• The Journal of Korea Robotics Society
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• v.9 no.1
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• pp.28-38
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• 2014

This paper verifies the performance of Extended Kalman Filter(EKF) and MCL(Monte Carlo Localization) approach to localization of an underwater vehicle through experiments. Especially, the experiments use acoustic range sensor whose measurement accuracy and uncertainty is not yet proved. Along with localization, the experiment also discloses the uncertainty features of the range measurement such as bias and variance. The proposed localization method rejects outlier range data and the experiment shows that outlier rejection improves localization performance. It is as expected that the proposed method doesn't yield as precise location as those methods which use high priced DVL(Doppler Velocity Log), IMU(Inertial Measurement Unit), and high accuracy range sensors. However, it is noticeable that the proposed method can achieve the accuracy which is affordable for correction of accumulated dead reckoning error, even though it uses only range data of low reliability and accuracy.

• Journal of the Korea Safety Management & Science
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• v.11 no.3
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• pp.95-103
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• 2009

Recently the information system introduction and the application which use the computer are increasing. The efficient operation of information system helps corporations to improve productivity, customer service and corporate competitive power. SaaS(Software as a Service), which is the developed type of outsourcing in the area of information technology, is to use standardized and packaged application by hosting from the outside of enterprise. SaaS is not developed yet as much as people's interest about that in the initial stage, but its related technology and service capacity are accumulated after repeated trial and error, and it's ready to activate the industry. In the area of information system, studies on the measurement of service quality were followed. But there is little study on service quality measurement in the field of SaaS(Software as a Service). The purpose of this study was to divides the SaaS with e-SERVQUAL and it consider the relationship with the perceived recognition and the usage intention. According to this, variables of traditional research were rejected because SaaS is not developed yet in Korea. But information had a strong effect on perceived recognition. Therefore, business related with in SaaS must have provided a correct information about various applications.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.20 no.4
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• pp.65-71
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• 2020

In order to accurately track the trajectory of the smartphone indoors and outdoors, the WiFi Fingerprint method and the Pedestrian Dead Reckoning method are fused. The former can estimate the absolute position, but an error occurs randomly from the actual position, and the latter continuously estimates the position, but there are accumulated errors as it moves. In this paper, the model and Kalman Filter equation to fuse the estimated position data of the two methods were established, and optimal system parameters were derived. According to covariance value of the system noise and measurement noise the estimation accuracy is analyzed. Using the measured data and simulation, it was confirmed that the improved performance was obtained by complementing the two methods.

• The Journal of Korean Association of Computer Education
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• v.8 no.2
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• pp.33-40
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• 2005

It has been found that the learning method based on conventional CAI(Computer Assisted Instruction) to be inadequate and inefficient as it is designed without considering the individual learning characteristics of the learners. In order to rectify and remedy the problem, the development of an ITS(Intelligent Tutoring System) that is adequately equipped with an artificial intelligence that successfully interprets the individual learning ability characteristics through accumulated individual data is in order. This study attempts to verify the individual acquisition ability and the possible error committed by learners in the process of learning in order to present the elements to be considered for designing a successful student module that enables the effective learning through the 'learner ability grouping' for learning Electronic Calculator Architecture.

• Clinical and Experimental Reproductive Medicine
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• v.47 no.2
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• pp.94-100
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• 2020

The inverse correlation between maternal age and pregnancy rate represents a major challenge for reproductive endocrinology. The high embryo ploidy error rate in failed in vitro fertilization (IVF) cycles reflects genetic misfires accumulated by older oocytes over time. Despite the application of different follicular recruitment protocols during IVF, gonadotropin modifications are generally futile in addressing such damage. Even when additional oocytes are retrieved, quality is frequently poor. Older oocytes with serious cytoplasmic and/or chromosomal errors are often harvested from poorly perfused follicles, and ovarian vascularity and follicular oxygenation impact embryonic chromosomal competency. Because stimulation regimens exert their effects briefly and immediately before ovulation, gonadotropins alone are an ineffective antidote to long-term hypoxic pathology. In contrast, the tissue repair properties (and particularly the angiogenic effects) of platelet-rich plasma (PRP) are well known, with applications in other clinical contexts. Injection of conventional PRP and/or its components (e.g., isolated platelet-derived growth factors as a cell-free substrate) into ovarian tissue prior to IVF has been reported to improve reproductive outcomes. Any derivative neovascularity may modulate oocyte competence by increasing cellular oxygenation and/or lowering concentrations of intraovarian reactive oxygen species. We propose a mechanism to support intrastromal angiogenesis, improved follicular perfusion, and, crucially, embryo ploidy rescue. This last effect may be explained by mRNA upregulation coordinated by PRP-associated molecular signaling, as in other tissue systems. Additionally, we outline an intraovarian injection technique for platelet-derived growth factors and present this method to help minimize reliance on donor oocytes and conventional hormone replacement therapy.

