• 말소리와 음성과학
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• 제7권2호
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• pp.19-28
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• 2015

This study investigated final consonant error characteristics at word-medial position in children with functional articulation disorder. Data was collected from 11 children with functional articulation and 11 normal children, ages 4 to 5. The speech samples were collected from a naming test. Seventy-five words with every possible bi-consonants matrix at the word-medial position were used. The results of this study were as follows : First, percentage of correct word-medial final consonants of functional articulation disorder was lower than normal children. Second, there were significant differences between two groups in omission, substitution and assimilation error. Children with functional articulation disorder showed a high frequency of omission and regressive assimilation error, especially alveolarization in regressive assimilation error most. However, normal children showed a high frequency of regressive assimilation error, especially bilabialization in regressive assimilation error most. Finally, the results of error analysis according to articulation manner, articulation place and phonation type of consonants of initial consonant at word-medial, both functional articulation disorder and normal children showed a high error rate in stop sound-stop sound condition. The error rate of final consonant at word-medial position was high when initial consonant at word-medial position was alveolar sound and alveopalatal sound. Futhermore, when initial sounds were fortis and aspirated sounds, more errors occurred than linis sound was initial sound. The results of this study provided practical error characteristics of final consonant at word-medial position in children with speech sound disorder.

• 제어로봇시스템학회논문지
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• 제8권10호
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• pp.890-897
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• 2002

This paper deals with the reduction of trajectory tracking error by changing the initial postures of a biped robot. Gait of a biped robot depends on the constraints of mechanical kinematics and the initial states including the posture. Also the dynamic walking stability in a biped robot system is analyzed by zero moment point(ZMP) among the stabilization indices. Path trajectory, in which knee joint is bent forward like human's cases, is applied to most cases considered with above conditions. A new initial posture, which is similar to bird's gait, is proposed to decrease trajectory tracking error and it is verified through real experimental results.

• 대한전기학회논문지
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• 제38권3호
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• pp.193-200
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• 1989

The errors of activation energy calculated by the initial rise method from the characteristics of thermally stimulated current have been estimated and an equation for the correction of the error is proposed. The coefficients needed in the proposed equation are determined by the numerical method. It is shown that the activation energy calculated by the conventional initial rise method contains errors of 0.7-10% depending on the location of the data points of the interval on which the method is applied. However, the error can be reduced to less than 0.5% when corrected by using the proposed equation. It is finally concluded that the activation energy determined by the initial rise method can approach the true value by adapting the proposed error correction method which is effective and reliable.

• 제어로봇시스템학회논문지
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• 제20권4호
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• pp.468-473
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• 2014

This paper describes the in-flight alignment of SDINS (Strapdown Inertial Navigation Systems) using an EKF (Extended Kalman Filter) and a UKF (Unscented Kalam Filter), which allow large initial attitude error uncertainty. Regardless of the inertial sensors, there are nonlinear error dynamics of SDINS in cases of large initial attitude errors. A UKF that is one of the nonlinear filtering approaches for IFA (In-Flight Alignment) are used to estimate the attitude errors. Even though the EKF linearized model makes velocity errors when predicting incorrectly in case of large attitude errors, a UKF can represent correctly the velocity errors variations of attitude errors with nonlinear attitude error components. Simulation results and analyses show that a UKF works well to handle large initial attitude errors of SDINS and the alignment error attitude estimation performance are quite improved.

• 대기
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• 제20권4호
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• pp.399-414
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• 2010

Sand and dust storm in East Asia, so called Asian dust, is a seasonal meteorological phenomenon. Mostly in spring, dust particles blown into atmosphere in the arid area over northern China desert and Manchuria are transported to East Asia by prevailing flows. An Asian dust event occurred on 6-8 May 2007 is chosen to investigate how sensitive the Asian dust transport forecast to the initial condition uncertainties and to interpret the characteristics of sensitivity structures from the viewpoint of dynamics and predictability. To investigate the forecast sensitivities to the initial condition, adjoint sensitivities that calculate gradient of the forecast aspect (i.e., response function) with respect to the initial condition are used. The forecast aspects relevant to Asian dust transports are dry energy forecast error and lower tropospheric pressure forecast error. The results show that the sensitive regions for the dry energy forecast error and the lower tropospheric pressure forecast error are initially located in the vicinity of the trough and then propagate eastward as the surface low system moves eastward. The vertical structures of the adjoint sensitivities for the dry energy forecast error are upshear tilted structures, which are typical adjoint sensitivity structures for extratropical cyclones. Energy distribution of singular vectors also show very similar structures with the adjoint sensitivities for the dry energy forecast error. The adjoint sensitivities of the lower tropospheric pressure forecast error with respect to the relative vorticity show that the accurate forecast of the trough (or relative vorticity) location and intensity is essential to have better forecasts of the Asian dust event. Forecast error for the atmospheric circulation during the dust event is reduced 62.8% by extracting properly weighted adjoint sensitivity perturbations from the initial state. Linearity assumption holds generally well for this case. Dynamics of the Asian dust transport is closely associated with predictability of it, and the improvement in the overall forecast by the adjoint sensitivity perturbations implies that adjoint sensitivities would be beneficial in improving the forecast of Asian dust events.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.34-39
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• 1993

