• Journal of Institute of Control, Robotics and Systems
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• v.16 no.12
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• pp.1167-1175
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• 2010

This paper presents the use of the inertial measurement unit information and the infrared sector information for getting the position of an object. Travel distance is usually calculated from the double integration of the accelerometer output with respect to time; however, the accumulated errors due to the drift are inevitable. The orientation change of the accelerometer also causes error because the gravity is added to the measured acceleration. Unless three axis orientations are completely identified, the accelerometer alone does not provide correct acceleration for estimating the travel distance. We propose a way of minimizing the error due to the change of the orientation. In order to reduce the accumulated error, the infrared sector information is fused with the inertial measurement unit information. Infrared sector information has highly deterministic characteristics, different from RFID. By putting several infrared emitters on the ceiling, the floor is divided into many different sectors and each sector is set to have a unique identification. Infrared light based sector information tells the sector the object is in, but the size of the uncertainty is too large if only the sector information is used. This paper presents an algorithm which combines both the inertial measurement unit information and the sector information so that the size of the uncertainty becomes smaller. It also introduces a framework which can be used with other types of the artificial landmarks. The characteristics of the developed infrared light based sector and the proposed algorithm are verified from the experiments.

• The Journal of Society for e-Business Studies
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• v.23 no.2
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• pp.97-110
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• 2018

With the advent of the 4-th industrial revolution, manufacturing companies have increasing interests in the realization of smart manufacturing by utilizing their accumulated facilities data. However, most previous research dealt with the structured data such as sensor signals, and only a little focused on the unstructured data such as text, which actually comprises a large portion of the accumulated data. Therefore, we propose an association rule mining based facility error pattern extraction framework, where text data written by operators are analyzed. Specifically, phrases were extracted and utilized as a unit for text data analysis since a word, which normally used as a unit for text data analysis, is unable to deliver the technical meanings of facility errors. Performances of the proposed framework were evaluated by addressing a real-world case, and it is expected that the productivity of manufacturing companies will be enhanced by adopting the proposed framework.

• Journal of the Institute of Convergence Signal Processing
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• v.13 no.4
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• pp.166-172
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• 2012

The standard wave height measurement system is usually based on spectrum analysis for measuring wave height. The spectrum analysis is complicated because of the FFT, and the FFT is not for real time processing since it requires the saved data segments. In this paper, we carried out the performance evaluation of real-time and simpler wave height measurement system using the kalman filter and inertial sensors. The kalman filter theory is complicated, but its algorithm is simpler than the FFT and the kalman filter is used to estimate wave height by integrating acceleration data. But the accumulated error is occurred when the acceleration data is integrated. We developed the algorithm using the wind wave characteristic to decrease the accumulated error. In this paper, the performance evaluation of the wave height measurement system is carried out for various wind wave conditions. Through the experiments, we verified that it shows high measurement performance with the 3.5% margin of error in wind wave condition.

• Journal of Ocean Engineering and Technology
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• v.31 no.1
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• pp.28-35
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• 2017

This paper introduces a GPS-aided dead reckoning algorithm that asymptotically estimates the heading bias error of a magnetic compass based on geodetic north, improves the position error accumulated by dead reckoning, and helps the estimated position of an AUV to represent a position in the NED coordinate system, by receiving GPS position information when surfaced. Based on the results of a simulation, the locational error was bounded with a modest distance, after estimating the AUV position and heading bias error of the magnetic compass when surfaced. In other words, it was verified that proposed algorithm improves the position error in the NED coordinate system.

• The Journal of Korea Robotics Society
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• v.9 no.1
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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.

• Journal of Environmental Science International
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• v.30 no.12
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• pp.1053-1065
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• 2021

In this study, the prediction technology of Hydrological Quantitative Precipitation Forecast (HQPF) was improved by optimizing the weather predictors used as input data for machine learning. Results comparison was conducted using bias and Root Mean Square Error (RMSE), which are predictive accuracy verification indicators, based on the heavy rain case on August 21, 2021. By comparing the rainfall simulated using the improved HQPF and the observed accumulated rainfall, it was revealed that all HQPFs (conventional HQPF and improved HQPF 1 and HQPF 2) showed a decrease in rainfall as the lead time increased for the entire grid region. Hence, the difference from the observed rainfall increased. In the accumulated rainfall evaluation due to the reduction of input factors, compared to the existing HQPF, improved HQPF 1 and 2 predicted a larger accumulated rainfall. Furthermore, HQPF 2 used the lowest number of input factors and simulated more accumulated rainfall than that projected by conventional HQPF and HQPF 1. By improving the performance of conventional machine learning despite using lesser variables, the preprocessing period and model execution time can be reduced, thereby contributing to model optimization. As an additional advanced method of HQPF 1 and 2 mentioned above, a simulated analysis of the Local ENsemble prediction System (LENS) ensemble member and low pressure, one of the observed meteorological factors, was analyzed. Based on the results of this study, if we select for the positively performing ensemble members based on the heavy rain characteristics of Korea or apply additional weights differently for each ensemble member, the prediction accuracy is expected to increase.

