• Journal of Institute of Control, Robotics and Systems
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• v.22 no.11
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• pp.904-911
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• 2016

This paper presents a novel driving system by the humanoid robot to drive a vehicle in disaster response situations. To enhance robot's capability for substituting human activities in responding to natural and man-made disaster, the one of prerequisite skills for the rescue robot is the mounted mobility to maneuver a vehicle safely in disaster site. Therefore, our driving system for the humanoid is developed in order to steer a vehicle through unknown obstacles even under poor communication conditions such as time-delay and black-out. Especially, the proposed system includes a tele-manipulation interface and stable navigation strategies. First, we propose a new type of path estimation method to overcome limited communication. Second, we establish navigation strategies when the operator cannot recognize obstacles based on Dynamic Window Approach. The effectiveness of the proposed developments is verified through simulation and experiments, which demonstrate suitable system for driving a vehicle in disaster response.

• Journal of the Institute of Electronics Engineers of Korea TC
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• v.44 no.12
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• pp.44-53
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• 2007

In this paper, we focus on the developments of complex location awareness algorithms for real-time location based service and precise/stable localization in the outdoor. In the case of using galileo satellite system along with GPS, several error factor such as the ionosphere can be reduced for an increment of used frequency and visible satellites. Therefore, localization estimation error is no longer having problems with location awareness. But, chips synchronization error induces the error of acquisition and tracking, and the performance of receiver can be decreased. In order to solve this problem, this paper proposes a correlator for performance improvement of receiver in the precise localization.

• Proceedings of the Acoustical Society of Korea Conference
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• spring
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• pp.135-138
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• 2002

본 논문은 반향경로의 순지연 시간 추정 및 보상을 이용한 네트워크 반향 제거기의 실시간 구현에 관한 연구이다. VoIP 게이트웨이와 연결된 복잡한 교환기망(PSTN)에서 발생되는 건 반향은 통화품질의 저하를 초래한다. 긴 순지연 시간을 포함하는 반향을 실시간 구현에 적합한 연산량으로 제거하기 위해, 간축 영역에서 반향 경로를 추정하여 순지연 시간을 추정후 보상하는 반향제거기를 구현하였다. 순지연 시간의 안정적인 추정을 위해 문턱치 보다 큰 유효 계수를 이용하여 순지연 시간을 추정하는 기법을 제안하였으며, 실시간 구현시 순간 최대 연산량을 줄이기 위해 추정된 반향 경로를 분할하여 순지연 시간을 추정하는 기법을 제안하였다. 제안된 시스템을 Texas Instruments사의 16비트 고정소수점 DSP TMS320C5409를 사용하여 구현하였고, 시뮬레이터를 통하여 성능을 검증하였다.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2004.11a
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• pp.327-332
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• 2004

Leak noise is a good source to identify the exact location of a leak point of underground water pipelines. Water leak generates broadband noise from a leak location and can be propagated to both directions of water pipes. This sound propagation due to leak in water pipelines is not a non-dispersive wave any more because of the surrounding pipes and soil. However, the necessity of long-range detection of this leak location makes to identify low-frequency acoustic waves rather than high frequency ones. Acoustic wave propagation coupled with surrounding boundaries including cast iron pipes is theoretically analyzed and the wave velocity was confirmed with experiment. The leak locations were identified both by the acoustic emission (AE) method and the cross-correlation method. In a short-range distance, both the AE method and cross-correlation method are effective to detect leak position. However, the detection for a long-range distance required a lower frequency range accelerometers only because higher frequency waves were attenuated very quickly with the increase of propagation paths. Two algorithms for the cross-correlation function were suggested, and a long-range detection has been achieved at real underground water pipelines longer than loom.

• Journal of the Korea Institute of Military Science and Technology
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• v.26 no.3
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• pp.214-226
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• 2023

A transfer alignment is used to initialize, align, and calibrate a SINS(Slave INS) using a MINS(Master INS) in motion. This paper presents an airborne transfer alignment with velocity and azimuth matching to estimate inertial sensor biases under the wing flexure influence. This study also considers the lever arm, time delay and relative orientation between MINS and SINS. The traditional transfer alignment only uses velocity matching. In contrast, this paper utilizes the azimuth matching to prevent divergence of the azimuth when the aircraft is stationary or quasi-stationary since the azimuth is less affected by the wing flexibility. The performance of the proposed Kalman filter is analyzed using two factors; one is the estimation performance of gyroscope and accelerometer bias and the other is comparing aircraft dynamics and attitude covariance. The performance of the proposed filter is verified using a long term flight test. The test results show that the proposed scheme can be effectively applied to various platforms that require airborne transfer alignment.

