• Journal of the Korean Institute of Intelligent Systems
• /
• v.22 no.3
• /
• pp.353-360
• /
• 2012

This paper describes a SLAM method which estimates landmark locations and robot pose simultaneously. The particle filter can deal with nonlinearity of robot motion as well as the non Gaussian property of robot motion uncertainty and sensor error. The state to be estimated includes the locations of landmarks in addition to the robot pose. In the experiment, four beacons which transmit ultrasonic signal are used as landmarks. The robot receives the ultrasonic signals from the beacons and detects the distance to them. The method uses rang scanning sensor to build geometric feature of the environment. Since robot location and heading are estimated by the particle filter, the scanned range data can be converted to the geometric map. The performance of the method is compared with that of the deadreckoning and trilateration.

• Journal of the Korean Data and Information Science Society
• /
• v.25 no.6
• /
• pp.1315-1331
• /
• 2014

Replacement rates which shows the ratio of retirement income relative to preretirement income is used for a valuable evaluation measures while discussing social security benefit levels or the adequacy of retirement income. However, replacement rates has been only used for an index for evaluating benefit level at the time of retirement or specific retirement period in advanced research projects. This article analyzes how much the uncertainty of survival has an influence on retirement income, and shows replacement rates in conformity with the period of survival as an index. The researchers named this index lifetime income replacement rates. Analysis based on this index shows both life replacement income rates of 38.3% in men's case and of 41.1% in women's case while enrolled for 20years in three pension plans - national pension, retirement pension and individual annuity.

• Journal of Electrical Engineering and Technology
• /
• v.13 no.1
• /
• pp.168-180
• /
• 2018

In order to achieve the high quality output voltage of single-phase voltage source inverters, in this paper an Adaptive Complementary Sliding Mode Control (ACSMC) is proposed. Firstly, the dynamics model of the single-phase inverter with lumped uncertainty including parameter variations and external disturbances is derived. Then, the conventional Sliding Mode Control (SMC) and Complementary Sliding Mode Control (CSMC) are introduced separately. However, when system parameters vary or external disturbance occurs, the controlling performance such as tracking error, response speed et al. always could not satisfy the requirements based on the SMC and CSMC methods. Consequently, an ACSMC is developed. The ACSMC is composed of a CSMC term, a compensating control term and a filter parameters estimator. The compensating control term is applied to compensate for the system uncertainties, the filter parameters estimator is used for on-line LC parameter estimation by the proposed adaptive law. The adaptive law is derived using the Lyapunov theorem to guarantee the closed-loop stability. In order to decrease the control system cost, an inductor current estimator is developed. Finally, the effectiveness of the proposed controller is validated through Matlab/Simulink and experiments on a prototype single-phase inverter test bed with a TMS320LF28335 DSP. The simulation and experimental results show that compared to the conventional SMC and CSMC, the proposed ACSMC control strategy achieves more excellent performance such as fast transient response, small steady-state error, and low total harmonic distortion no matter under load step change, nonlinear load with inductor parameter variation or external disturbance.

• Analytical Science and Technology
• /
• v.17 no.2
• /
• pp.153-162
• /
• 2004

Dioxin CRM for QA/QC was prepared with fly ash collected from municipal waste incinerator. With that CRM inter-laboratory test was carried out. The collected fly ash was conducted several homogeneity steps including sievings and mixing. Homogeneity test and estimation of uncertainty was performed by one-way ANOVA based on ISO guide 35. Compared concentrations of fly ash of participants to CRM values, PCDDs value was lower than that of CRM in almost participants, and showed higher PCDFs concentration than that of CRM. Although there is a small difference in PCDD/Fs concentrations with congeners of extract, the result was close to mean value.

• Journal of the Korean Society for Aeronautical & Space Sciences
• /
• v.37 no.3
• /
• pp.301-306
• /
• 2009

In this study a 3-component rotating balance, which is designed to measure the thrust (Fz) and two moment components (Mx, My) simultaneously for a rotor test jig, is designed and its performance is validated experimentally. The low voltage signal from the strain gages mounted on the balance is amplified with a rotating amplifier, which is then fed through a slip-ring unit into the data acquisition system. In order to validate the accuracy of the calibration matrix obtained from a static calibration test, an additional reaction type balance is used to measure the thrust from a model rotor simultaneously, and shows very good result. Finally, the expanded uncertainty value, which is obtained from ISO method is estimated to be $2.82\times10^{-1}$, and the balance turns out to be reliable.

