• Journal of Institute of Control, Robotics and Systems
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• v.22 no.9
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• pp.723-732
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• 2016

This paper proposes an approach to fused navigation of an unmanned surface vehicle(USV) and to detection of the outlier or interference of global positioning system(GPS). The method fuses available sensor measurements through extended Kalman filter(EKF) to find the location and attitude of the USV. The method uses error covariance of EKF for detection of GPS outlier or interference. When outlier or interference of the GPS is detected, the method excludes GPS data from navigation process. The measurements to be fused for the navigation are GPS, acceleration, angular rate, magnetic field, linear velocity, range and bearing to acoustic beacons. The method is tested through simulated data and measurement data produced through ground navigation. The results show that the method detects GPS outlier or interference as well as the GPS recovery, which frees navigation from the problem of GPS abnormality.

• Journal of Institute of Control, Robotics and Systems
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• v.21 no.4
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• pp.315-320
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• 2015

This paper describes the implemenation of localization and visualization scheme to find out an ultrasonic source caused by defects of a power distribution line equipment. To increase the fault detection performance, $2{\times}4$ sensor array is configured with MEMS ultrasonic sensors, and from the sensor signals aquired, the azimuth and elevation angles of the ultrasonic source is estimated based on the delay-sum beam forming method. Also, to visualize the estimated location, it is marked on the background image. Experimental results show applicability of the present technique.

• International Journal of Quality Innovation
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• v.4 no.1
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• pp.148-159
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• 2003

Variation is the archenemy of quality. To reduce or control the variation in a complex production unit, firstly we need to identify the location of the root cause of the variation. This paper discusses the detection of variability and the techniques used for reduction of variation for a production unit consisting of many processes. In the first part of this paper, the background of variability detection in production systems is introduced which is then followed by a weighted network corresponding to correlation matrix of all processes. Based on the network and clustering criterion of maximum spanning tree, a classification of all processes is derived. Furthermore, the variation of each process in a class is determined by residual analysis. In the last part, the use of methods of robust design for the processes with a larger variability is discussed.

• Proceedings of the KIEE Conference
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• 2004.10a
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• pp.221-223
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• 2004

Accurate and reliable tracking system is essential for the central train control system. There are two systems widely being used, one is the fixed block system which utilizes the track circuit for the detection of train position, the other is the moving block system which has the advantage over the former since it enables shorter radio signal for the train position detection. In this paper a new algorithm is proposed which uses signal's phase difference of arrival to detect the train position. Experimental verification of the algorithm is presented in the paper.

• Journal of Electrical Engineering and Technology
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• v.10 no.6
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• pp.2393-2405
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• 2015

This paper considers a decentralized multiple faults detection and isolation (FDI) scheme for reconfigurable manipulators. Inspired by their modularization property, a global sliding mode (GSM) based stable adaptive fuzzy decentralized controller is investigated for the system in fault free, while for the system suffering from multiple faults (actuator fault and sensor fault), the decentralized sliding mode observer (DSMO) is employed to detect their occurrence. Hereafter, the time and location of faults can be determined by a fault isolation scheme via a bank of DSMOs. Finally, the effectiveness of the proposed schemes in controlling, detecting and isolating faults is illustrated by the simulations of two 3-DOF reconfigurable manipulators with different configurations successfully.

• Structural Engineering and Mechanics
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• v.32 no.4
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• pp.489-500
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• 2009

The aim of this paper is to compare wavelet, kurtosis and pseudofractal based techniques for structural health monitoring in the presence of measurement noise. A detailed comparison and assessment of these techniques have been carried out in this paper through numerical experiments for the calibration of damage extent of a simply supported beam with an open crack serving as an illustrative example. The numerical experiments are deemed critical due to limited amount of experimental data available in the field of singularity based detection of damage. A continuous detectibility map has been proposed for comparing various techniques qualitatively. Efficiency surfaces have been constructed for wavelet, kurtosis and pseudofractal based calibration of damage extent as a function of damage location and measurement noise level. Levels of noise have been identified for each technique where a sudden drop of calibration efficiency is observed marking the onset of damage masking regime by measurement noise.

• Structural Engineering and Mechanics
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• v.25 no.2
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• pp.131-146
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• 2007

This paper presents the results of a study to show how the development of a crack alters the structural behavior of I-shaped steel beams and how this can be used to evaluate nondestructive evaluation techniques. The approach is based on changes in the dynamic behavior. An approximate finite element model for a cracked beam with I-shaped cross-section is developed based on a simplified fracture model. The model is then used to review different damage cases. Damage detection techniques are studied to determine their ability to identify the existence of the crack and to identify its location. The techniques studied are the coordinate modal assurance criterion, the modal flexibility, and the state and the slope arrays.

• 제어로봇시스템학회:학술대회논문집
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• 2005.06a
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• pp.2015-2018
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• 2005

Obstacle avoidance is a basic skill to make a mobile robot move effectively and safely even in any arbitrarily given environment. Because of the difficulty of self-location caused by unavoidable slip and drift errors of sensors and effective detection of any encountered obstacle, only finite and simple obstacle avoidance strategies can be carried out. In this paper we mainly explored how to make a robot perform effectively obstacle detection and avoidance in the guideline navigation with one CCD video camera and some supersonic sensors. Making use of the specially designed guideline, the detection and calculation of the geometric dimensions of the encountered obstacle became simpler. And possible avoidance strategies appropriate to our navigation were studied and the simulations results were given.

• Interaction and multiscale mechanics
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• v.3 no.4
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• pp.321-331
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• 2010

A new technique is proposed for bridge structural damage detection based on spatial wavelet analysis of the time history obtained from vehicle body moving over the bridge, which is different from traditional detection techniques based on the bridge response. A simply-supported Bernoulli-Euler beam subjected to a moving spring-mass unit is established, with the crack in the beam simulated by modeling the cracked section as a rotational spring connecting two undamaged beam segments, and the equations of motion for the system is derived. By using the transfer matrix method, the natural frequencies and mode shapes of the cracked beam are determined. The responses of the beam and the moving spring-mass unit are obtained by modal decomposition theory. The continuous wavelet transform is calculated on the displacement time histories of the sprung-mass. The case study result shows that the damage location can be accurately determined and the method is effective.

• Proceedings of the KIEE Conference
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• 1999.07c
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• pp.1357-1359
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• 1999

This paper presents fault detection in cables. We developed the device for detecting pinpoint location of faults in power cables using acoustic method. The proposed device consists of hardware and software for the fault detection. Using the device, we explain how to detect the pinpoint of faults and introduce that the other method use the time delay between electro-magnetic and acoustic signals for the pinpoint of the faults.