• The Journal of Korea Robotics Society
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• v.19 no.2
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• pp.139-148
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• 2024

In this paper, we propose a two-degree-of-freedom snake robot head system and an I-PID (Intelligent Proportional-Integral-Derivative)-based controller utilizing RBF (Radial Basis Function) neural network and adaptive robust terms as a control strategy to reduce rotation occurring in the snake robot head. This study proposes a two-degree-of-freedom snake robot head system to avoid complex snake robot dynamics. This system has a control system independent of the snake robot. Subsequently, it utilizes an I-PID controller to implement a control system that can effectively manage rotation at the snake robot head, the robot's nonlinearity, and disturbances. To compensate for the time delay estimation errors occurring in the I-PID control system, an RBF neural network is integrated. Additionally, an adaptive robust term is designed and integrated into the control system to enhance robustness and generate control inputs responsive to signal changes. The proposed controller satisfies stability according to Lyapunov's theory. The proposed control strategy was tested using a 9-degreeof-freedom snake robot. It demonstrates the capability to reduce rotation in Lateral undulation, Rectilinear, and Sidewinding locomotion.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.9 no.6
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• pp.566-572
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• 2016

Software Reliability implemented in software development is one of the most important issues. In finite failure NHPP software reliability models for software failure analysis, the hazard function that means a failure rate may have constant independently for failure time, non-increasing or non-decreasing pattern. In this study, software development cost analysis considering the variable shape parameter of Erlang distribution as the failure life distribution in the software product testing process was studied. The software failure model was applied finite failure Non-Homogeneous Poisson Procedure and the parameters approximation using maximum likelihood estimation was accompanied. Thus, this paper was presented comparative analysis by applying a software failure time data to the software, considering the shape parameter of Erlang distribution for development cost model analysis. When compared to the cost curve in accordance with the shape parameter, the model of smaller shape can be seen that the optimal software release time delay and more cost. Through this study, it is thought that it can serve as a preliminary information which can basically help the software developers to search for development cost according to software shape parameters.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.14 no.9
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• pp.2099-2104
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• 2010

In this paper, HRV signal which was appeared RR intervals from ECG was analyzed using return-map during anesthesia. We intended to estimate the depth of anesthesia observing the change of autonomic nervous activity(ANS) because HRV showed change of cardio-vascular system of the body according to state of ANS. Return-map analysis is to reconstruct time series of HRV to phase space after calculating delay time and embedded time. After approximating the signal distribution which was reconstructed in phase space in elliptic, we calculated the lengths of major and minor axises of the elliptic and the values was used to estimate the depth of anesthesia. Stages of the anesthesia were 7 levels to evaluate the depth of anesthesia. At induction stage of strong external stimulation, the length of major and minor axis were statistically high and at the operation stage of non-external stimulation, the values were statistically low. Conclusively, the stages of anesthesia were discriminated by HRV signal mapped in the phase space during operation.

• Journal of Positioning, Navigation, and Timing
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• v.6 no.4
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• pp.167-179
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• 2017

In this paper, a simplified Cubature Kalman Filter (SCKF) is proposed to reduce the computation load of CKF, which is then used as a filter for transfer alignment of shipboard INS. CKF is an approximate Bayesian filter that can be applied to non-linear systems. When an initial estimation error is large, convergence characteristic of the CKF is more stable than that of the Extended Kalman Filter (EKF), and the reliability of the filter operation is more ensured than that of the Unscented Kalman Filter (UKF). However, when a system degree is large, the computation amount of CKF is also increased significantly, becoming a burden on real-time implementation in embedded systems. A simplified CKF is proposed to address this problem. This filter is applied to shipboard inertial navigation system (INS) transfer alignment. In the filter design for transfer alignment, measurement type and measurement update rate should be determined first, and if an application target is a ship, lever-arm problem, flexure of the hull, and asynchronous time problem between Master Inertial Navigation System (MINS) and Slave Inertial Navigation System (SINS) should be taken into consideration. In this paper, a transfer alignment filter based on SCKF is designed by considering these problems, and its performance is validated based on simulations.

• Journal of Broadcast Engineering
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• v.16 no.5
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• pp.738-749
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• 2011

In this paper, we study QoS(Quality of Service) control protocols and the effect using MAC/PHY parameters of client device in mobile network. We proposes the way of controling the bit-rate by estimating the channel condition of the client with measured MAC/PHY parameters which is sent from the client. With the proposed method, more accurate available bit-rate can be estimated compared to conventional protocol, RTCP(Real-time Transport Control Protocol). The accurate bit-rate estimation can decrease wasted bit-rate and transport delay. In the result of the advantages, the transported video quality can be enhanced. In this paper, we show the effects of enhancement using client's the field data measured in WiMAX.