Presented in this paper is a complete error covariance analysis for strapdown inertial navigation system(SDINS). We have found that in SDINS the cross-coupling terms in gyrocompass alignment errors can significantly influence the SDINS error propagation. Initial heading error has a close correlation with the east component of gyro bias erro, while initial level tilt errors are closely related to accelerometer bias errors. In addition, pseudo-state variables are introduced in covariance analysis for SDINS utilizing the characteristics of gyrocompass alignment errors. This approach simplifies the covariance analysis because it makes the initial error covariance matrix to a diagonal form. Thus a real implementation becomes easier. The approach is conformed by comparing the results for a simplified case with the covariance analysis obtained from the conventional SDINS error model.

• 음성과학
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• 제7권2호
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• pp.7-18
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• 2000

The purpose of this study was to investigate the phonological error patterns of korean children with and without specific phonological disorders(SPD). In this study, 29 normally developing children and 10 SPD children were involved. The children were matched the percentage of consonants correct(PCC). 22 picture cards were used to elicit korean consonants in word initial syllable initial, word medial syllable initial, word medial syllable final, word final syllable final positions. The findings were as follows. First, the phonological error patterns of SPD were 1) similar to those of normal children with the same PCC, 2) similar to those of normal children with the lower PCC, or 3) unusual to those of normal children. Second,. korean children showed phonological processes reflecting the korean phonological characteristics: tensification, reduction of the word medial syllable final consonant. This study suggests that both the PCC and error patterns should be considered in assessing phonological abilities of children.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2001년도 ICCAS
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• pp.61.2-61
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• 2001

The purpose of the initial alignment of a SDINS is to get a coordinate transformation matrix from the body frame to the navigation frame. The initial alignment is one of the most important processes in the navigation system since its error has a large influence on the navigation solution. In this paper, a real-time initial alignment algorithm for the SDINS is developed using the Kalman filter. The steady state error analysis is performed for the developed Kalman filter technique and the gyrocompass loop method. The performance of the developed alignment method is compared with the gyrocompass loop method through the real-time alignment experiments.

• Journal of Astronomy and Space Sciences
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• 제36권4호
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• pp.249-264
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• 2019

In this study, the precise orbit determination (POD) software is developed for optical observation. To improve the performance of the estimation algorithm, a nonlinear batch filter, based on the unscented transform (UT) that overcomes the disadvantages of the least-squares (LS) batch filter, is utilized. The LS and UT batch filter algorithms are verified through numerical simulation analysis using artificial optical measurements. We use the real optical observation data of a low Earth orbit (LEO) satellite, Cryosat-2, observed from optical wide-field patrol network (OWL-Net), to verify the performance of the POD software developed. The effects of light travel time, annual aberration, and diurnal aberration are considered as error models to correct OWL-Net data. As a result of POD, measurement residual and estimated state vector of the LS batch filter converge to the local minimum when the initial orbit error is large or the initial covariance matrix is smaller than the initial error level. However, UT batch filter converges to the global minimum, irrespective of the initial orbit error and the initial covariance matrix.

• 전기학회논문지
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• 제58권4호
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• pp.867-872
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• 2009

Peak expiratory flow rate(PEF) is one of the most important diagnostic parameters in spirometry. PEF occurs in a very short duration during the forced expiratory maneuver, which could lead to measurement error due to non-ideal dynamic characteristic of the transducer. In such case the initial slope of the flow rate signal determines the accuracy of the measured PEF. The present study considered this initial slope as a parameter to compensate PEF. The 26 standard flow rate signals recommended by the American Thoracic Society(ATS) were flown through the air flow transducer followed by simultaneous measurements of PEF and maximum transducer output$(N_{PEF})$. $N_{PEF}$-PEF satisfied a quadratic equation in general, however, two signals (ATS #2 and #26) having large initial slopes deviated from the fitting equation to a significant degree. The relative error was found to be in a linear relationship with the initial slope, thus, $N_{PEF}$ was appropriately compensated to provide accurate PEF with mean relative error less than only 1%. The 99% confidence interval of the mean relative error was less than a half of the error limit of 5% recommended by ATS. Therefore, PEF can be very accurately determined by compensating the transducer output based on the initial slope, which should be a useful technique for air flow transducer calibration.