• 제어로봇시스템학회논문지
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• 제19권10호
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• pp.915-920
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• 2013

Payload capacity and transition ability are essential for climbing robots to apply the robots to various applications such as inspection and exploration. This paper presents a new climbing robotic platform with multi-link structure of track-wheel modules to enhance payload capacity and transition ability, and its tracking controller design and experimental results. The compliances between track-wheel modules achieve stable internal and external transitions while the large adhesion area of the track-wheel module enhances the payload capacity of the robot. Kinematic model-based tracking controller is designed and implemented for autonomous internal transition, and the gains of the controller are optimized by experimental design. Experiments on the automatic internal transitions are performed and the results guarantee autonomous internal transition with little tracking error.

• 한국항공운항학회지
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• 제22권4호
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• pp.25-33
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• 2014

As global warming becoming an environmentally serious issue, more attention is drawn to fuel consumption which is the direct source of green house gas emission. The fuel consumption by aircraft operation is not an exception. Motivated by the societal and environmental context, this paper explains a method for estimation of aircraft fuel consumed during their flights as well as the computational process using real flight track data. Applying so-called 'Total Energy Model' along with aircraft specific parameters provided in EUROCONTROL's Base of Aircraft Data (BADA) to aircraft radar track data, we estimate fuel consumption of individual aircraft flown between Gimpo and Jeju airports. We then assess the estimation accuracy by comparing the estimated fuel consumption with the actual one collected from an airline. The computational results are quite encouraging in that the method is able to estimate the actual fuel consumption within ${\pm}6{\sim}11%$ of error margin. The limitations and possible enhancements of the method are also discussed.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권1호
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• pp.1-10
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• 2005

This paper proposes a new and simple input prediction method for robust servo system. A robust tracking control system for optical disk drives was proposed recently based on both Coprime Factorization (CF) and Zero Phase Error Tracking (ZPET) control. The CF control system can be designed simply and systematically. Moreover, this system has not only stability but also robustness to parameter uncertainties and disturbance rejection capability. Since optical disk tracking servo system can detect only tracking error, it was proposed that the reference input signal for ZPET could be estimated from tracking errors. In this paper, we propose a new control structure for the ZPET controller. It requires less memory than the previously proposed method for the reference signal generation. Numerical simulation results show that the proposed method is effective.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2002년도 Proceedings of International Symposium on Remote Sensing
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• pp.553-558
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• 2002

Physical sensor model in pushbroom satellite images can be made from sensor modeling by rotation parameters and attitude parameters on the satellite track. These parameters are determined by the information obtained from GPS, INS, or star tracker. Provided from satellite image, an auxiliary data error is connected directly with an error of rotation parameters and attitude parameters. This paper analyzed how obtaining satellite images influenced errors of rotation parameters and attitude parameters. furthermore, for detailed analysis, this paper generated simulated satellite image, which was changed variously by rotation parameters and attitude parameters of satellite sensor model. Simulated satellite image is generated by using high-resolution digital aerial image and DEM (Digital Elevation Model) data. Moreover, this paper determined correlation of rotation parameter and attitude parameters through error analysis of simulated satellite image that was generated by various rotation parameters and attitude parameters.

• 대한임베디드공학회논문지
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• 제12권4호
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• pp.223-229
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• 2017

An angle error is a factor obstructing to track accurate position in tracking radars. And the noise incurring the angle error can be divided as follows; thermal noise and glint. In general, Extended Kalman filter used in tracking radars is designed with considering thermal noise only. The Extended Klaman filter uses a fixed measurement error covariance when updating an estimate state by using ahead state and measurement. But, a noise power varies according to the range. Therefore we purposes the adaptive Kalman filter which changes the measurement noise covariance according to the range. In this paper, we compare the performance of the Extended Kalman filter and the proposed adaptive Kalman filter by considering KSLV-I (Korean Satellite Launch Vehicles).

• International Journal of Precision Engineering and Manufacturing
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• 제7권4호
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• pp.51-56
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• 2006

This paper proposes a control algorithm, which is verified experimentally, for aspherical surface grinding and polishing. The algorithm provides simultaneous control of the position and interpolation of an aspheric curve. The nonlinear formula for the tool position was derived from the aspheric equation and the shape of the tool. The function was partitioned at specific intervals and the control parameters were calculated at each control section. The position, acceleration, and velocity at each interval were updated during the process. A position error feedback was introduced using a rotary encoder. The feedback algorithm corrected the position error by increasing or decreasing the feed speed. In the experimental verification, a two-axis machine was controlled to track an aspherical surface using the proposed algorithm. The effects of the control and process parameters were monitored. The results demonstrated that the maximum tracking error with tuned parameters was at the submicron level for concave and convex surfaces.

