler with the Hynix $0.25{\mu}m$ CMOS Phantom-cell library. Timing simulation was performed by Verilog-XL from CadenceTM, which resulted in the stable operation in the frequency above 100MHz. Accordingly, the proposed encryption method and the implemented hardware are expected to be effectively used as a good solution for the end-to-end security which is considered as one of the important problems.