• Tribology and Lubricants
• /
• v.31 no.2
• /
• pp.35-41
• /
• 2015

A water-pump located in the cooling area of a car circulates cooling water. A particular bearing element, known as a water-pump bearing, installed in the rotating part carries the entire load. The failure of this water-pump bearing has a direct impact on the failure of the automobile engine, and so securing its reliability is crucial. Several researchers have examined the design principles of the water-pump bearing, but there are no reports on the life characteristic of the bearing yet. Herein, we report the construction of test equipment to reproduce the spalling of the roller contact, which is the main failure mode of the chosen water-pump bearing. We chose the radial load as an accelerated stress factor and validated the failure mode by monitoring the surface defects. We conducted the accelerated life test after determining the accelerated stress level through a combination of finite element analysis and a preliminary test. In the life tests, we used an accelerometer to perform failure diagnosis. In the last stage of this study, we present a statistical reliability analysis. Thus, we fully estimated the shape parameter of the water-pump bearing, accelerating level on the load , and the lifetime (MTTF and B₁₀ life) under real use conditions, and finally proposed an interval estimation value considering the uncertainty of the estimated value.

• Journal of the Institute of Electronics and Information Engineers
• /
• v.53 no.3
• /
• pp.99-106
• /
• 2016

In this paper, we will discuss about correction method of missing data on noisy observation matrix and uncertainty analysis for the potential noise. In situations without missing data in an observation matrix, this solution is known to be accurately induced by SVD (Singular Value Decomposition). However, usually the several entries of observation matrix have not been observed and other entries have been perturbed by the influence of noise. In this case, it is difficult to find the solution as well as cause the 3D reconstruction error. Therefore, in order to minimize the 3D reconstruction error, above all things, it is necessary to correct reliably the missing data under noise distribution and to give a quantitative evaluation for the corrected results. This paper focuses on a method for correcting missing data using geometrical properties between 2D projected object and 3D reconstructed shape and for estimating a noise level of the observation matrix using ranks of SVD in order to quantitatively evaluate the performance of the correction algorithm.

• Proceedings of the Korea Water Resources Association Conference
• /
• 2017.05a
• /
• pp.359-359
• /
• 2017

하천관리청은 유량변동이 큰 환경에서도 평상시 하천의 기능을 유지하고 안정적인 용수공급이 이루어지도록 하천수 허가관리를 수행하고 있다. 이때, 하천수 사용허가 검토시 기준으로 사용되는 유량은 자연상태의 기준갈수량에서 하천유지유량을 감안하여 적용하고 있는데, 이는 하천유량의 변동에도 최대 용수수요를 만족할 수 있게끔 관리하기 위한 것으로 최대 사용량일 때의 물의 과부족을 계산하여 허가 여부를 결정한다. 본 연구에서는 Park et al.(2016)이 제안한 시기별(홍수기/이수기, 비관개기/관개기 고려) 하천수 사용허가 기준유량 설정방법을 기반으로, 수질오염총량제(Total Maximum Daily Loads, TMDLs)에서 적용하는 안전율(Margin of Safety, MOS)의 개념을 접목하여 허가기준유량의 불확실성을 정량적으로 고려할 수 있는 방법을 제시하였다. 허가기준 유량은 수문모델에 의해 자연상태의 모의유량을 유황분석하여 도출하게 되므로 유량의 연도별 변도성(Margin of Variability, MOV)과 예측모델 매개변수의 불확실성(Margin of Uncertainty, MOU)을 고려하는 Walker Jr.(2003)의 안전율 산정방법을 적용하였다. 본 연구에서는 금호강 유역을 대상으로 시기별 자연유량 산정시 고려한 SWAT 모형결과를 기반으로 하였으며, 모의자료의 변이계수를 산정하여 시간적 변동성에 의한 불확실성을 도출하고 SWAT-CUP모형을 활용하여 모형의 불확실성을 도출하여 안전율을 계산하였다. 단, 기준갈수량이 허가기준유량으로 사용되는 기간(1월 1일~3월 31일)에는 안전율까지 고려할 경우 지나치게 보수적이라고 판단되어 적용에서 제외하였다. 본 연구에서 제안된 불확실성을 고려한 하천수 관리방법론은 시기별 하천수 허가기준유량 설정에 대한 의사결정자들의 판단을 지원하는데 기여함으로써 정책적 활용도를 높일 뿐만아니라 탄력적인 하천유량관리를 위한 기초연구로 활용될 수 있을 것이며, 타 분야 기술과의 융합이라는 점에서도 의의를 가질 수 있을 것으로 생각된다.

