• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.1
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• pp.25-32
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• 2017

Most of weapon systems use aided navigation system which integrates inertial navigation and aiding sensors to compensate the INS errors increasing with the passage of time. Various aid sensors can be applied such as Global Navigation Satellite System (GNSS), radar, barometer, etc., but there might exist time delay caused by signal processing or transferring aid information. This time delay leads out-of-sequence measurements (OOSM) systems. Previously, optimal and suboptimal measurment update method for OOSM systems, where the time delay length are known, are proposed. However, previous algorithm does not guarantee the positive definite property of covariance matrix. In order to improve numerical stability for aided navigation using delayed-measurement, this paper proposes a new measurement covariance update algorithm be similar to Joseph-form in Kalman filter. Futhermore, we propose how to implement it in indirect feedback Kalman filter structure, which is commonly used in aided navigation systems, for time-delayed measurement systems. Simulation and vehicle test results show effectiveness of a proposed algorithm.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.8
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• pp.792-799
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• 2008

Motion estimation is crucial in a remote control for its convenience or accuracy. Time delays, however, can occur in the problem because data communication is required through a network. In this paper, state estimation problem with uncertain time delayed measurements is addressed. In dynamic system with noise, after taking measurements, it often requires some time until that is available in the filter algorithm. Standard filters not considering this time delays cannot be used since the current measurement is related with a past state. These delayed measurements are solved with augmented extended Kalman filter, and the uncertainty of delayed time is also resolved based on an explicit formulation. The proposed method is analyzed and verified by simulations.

• International Journal of Control, Automation, and Systems
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• v.5 no.4
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• pp.355-363
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• 2007

The paper deals with the Kalman stochastic filtering problem for linear continuous-time systems with both instantaneous and time-delayed measurements. Different from the standard linear system, the system state is corrupted by multiplicative white noise, and the instantaneous measurement and the delayed measurement are also corrupted by multiplicative white noise. A new approach to the problem is presented by using projection formulation and reorganized innovation analysis. More importantly, the proposed approach in the paper can be applied to solve many complicated problems such as stochastic $H_{\infty}$ estimation, $H_{\infty}$ control stochastic system with preview and so on.

• Transactions on Control, Automation and Systems Engineering
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• v.1 no.2
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• pp.106-112
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• 1999

This paper presents an H$\infty$ controller design method for linear systems with time-varying delayed states, inputs, and measurement outputs. Using a Lyapounov unctional , the stability for delay systems is discussed independently of time delays . And a sufficient condition for the existence of H$\infty$ controllers of n-th order is given in terms of three matrix inequalities. Based on the positive-definite solutions of their matrix inequalities, we briefly explain how to construct H$\infty$ construct H$\infty$ controller, which stabilizes time-delay systems independently of delays and guarantees an H$\infty$ norm bound.

• International Journal of Control, Automation, and Systems
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• v.6 no.3
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• pp.378-385
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• 2008

This paper aims to present a polynomial approach to the steady-state optimal filtering for delayed systems. The design of the steady-state filter involves solving one polynomial equation and one spectral factorization. The key problem in this paper is the derivation of spectral factorization for systems with delayed measurement, which is more difficult than the standard systems without delays. To get the spectral factorization, we apply the reorganized innovation approach. The calculation of spectral factorization comes down to two Riccati equations with the same dimension as the original systems.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.46 no.3
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• pp.244-250
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• 2018

Multilateration acquires the transponder signal of target from receivers installed on the ground and calculates the position of the target using the difference of the signal acquisition time of each receiver. One of the factors that influence the positioning accuracy of Multilateration using the TDOA calculation method is the error due to the precision measurement of signal input time. When measuring the signal input time at the receiver, the input signal is sampled using the reference clock of the receiver and a reference sample having the same sampling rate is applied to the cross correlation technique. Therefore, the accuracy of the signal input time is proportional to the reference clock. In this paper, the algorithm for precisely measuring the signal input time by performing cross correlation between the input signal of the receiver and DRS(Delayed Reference Sample) is proposed. In order to verify this, we implemented the pulse signal of the transponder that is transmitted from the target using Matlab. Through the simulation, cross correlation between the proposed DRS and the input signal was performed. From this result, the performance of the precise measurement of signal input time was analyzed.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.49 no.5
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• pp.373-381
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• 2021

This paper details the result of flight experiment that examines performance of roll angle estimation algorithm of slowly rolling munition taking time delay of measurement into account when measurement comes in delayed fashion. As the measurement is passed through low pass filter for numerical stabilization and de-noising purpose which induces time delay, we design augmented state Kalman filter that incorporates distribution models of stochastic delay over time. Flight experiment was conducted to verify the algorithm at around 250m high AGL(Above Ground Level) conveying velocity of 28m/s from fixed-wing mother plane to the munition. Munition was made spun with respect to its roll axis using internal reaction wheel afterward. Numerical comparison of proposing method's roll estimation performance with that of commercial aerospace graded GPS/INS shows that proposed filter design can effectively compensate time delay of measurement.