• The Journal of the Convergence on Culture Technology
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• v.9 no.6
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• pp.301-307
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• 2023

Deep learning requires building a deep neural network, collecting a large amount of training data, and then training the built neural network for a long time. If training does not proceed properly or overfitting occurs, training will fail. When using deep learning tools that have been developed so far, it takes a lot of time to collect training data and learn. However, due to the rapid advent of the mobile environment and the increase in sensor data, the demand for real-time deep learning technology that can dramatically reduce the time required for neural network learning is rapidly increasing. In this study, a real-time deep learning system was implemented using an Arduino system equipped with a fine dust sensor. In the implemented system, fine dust data is measured every 30 seconds, and when up to 120 are accumulated, learning is performed using the previously accumulated data and the newly accumulated data as a dataset. The neural network for learning was composed of one input layer, one hidden layer, and one output. To evaluate the performance of the implemented system, learning time and root mean square error (RMSE) were measured. As a result of the experiment, the average learning error was 0.04053796, and the average learning time of one epoch was about 3,447 seconds.

• Journal of the Institute of Electronics Engineers of Korea SP
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• v.41 no.3
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• pp.111-120
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• 2004

This paper proposes a vector error diffusion method for smear artifact reduction in the boundary region. This artifact mainly results from a large accumulation of quantization errors. In particular, color bands with a smear artifact, the width of a few pixels appear along the edges. Accordingly, to reduce this artifact, the proposed halftoning process excludes the large accumulated Quantization error by comparing the vector norms and vector angles between the error-corrected vector and eight primary color patches. When the vector norm of the error corrected vector is larger than those of eight primary color patches, the quantization error vector is excluded from the quantization error distribution process. In addition, the quantization error is also excluded when the angle between eight primary color patches and error corrected vector is large. As a result, the proposed method enables a visually pleasing halftone pattern to be generated by all three color separations into account in a device- independent color space and reduces smear artifact in the boundary regions.

• Journal of Biosystems Engineering
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• v.36 no.1
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• pp.48-57
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• 2011

The computer vision system was designed and constructed to measure the weight of a dairy cattle. Its development involved the functions of image capture, image preprocessing, image algorithm, and control integrated into one program. The experiments were conducted with the model dairy cattle and the real dairy cattle by two ways. First experiment with the model dairy cattle was conducted by using the indoor vision experimental system, which was built to measure the model dairy cattle in the laboratory. Second experiment with real dairy cattle was conducted by using the outdoor vision experimental system, which was built for measuring 229 heads of cows in the cattle facilities. This vision system proved to a reliable system by conducting their performance test with 15 heads of real cow in the cattle facilities. Indirect weight measuring with four methods were conducted by using the image processing system, which was the same system for measuring of body parameters. Error value of transform equation using chest girth was 30%. This error was seen as the cause of accumulated error by manually measurement. So it was not appropriate to estimate cow weight by using the transform equation, which was calculated from pixel values of the chest girth. Measurement of cow weight by multiple regression equation from top and side view images has relatively less error value, 5%. When cow weight was measured indirectly by image surface area from the pixel of top and side view images, maximum error value was 11.7%. When measured cow weight by image volume, maximum error weight was 57 kg. Generally, weight error was within 30 kg but maximum error 10.7%. Volume transform method, out of 4 measuring weight methods, was minimum error weight 21.8 kg.

• Journal of Korea Multimedia Society
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• v.16 no.2
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• pp.213-225
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• 2013

This paper proposes a design method of ball-plate robot controller using single camera and two motors to balance the ball on plate and reduce steady state control error. To design the ball-plate system, it is necessary to observe state of the ball and maintain balance of the plate. The state of the ball is tracked by using the CAMShift algorithm and position error of the ball is compensated by the Kalman filter. Balance of the plate is controlled by driving two motors and we used DC motors which has smaller measurement error. Due to surface condition of the plate or tracking error of ball's position, there are small errors remained. These errors are accumulated and disturb maintaining balance of the ball. To handle the problem, we propose a controller supplemented with an integrator.