• 한국자동차공학회논문집
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• 제12권6호
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• pp.182-190
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• 2004

This paper presents reconstruction analysis of vehicle trajectory using records of a developed black box, and results of validation tests. For reconstruction of vehicle trajectory, the black box records the longitudinal and lateral accelerations and yaw-rate of vehicle during a pre-defined time period before and after the accident. One 2-axis accelerometer is used for measuring accelerations, and one vibrating structure type gyroscope is used for measuring yaw-rate of vehicle. The vehicle's planar trajectory can be reconstructed by integrating twice accelerations along longitudinal and lateral directions with yaw-rate values. However, there may be many kinds of errors in sensor measurements. The causes of errors are as follows: mis-alignment, low frequency offset drift, high frequency noise, and projecting 3-dimensional motion into 2-dimensional motion. Therefore, some procedures are taken for error compensation. In order to evaluate the reliability and the accuracy of trajectory reconstruction results, the black box was mounted on a passenger car. The vehicle was driven and tested along various specified lanes. Through the tests, the accuracy and usefulness of the reconstruction analysis have been validated.

• International Journal of Aeronautical and Space Sciences
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• 제10권2호
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• pp.12-22
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• 2009

This paper deals with the State-Dependent Riccati Equation (SDRE) Technique for the design of rotorcraft waypoint guidance. To generate the flight trajectory through multiple waypoints, we use the trigonometric spline. The controller design and its validation is based upon a level 2 simulation rotorcraft model and the designed SDRE controller is applied to the trajectory tracking problems. To verify the designed guidance law, the simulation environment of high fidelity rotorcraft model is developed using three independent PCs. This paper focuses on the validation of rotorcraft waypoint guidance law which is designed by using SDRE Controller.

• International Journal of Internet, Broadcasting and Communication
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• 제15권3호
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• pp.94-102
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• 2023

Anomaly detection in human movements can improve safety in indoor workplaces. In this paper, we design a framework for detecting anomalous trajectories of humans in indoor spaces based on a variational autoencoder (VAE) with Bi-LSTM layers. First, the VAE is trained to capture the latent representation of normal trajectories. Then the abnormality of a new trajectory is checked using the trained VAE. In this step, the anomaly score of the trajectory is determined using the trajectory reconstruction error through the VAE. If the anomaly score exceeds a threshold, the trajectory is detected as an anomaly. To select the anomaly threshold, a new metric called D-score is proposed, which measures the difference between recall and precision. The anomaly threshold is selected according to the minimum value of the D-score on the validation set. The MIT Badge dataset, which is a real trajectory dataset of workers in indoor space, is used to evaluate the proposed framework. The experiment results show that our framework effectively identifies abnormal trajectories with 81.22% in terms of the F1-score.

• 대한기계학회논문집A
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• 제33권9호
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• pp.922-929
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• 2009

This paper deals with the State-Dependent Riccati Equation (SDRE) Technique for the design of helicopter nonlinear waypoint guidance controller. To generate the flight guidance through multiple waypoints, we use the trigonometric spline. The controller design and its validation is based upon a level 2 simulation helicopter model and the designed SDRE controller is applied to the trajectory tracking problems. To validate the designed SDRE controller, the simulation environment of high fidelity helicopter model is developed using three independent computers. This paper focuses on the validation the present SDRE controller through the helicopter waypoint guidance simulation.

• 로봇학회논문지
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• 제8권2호
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• pp.92-103
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• 2013

Humanoid robot is the most intimate robot platform suitable for human interaction and services. Biped walking is its basic locomotion method, which is performed with combination of joint actuator's rotations in the lower extremity. The present work employs humanoid robot simulator and numerical optimization method to generate optimal joint trajectories for biped walking. The simulator is developed with Matlab based on the robot structure constructed with the Denavit-Hartenberg (DH) convention. Particle swarm optimization method minimizes the cost function for biped walking associated with performance index such as altitude trajectory of clearance foot and stability index concerning zero moment point (ZMP) trajectory. In this paper, instead of checking whether ZMP's position is inside the stable region or not, reference ZMP trajectory is approximately configured with feature points by which piece-wise linear trajectory can be drawn, and difference of reference ZMP and actual one at each sampling time is added to the cost function. The optimized joint trajectories realize three phases of stable gait including initial, periodic, and final steps. For validation of the proposed approach, a small-sized humanoid robot named DARwIn-OP is commanded to walk with the optimized joint trajectories, and the walking result is successful.

