• Journal of the Korean Society for Aviation and Aeronautics
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• v.18 no.1
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• pp.39-44
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• 2010

A method is presented of dynamic determination of mode transition probability for IMM in order to improve the accuracy performance of maneuvering target tracking for air traffic control surveillance processing system under multiple radar environment. It is shown that dynamic determination of mode transition probability based on the time intervals between the data input from multiple radars gives the optimized performance in terms of position estimation accuracy.

• Korean Management Science Review
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• v.29 no.3
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• pp.1-11
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• 2012

This paper considers a localization problem in time difference of arrival (TDOA)-based radio frequency identification (RFID) systems. To estimate the position of a target tag, this paper suggests three localization algorithms that use benchmark tags. The benchmark tags are the same type as the target tag, but either the locations or distance of the benchmark tags are known. Two algorithms use the benchmarks for auxiliary information to improve the estimation accuracy of the other localization algorithms such as least squared estimator (LSE). The other one utilizes the benchmarks as essential tags to estimate the location. Numerical tests show that the localization accuracy can be improved by using benchmark tags especially when an algorithm using the LSE is applied to the localization problem. Furthermore, this paper shows that our benchmark algorithm is valuable when the measurement noise is large.

• Korean Journal of Applied Biomechanics
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• v.19 no.1
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• pp.179-186
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• 2009

This works studied to compare gas analyzer with accelerometer and the estimation of energy expenditure based on different attaching position of tri-axial accelerometer such as waist and top of the foot Based on the fact that oxygen intake increases more radically linearly during walking more than 8.0km/hr. 9 male subjects performed walking and running on the treadmill with speed of $1.5{\sim}8.5km$/hr and $4.5{\sim}13.0km$/hr, respectively. Commercially available Nike + iPod Sports kit was used to compare energy expenditure with sensor module attached to their foot. Actual energy expenditure was determined by a continuous direct gas analyzer and two multiple regression equations of walking and running mode for different attaching position were developed. Results showed that estimation accuracy of energy expenditure using waist mounted accelerometer was higher than that of the top of the foot and Nike + iPod Sports kit. Results of energy expenditure based on waist and top of the foot showed that the crossover state of energy expenditure occurred at 7.5km/hr. But Nike + iPod Sports kit could not find intersection of energy expenditure in all nine subjects. Therefore the sensor module attached to the waist and separate multi regression equation by walking and running mode was the best to estimate more accurate prediction.

• Journal of the Korean Society of Radiology
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• v.17 no.2
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• pp.207-213
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• 2023

Computed tomography (CT) images are used as the basis for proton Bragg peak position estimation and treatment plan simulation. During the Hounsfield Unit (HU) based proton stopping power ratio (SPR) estimation, small differences in the patient's density and elemental composition lead to uncertainty in the Bragg peak positions along the path of the proton beam. In this study, we investigated the potential of dual-energy computed tomography image-based proton SPRs prediction accuracy to reduce the uncertainty of Bragg peak position prediction. Single- and dual-energy images of an electron density phantom (CIRS Model 062M electron density phantom, CIRS Inc., Norfolk, VA, USA) were acquired using a computed tomography system (Somatom Definition AS, Siemens Health Care, Forchheim, Germany) to estimate the SPRs of the proton beam. To validate the method, it was compared to the SPRs estimated from standard data provided by the National Institute of Standards and Technology (NIST). The results show that the dual-energy image-based method has the potential to improve accuracy in predicting the SPRs of proton beams, and it is expected that further improvements in predicting the position of the proton's Bragg peak will be possible if a wider variety of substitutes with different densities and elemental compositions of the human body are used to predict the SPRs.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.17 no.10
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• pp.609-617
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• 2016

In general, Personal Navigation Systems (PNSs) can be defined systems to acquire pedestrian positional information. GPS is an example of PNS. However, GPS can only be used where the GPS signal can be received. Pedestrian Dead Reckoning (PDR) can estimate the positional information of pedestrians using Inertial Measurement Unit (IMU). Therefore, PDR can be used for GPS-disabled areas. This paper proposes a PDR scheme considering various movement types over GPS-disabled areas as combat environments. We propose a movement distance estimation scheme and movement direction estimation scheme as pedestrian's various movement types such as walking, running and crawling using IMU. Also, we propose a fusion algorithm between GPS and PDR to mitigate the lack of accuracy of positional information at the entrance to the building. The proposed algorithm has been tested in a real test bed. In the experimental results, the proposed algorithms exhibited an average position error distance of 5.64m and position error rate in goal point of 3.41% as a pedestrian traveled 0.6km.

• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1352-1355
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• 1996

The control of diamond turning is usually achieved through a laser-interferometer feedback of slide position. If the tool post is rigid and the material removal process is relatively static, then such a non-collocated position feedback control scheme may surface. However, as the accuracy requirement gets tighter and desired surface contours become more complex, the need for a direct tool-tip sensing becomes inevitable. The physical constraints of the machining process prohibit any reasonable implementation of a tool-tip motion measurement. It is proposed that the measured force normal to the face of the workpiece can be filtered through an appropriate admittance transfer function to result in the estimated depth of cut. This can be compared to the desired depth of cut to generate the adjustment control action in addition to position feedback control. In this work, the design methodology on the admittance model-based control with a conventional controller is presented. The recursive least-squares algorithm with forgetting factor is proposed to identify the parameters and update the cutting process in real time. The normal cutting forces are measured to identify the cutting dynamics in the real diamond turning process using the precision dynamometer. Based on the parameter estimation of cutting dynamics and the admittance model-based nanodynamic control scheme, simulation results are shown.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.22 no.6
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• pp.143-148
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• 2022

It is very important for metaverse, mobile robot, and user location services to analyze the images continuously taken using a mobile smartphone or robot's monocular camera to estimate the camera's location. So far, PnP-related techniques have been applied to calculate the position. In this paper, the camera's moving direction is obtained using the essential matrix in the epipolar geometry applied to successive images, and the camera's continuous moving position is calculated through geometrical equations. A new estimation method was proposed, and its accuracy was verified through simulation. This method is completely different from the existing method and has a feature that it can be applied even if there is only one or more matching feature points in two or more images.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.11
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• pp.1868-1878
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• 2016

This paper proposes a novel velocity estimator for long-term underwater navigation of autonomous underwater vehicles(AUVs). Provided that an external position fix is not given, a viable goal in designing a underwater navigation algorithm is to reduce the divergence rate of position error only using the sporadic velocity information obtained from Doppler velocity log(DVL). For such case, the performance of underwater navigation eventually depends on accuracy and reliability of external velocity information. This motivates us to devise a velocity estimator which can drastically enhance the navigation performance even when the DVL measurement is unavailable. Incorporating the Gertler-Hagen hydrodynamics model of an AUV with the measurement models of velocity and depth sensors, the velocity estimator design problem is resolved using the extended Kalman filter. Different from the existing methods in which an AUV simulator is regarded as a virtual sensor, our approach is less sensitive to the model uncertainty often encountered in practice. This is because our velocity filter estimates the simulator errors with sensor aids and furthermore compensates these errors based on the indirect feedforward manner. Through the simulations for typical AUV navigation scenarios, the effectiveness of the proposed scheme is demonstrated.

• Journal of Korea Water Resources Association
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• v.53 no.12
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• pp.1211-1220
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• 2020

This research detects the features of the bright band (BB) through analysis of the vertical profile of range height indicator (RHI) and the slant range beam profile of plane position indicator (PPI) of the polarimetric radar measurements-horizontal reflectivity (ZH), differential reflectivity (ZDR), and cross-correlation coefficient (ρHV). As a result of the analysis, it is possible to clearly detect the bright band using the polarimetric radar measurements, and it is confirmed that the result is consistent by double searching for the BB using the RHI and PPI scan data at the same time. Based on these results, the accuracy of QPE (quantification of precipitation estimation) can be improved by applying the BB search method by the PPI slant range in this research to large rainfall radars that only scan PPI volumes in the field without RHI observations.

• The Journal of the Korea institute of electronic communication sciences
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• v.10 no.4
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• pp.469-475
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• 2015

This paper describes about the method for designing an extended Kalman filter to accurately measure the position of the spatial-phase system using a semiconductor sensor. Spatial position is expressed by the correlation of the rotated coordinate system attached to the body from the inertia coordinate system (a fixed coordinate system). To express the attitude, quaternion was adapted as a state variable, Then, the state changes were estimated from the input value which was measured in the gyro sensor. The observed data is the value obtained from the acceleration sensor. By matching between the measured value in the acceleration sensor and the predicted calculation value, the best variable was obtained. To increase the accuracy of estimation, designation of the extended Kalman filter was performed, which showed excellent ability to adjust the estimation period relative to the sensor property. As a result, when a three-axis gyro sensor and a three-axis acceleration sensor were adapted in the estimator, the RMS(Root Mean Square) estimation error in simulation was retained less than 1.7[$^{\circ}$], and the estimator displayed good property on the prediction of the state in 100 ms measurement period.