• Proceedings of the Korea Water Resources Association Conference
• /
• 2018.05a
• /
• pp.186-186
• /
• 2018

본 연구에서는 매개변수 자동 보정기법인 PEST(Model-Independent Parameter Estimation and Uncertainty Analysis)를 CAT 모형에 연계하여 유출특성 분석을 실시하였다. CAT-PEST 연계모형은 CAT 모형의 모의유출량을 이용하며 PEST의 반복계산을 통하여 최적 매개변수를 추정한다. 침투방법은 CAT에서 제공하는 Rainfall Excess 방법, Green and Ampt 방법 및 Horton 방법을 이용하였으며 각 침투방법에 따른 유출 특성을 비교 및 분석하였다. 연구대상유역은 보령 댐 유역으로 유역면적은 $163.7km^2$이며 전체면적의 약 80%가 산지로 구성되어 있고, 유로연장은 22.3km, 유역평균경사는 40.19%이다. 또한 보령댐 유역의 월평년값 평균기온은 -0.8에서 $25.5^{\circ}C$로 계절변동이 매우 큰 것을 알 수 있다. 최근 몇 년간 심각한 가뭄 피해를 입은 보령댐 유역은 2016년에 도수관로를 완공하여 이를 통해 금강으로부터 물을 끌어다 쓰고 있는 실정이며, CAT 모형에서는 금강도수유입량을 외부유입 처리하여 유출량을 산정하였다. 모의기간은 1999년부터 2017년까지이며 전체기간에 대한 보정 후 연도별 보정을 실시하였다. 통계적 평가수단은 $R^2$, RMSE 및 NSE를 사용하여 유역 최종출구점에서의 유출량과 비교하였으며 전체기간에 대한 보정결과 NSE와 $R^2$가 0.75 이상으로 나타나 대체적으로 모의 유출수문곡선이 관측 수문곡선과 유사한 양상을 보였다.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.37 no.5
• /
• pp.379-388
• /
• 2019

Recently, a technique for acquiring spatial information data using UAV (Unmanned Aerial Vehicle) has been greatly developed. It is a very crucial issue of the GIS (Geographic Information System) mapping system that passes way point in the unmanned airframe and finally measures the accurate image and stable localization to the desired destination. Though positioning using DGPS (Differential Global Navigation System) or RTK-GPS (Real Time Kinematic-GPS) guarantee highly accurate, they are more expensive than the construction of a single positioning system using a single GPS. In the case of a low-priced single GPS system, the stability of the positioning data deteriorates. Therefore, it is necessary to supplement the uncertainty of the absolute position data of the UAV and to improve the accuracy of the current position data economically in the operating state of the UAV. The aim of this study was to present an algorithm enhancing the stability of position data in a single GPS mode of UAV with multiple GPS. First, the arrangement of multiple GPS receivers through the center of gravity of the UAV were examined. Next, MD (Mahalanobis Distance) is applied to detect instantaneous errors of GPS data in advance and eliminate outliers to increase the accuracy of previously collected multiple GPS data. Processing procedure for multiple GPS reception data by applying the center of the triangular method were presented to improve the position accuracy. Second, UAV navigation systems integrated multiple GPS through configuration of the UAV specifications were implemented. Using the unmanned airframe equipped with multiple GPS receivers, GPS data is measured with the TCM (Triangular Center Method). In addition, UAV equipped with multiple GPS were operated in study area and locational accuracy of multiple GPS of UAV with VRS (Virtual Reference Station) GNSS surveying were compared. The result showed that the error factors are compensated, and the error range are reduced, resulting in the reliability of the corrected value. In conclusion, the result in this paper is expected to realize high-precision position estimation at low cost in UAV using multiple low-cost GPS receivers.