• 한국해양공학회지
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• 제37권4호
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• pp.145-157
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• 2023

Due to a recent increase in maritime activities in South Korea, the frequency of maritime distress is escalating and poses a significant threat to lives and property. The aim of this study was to validate a drift trajectory prediction technique to help mitigate the damages caused by maritime distress incidents. In this study, OpenDrift was verified using satellite drifter data from the Korea Hydrographic and Oceanographic Agency. OpenDrift is a Monte-Carlo-based Lagrangian trajectory modeling framework that allows for considering leeway, an important factor in predicting the movement of floating marine objects. The simulation results showed no significant differences in the performance of drift trajectory prediction when considering leeway using four evaluation methods (normalized cumulative Lagrangian separation, root mean squared error, mean absolute error, and Euclidean distance). However, leeway improved the performance in an analysis of location prediction conformance for maritime search and rescue operations. Therefore, the findings of this study suggest that it is important to consider leeway in drift trajectory prediction for effective maritime search and rescue operations. The results could help with future research on drift trajectory prediction of various floating objects, including marine debris, satellite drifters, and sea ice.

• 제어로봇시스템학회논문지
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• 제14권12호
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• pp.1238-1243
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• 2008

This paper presents an HILS(Hardware in the Loop Simulations) based experimental study for the UAV's flight trajectory planning/generation algorithms and guidance/control laws. For the various mission that is loaded on each waypoint, proper trajectory planning and generation algorithms are applied to achieve best performances. Specially, the 'smoothing path' generation and the 'tangent orbit path' guidance laws are presented for the smooth path transitions and in-circle loitering mission, respectively. For the control laws that can minimize the effects of side wind, side slip angle($\beta$) feedback to the rudder scheme is implemented. Finally, being implemented on real hardwares, all the proposed algorithms are validated with integrations of hardware and software altogether via HILS.

• Wind and Structures
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• 제22권1호
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• pp.17-41
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• 2016

To address the uncertainty of the flight trajectories caused by the turbulence and gustiness of the wind field over the roof and in the wake of a building, a 3-D probabilistic trajectory model of flat-type wind-borne debris is developed in this study. The core of this methodology is a 6 degree-of-freedom deterministic model, derived from the governing equations of motion of the debris, and a Monte Carlo simulation engine used to account for the uncertainty resulting from vertical and lateral gust wind velocity components. The influence of several parameters, including initial wind speed, time step, gust sampling frequency, number of Monte Carlo simulations, and the extreme gust factor, on the accuracy of the proposed model is examined. For the purpose of validation and calibration, the simulated results from the 3-D probabilistic trajectory model are compared against the available wind tunnel test data. Results show that the maximum relative error between the simulated and wind tunnel test results of the average longitudinal position is about 20%, implying that the probabilistic model provides a reliable and effective means to predict the 3-D flight of the plate-type wind-borne debris.

• 반도체디스플레이기술학회지
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• 제21권2호
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• pp.1-6
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• 2022

This computational investigation of micro-sized particle dispersion concerns the fume particle contamination over target surface in high-precision laser line machining process of semiconductor and display device materials. Employing the random sampling based on probabilistic fume particle generation distributions, the effects of sphericity for nonspherical fume particles are analyzed for the fume particle dispersion and contamination near the laser machining line. The drag coefficient correlation for nonspherical particles in a low Reynolds number regime is selected and utilized for particle trajectory simulations after drag model validation. When compared to the corresponding results by the assumption of spherical fume particles, the sphericity of nonspherical fume particles show much less dispersion and contamination characteristics and it also significantly affects the particle removal rate in a suction air flow patterns.

• 한국항공운항학회지
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• 제23권4호
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• pp.42-48
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• 2015

This paper has its purpose on constructing a prediction model of the arrival sequencing strategy which reflects the actual sequencing patterns of air traffic controllers. As the first step, we analyzed a pair-wise sequencing of two aircraft entering TMA from different entering points. Based on the historical trajectory data, several traffic factors such as time, speed and traffic density were examined for the model. With statistically significant factors, we constructed a prediction model of arrival sequencing through a binary logistic regression analysis. With the estimated coefficients, the performance of the model was conducted through a cross validation.