• 정보저장시스템학회논문집
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• 제2권1호
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• pp.56-64
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• 2006

This paper proposes a new and simple input prediction method for robust servo system. A robust tracking control system for optical disk drives to reject disk runout was recently proposed based on both Coprime Factorization(CF) and Zero Phase Error Tracking(ZPET) control. The CF control system can be designed simply and systematically. Moreover, this system has not only stability but also robustness to parameter uncertainties and disturbance rejection capability. Since optical disk tracking servo systems can detect only racking error, it was proposed that the reference input signal for ZPET could be estimated from tracking errors. In this paper, we propose a new control structure for the ZPET controller. It requires less memory than the previously proposed method for the reference signal generation. Therefore, it is very effective in runout control. Furthermore, this method can be applied to defective optical disk like surface defects on disk. Numerical simulation and experimental result show the proposed method effective.

• 대기
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• 제20권4호
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• pp.451-466
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• 2010

This edition has continued since 2006 tropical cyclone season our effort to provide standard tropical cyclone summaries by the western North Pacific basin and detailed reviews of operationally or meteorologically significant tropical cyclones to document significant challenges and shortfalls in the tropical cyclone warning system to serve as a focal point for research and development efforts. The tropical cyclone season of 2009 in the western North Pacific basin is summarized and the main characteristics of general atmospheric circulation are described. Also, the official track and intensity forecasts of these cyclones are verified. The total number is less than 59-year (1951~2009) average frequency of 26.4. The 2009 western North Pacific season was an inactive one, in which 22 tropical storms generated. Of these, 13 TCs reached typhoon (TY) intensity, while the rest 9 TCs only reached severe tropical storm (STS) and tropical storm (TS) intensity - three STS and six TS storms. On average of 22 TCs in 2009, the Korea Meteorological Administration official track forecast error for 48 hours was 219 km. There was a big challenge for individual cyclones such as 0902 CHAN-HOM, 0909 ETAU, and 0920 LUPIT resulting in significant forecast error, with both intricate tracks and irregular moving speed. There was no tropical cyclone causing significant direct impact to the country. The tropical cyclone season in 2009 began in May with the formation of KUJIRA (0901). In September and October, ten TSs formed in the western North Pacific in response to enhanced convective activity. On the other hand, the TC activity was very weak from June to July. It is found that the unusual anti-cyclonic circulation in the lower level and weak convection near the Philippines are dominant during summertime. The convection and atmospheric circulation in the western North Pacific contributed unfavorable condition for TC activity in the 2009 summertime. Year 2009 has continued the below normal condition since mid 1990s which is apparent in the decadal variability in TC activity.

• 대기
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• 제26권1호
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• pp.1-18
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• 2016

Eleven Tropical Cyclone (TC) intensity guidance models in the western North Pacific have been validated over 2008~2014 based on various analysis methods according to the lead time of forecast, year, month, intensity, rapid intensity change, track, and geographical area with an additional focus on TCs that influenced the Korean peninsula. From the evaluation using mean absolute error and correlation coefficients for maximum wind speed forecasts up to 72 h, we found that the Hurricane Weather Research and Forecasting model (HWRF) outperforms all others overall although the Global Forecast System (GFS), the Typhoon Ensemble Prediction System of Japan Meteorological Agency (TEPS), and the Korean version of Weather and Weather Research and Forecasting model (KWRF) also shows a good performance in some lead times of forecast. In particular, HWRF shows the highest performance in predicting the intensity of strong TCs above Category 3, which may be attributed to its highest spatial resolution (~3 km). The Navy Operational Global Prediction Model (NOGAPS) and GFS were the most improved model during 2008~2014. For initial intensity error, two Japanese models, Japan Meteorological Agency Global Spectral Model (JGSM) and TEPS, had the smallest error. In track forecast, the European Centre for Medium-Range Weather Forecasts (ECMWF) and recent GFS model outperformed others. The present results has significant implications for providing basic information for operational forecasters as well as developing ensemble or consensus prediction systems.

• 로봇학회논문지
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• 제9권1호
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• pp.39-47
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• 2014

Odometry using wheel encoders is one of the fundamental techniques for the pose estimation of wheeled mobile robots. However, odometry has a drawback that the position errors are accumulated when the travel distance increases. Therefore, position errors are required to be reduced using appropriate calibration schemes. The UMBmark method is the one of the widely used calibration schemes for two wheel differential drive robots. In UMBmark method, it is assumed that odometry error sources are independent. However, there is coupled effect of odometry error sources. In this paper, a new calibration scheme by considering the coupled effect of error sources is proposed. We also propose the test track design for the proposed calibration scheme. The numerical simulation and experimental results show that the odometry accuracy can be improved by the proposed calibration scheme.