• The Journal of Korean Institute of Communications and Information Sciences
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• v.29 no.12C
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• pp.1677-1685
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• 2004

Recently, FD (Frame Dropping)-CD (Coefficient Dropping) transcoding is considered due to the low computational complexity and simple implementation. The conventional FD-CD transcoding schemes have not considered the CD errors that tend to be propagated and accumulated. In this paper, we derive the error characteristics incurred by the CD errors and, through computer simulations, we show that the CD errors are propagated and not negligible to the decoded qualities of the next frames within single GOP. Then, we propose an exponential-decaying model that describes well the characteristics of propagation/accumulation errors. Finally, it is shown that the proposed model can be effectively used for estimating the overall distortions incurred by the CD errors.

• Journal of the Korean Society of Safety
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• v.17 no.4
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• pp.87-93
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• 2002

This paper is presented new fuzzy controller for high performance of induction motor drive. New fuzzy controller took out appropriate amounts of accumulated control input according to fuzzy described situations in addition to the incremental control input calculated by conventional direct fuzzy controller. The structures of the proposed controller was motivated by the problems of direct fuzzy controller. The direct controller was given generally inevitable overshoot when one tries to reduce rise time of response. The undesirable characteristics of the direct fuzzy controller are caused by integrating operation of the controller, even though the integrator itself is introduced to overcome steady state error in provide a thorough comparative insight into the behavior of induction motor drive with direct and new fuzzy speed controller. The validity of the comparative results is confirmed by the simulation results for induction motor drive system.

• Journal of Power Electronics
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• v.16 no.1
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• pp.27-37
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• 2016

In this paper, a mixed algorithm is proposed to overcome the limitations of the conventional algorithms, which cannot be applied in various driving patterns of drivers. The proposed algorithm based on the coulomb counting method is mixed with reset algorithms that consist of the enhanced OCV reset method and the DCIR iterative calculation method. It has many advantages, such as a simple model structure, low computational overload in various profiles, and a low accumulated SOC error through the frequent SOC reset. In addition, the enhanced parameter based on a mathematical analysis of the second-order RC ladder model is calculated and is then applied to all of the methods. The proposed algorithm is verified by experimental results based on a 27-Ah LiPB. It is observed that the SOC RMSE of the proposed algorithm decreases by about 9.16% compared to the coulomb counting method.

• The Journal of Korea Robotics Society
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• v.14 no.1
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• pp.65-73
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• 2019

In this paper, we propose an algorithm that estimates the location of lunar rover using IMU and vision system instead of the dead-reckoning method using IMU and encoder, which is difficult to estimate the exact distance due to the accumulated error and slip. First, in the lunar environment, magnetic fields are not uniform, unlike the Earth, so only acceleration and gyro sensor data were used for the localization. These data were applied to extended kalman filter to estimate Roll, Pitch, Yaw Euler angles of the exploration rover. Also, the lunar module has special color which can not be seen in the lunar environment. Therefore, the lunar module were correctly recognized by applying the HSV color filter to the stereo image taken by lunar rover. Then, the distance between the exploration rover and the lunar module was estimated through SIFT feature point matching algorithm and geometry. Finally, the estimated Euler angles and distances were used to estimate the current position of the rover from the lunar module. The performance of the proposed algorithm was been compared to the conventional algorithm to show the superiority of the proposed algorithm.

• The Journal of Korea Robotics Society
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• v.14 no.1
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• pp.50-57
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• 2019

This work presents a design and control method for a flexible robot arm operated by a wire drive that follows human gestures. When moving the robot arm to a desired position, the necessary wire moving length is calculated and the motors are rotated accordingly to the length. A robotic arm is composed of a total of two module-formed mechanism similar to real human motion. Two wires are used as a closed loop in one module, and universal joints are attached to each disk to create up, down, left, and right movements. In order to control the motor, the anti-windup PID was applied to limit the sudden change usually caused by accumulated error in the integral control term. In addition, master/slave communication protocol and operation program for linking 6 motors to MYO sensor and IMU sensor output were developed at the same time. This makes it possible to receive the image information of the camera attached to the robot arm and simultaneously send the control command to the robot at high speed.