• The Journal of Korean Academy of Prosthodontics
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• v.45 no.2
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• pp.250-262
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• 2007

Statement of problem: It was reported high success rate of implant-supported fixed prostheses using with $5{\sim}6$ implants on anterior mandible. Recently, immediate loading protocol was focused to overcome disadvantages of classic 2-stage delayed loading protocol. Purpose: This clinical study was to evaluate stability changes with time of immediately loaded and delayed loaded implants in edentulous mandible and to compare stability changes with time according to implantation sites. Materials and methods: Five or six implants were placed on anterior mandible depending on the arch shape. The immediately loading group was consisted of 8 patients received their prostheses within $24{\sim}48$ hours after implantation. The delayed loading group was consisted of 8 patients received their definitive prostheses following classical prosthetic procedures after a healing period of 3 months. All patients were recalled every 6 months for check-up. The evaluations of radiographic examination, ISQ value measurement and recording of complication were done. To evaluate marginal bone level, intraoral periapical radiographs were taken with long cone paralleling technique. At every evaluation recall, all prostheses were removed and ISQ values were measured with OsstellTM on individual implants. Results: 1. None of implants was failed. All implants showed stable marginal bone levels and ISQ values. 2. Marginal bone level changes with time showed statistically significant difference between immediately loading group and delayed loading group (P<0.001). 3. ISQ value changes with time did not show statistically significant difference between immediately loading group and delayed loading group (P=0.079). ISQ value decreased with time in both groups, however, all implants showed stable ISQ value at 30 months-recall evaluation. 4. Marginal bone level changes with time did not show statistically significant differences among implantation sites (P=0.604). 5. ISQ value changes with time showed statistically significant differences among implantation sites (P=0.047). ISQ values of most posterior implants decreased with time comparing to other implants. Conclusion: Although the marginal bone level of the terminal abutment didn't different with the other implants, ISQ value of the terminal abutment was lower than that of the other implants. Therefore, further clinical evaluation would be needed in this point of view.

• Nuclear Engineering and Technology
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• v.41 no.6
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• pp.813-820
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• 2009

A rapid pneumatic transfer system (PTS) for an instrumental neutron activation analysis (INAA) is developed as an automatic irradiation facility involving the measurement of a short half-life nuclide and a delayed neutron counting system. Three new PTS designs with improved functions were constructed at the HANARO research reactor in 2006. The new system is composed of a manual system and an automatic system for both an INAA and a delayed neutron activation analysis (DNAA). The design and basic conception of a modified PTS are described, and the functions of system operation and control, radiation protection and emissions of radioactive gas are improved. In addition, a form of capsule transportation of these systems is tested. The experimental results pertaining to the irradiation characteristics with variation of the neutron flux and the temperature of the irradiation position with the irradiation time are presented, as is an analysis of the reference material for analytical quality control and uncertainty assessments.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.12 no.12
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• pp.5789-5796
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• 2011

This study examined the effect of VT(Vibration Training) on the symptoms of DOMS (Delayed-Onset Muscle Soreness) before induced by eccentric exercise of the left leg triceps surae. Twenty one healthy adult men and women who had not participated in a regular exercise program for the lower extremities were assigned to one of two experimental groups: vibration training group, Control group. We measured the VAS(Visual Analogue Scale), ankle plantar flexor strength, triceps surae circumference, CK(Creatine Kinase) before and after exercise and 24, 48 and 72 hours after eccentric exercise. After inducing DOMS, VAS showed significant differences between groups at a point of time 48 hours, and showed significant differences within groups in accordance with the time of measurement(p<.05). Plantar flexor strength of groups with VT did not show significant difference between groups but, showed significant differences within groups in accordance with the time of measurement(p<.05). Triceps surae circumference of groups with VT did not show significant difference between groups but, showed significant differences within groups in accordance with the time of measurement(p<.05). CK of groups with VT did not show significant difference between groups but, showed significant differences within groups in accordance with the time of measurement(p<.05). As a result of the study, VT prior to eccentric exercise is effective to inhibit pain. So, this method can be suggested to prevent DOMS in doing an unfamiliar activites.