• The Journal of Korea Robotics Society
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• v.3 no.3
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• pp.245-254
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• 2008

Recently, many vision-based navigation methods have been introduced as an intelligent robot application. However, many of these methods mainly focus on finding an image in the database corresponding to a query image. Thus, if the environment changes, for example, objects moving in the environment, a robot is unlikely to find consistent corresponding points with one of the database images. To solve these problems, we propose a novel navigation strategy which uses fast motion estimation and a practical scene recognition scheme preparing the kidnapping problem, which is defined as the problem of re-localizing a mobile robot after it is undergone an unknown motion or visual occlusion. This algorithm is based on motion estimation by a camera to plan the next movement of a robot and an efficient outlier rejection algorithm for scene recognition. Experimental results demonstrate the capability of the vision-based autonomous navigation against dynamic environments.

• International Journal of Internet, Broadcasting and Communication
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• v.12 no.3
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• pp.95-101
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• 2020

We studied the Implementation and design of inertial sensor that enables to improve performance by reduce the noise of rotor which Angle of inclination. Analyze model equation including motion equation and error, signal processing filter algorithm on high frequency bandwidth with eliminates error using estimation of error coefficient method is was designed and the prototype inertial sensor showed the pick off noise up to 0.2 mV and bias error performance of about 0.06 deg/hr by the experiments. Accordingly, we confirmed that the design of inertial sensor was valid for high rotation.

• The Transactions of the Korean Institute of Power Electronics
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• v.8 no.4
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• pp.366-374
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• 2003

In electric motor coaches, the rolling stocks move by the adhesive effort between rail and driving wheel. Generally, the adhesive effort is defined by the function of both the weight of electric motor coach and the adhesive effort between rails and driving wheel. The characteristics of adhesive effort is strongly affected by the conditions between rails and driving wheel. When the adhesive effort decreases suddenly, the electric motor coach has slip phenomena. This paper proposes a re-adhesion control algorithm which uses the maximum adhesive effort by instantaneous estimation of adhesion force using load torque disturbance observer. Based on this estimated adhesive effort, the re-adhesion control Is peformed to obtain the maximum transfer of the tractive effort.

• Journal of Bio-Environment Control
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• v.27 no.1
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• pp.34-39
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• 2018

This research was conducted to estimate moisture content in cucurbitaceae seedlings, such as cucumber and watermelon, using hyperspectral imagery. Using a hyperspectral image acquisition system, the reflectance of leaf area of cucumber and watermelon seedlings was calculated after providing water stress. Then, moisture content in each seedling was measured by using a dry oven. Finally, using reflectance and moisture content, the moisture content estimation models were developed by PLSR analysis. After developing the estimation models, performance of the cucumber showed 0.73 of $R^2$, 1.45% of RMSE, and 1.58% of RE. Performance of the watermelon showed 0.66 of $R^2$, 1.06% of RMSE, and 1.14% of RE. The model performed slightly better after removing one sample from cucumber seedlings as outlier and unnecessary. Hence, the performance of new model for cucumber seedlings showed 0.79 of $R^2$, 1.10% of RMSE, and 1.20% of RE. The model performance combined with all samples showed 0.67 of $R^2$, 1.26% of RMSE, and 1.36% of RE. The model of cucumber showed better performance than the model of watermelon. This is because variables of cucumber are consisted of widely distributed variation, and it affected the performance. Further, accuracy and precision of the cucumber model were increased when an insignificant sample was eliminated from the dataset. Finally, it is considered that both models can be significantly used to estimate moisture content, as gradients of trend line are almost same and intersected. It is considered that the accuracy and precision of the estimating models possibly can be improved, if the models are constructed by using variables with widely distributed variation. The improved models will be utilized as the basis for developing low-priced sensors.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.26 no.1
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• pp.131-138
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• 2002

This paper provides the fully plastic J solutions for circumferential cracked pipes with inner, semi- elliptical surface cracks, subject to internal pressure and global bending. Solutions are given in the form of two different approaches, the GEF/EPRl approach and the reference stress approach. For the GE/EPRl approach, the plastic influence functions for fully plastic J are tabulated based on extensive 3-D FE calculations using the Ramberg-Osgood (R-O) materials, covering a wide range of pipe and crack geometries. The developed GEf/EPRl-type fully plastic J estimation equations are then re-formulated using the concept of the reference stress approach for wider applications. Based on the FE results, optimized reference load solutions for the definition of the reference stress are found for internal pressure and for global bending. Advantages of the reference stress based approach over the GE/EPRl-type approach are fully discussed. Validation of the proposed reference stress based J estimation equations will be given in Part II, based on 3-D elastic-plastic or elastic creep FE results using typical tensile properties of stainless steels and generalized creep- deformation behaviours.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.43 no.5
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• pp.405-412
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• 2015

This paper represents a filter design to estimate the airspeed of a spin-stabilized, trajectory-correctible artillery ammunition. Due to the limited power and space in operational point of view, the airspeed sensor is not installed, and thus the airspeed need to be estimated using limited sensor measurements. The only IMU measurements(three-axis specific forces and angular rates) are used in this application. The extended Kalman filter algorithm is applied since a linear filter can not cover the its wide operational range in airspeed and altitude. In the implementation of the EKF, the state and measurement equations are transformed into the no-roll frame for simple form of Jacobian matrix. The simulation study is conducted to evaluate the performance of the filter under various environment conditions of sensor noise and wind turbulence. In addition, the effect of the choice in filter design parameters, i.e. process error covariance matrices is analyzed on the performance of the estimation of airspeed and angular rates.

• Journal of Space Technology and Applications
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• v.1 no.1
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• pp.23-32
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• 2021

The high-level Space Situational Awareness (SSA) objective is to provide to the users dependable, accurate and timely information in order to support risk management on orbit and during re-entry and support safe and secure operation of space assets and related services. Therefore the risk assessment for the re-entry of space objects should be managed nationally. In this research, the Software for Re-Entry Prediction of space objects (SREP) was developed for national SSA system. In particular, the rate of change of the drag coefficient is estimated through a newly proposed Drag Scale Factor Estimation (DSFE), and is used for high-precision orbit propagator (HPOP) up to an altitude of 100 km to predict the re-entry time and position of the space object. The effectiveness of this re-entry prediction is shown through the re-entry time window and ground track of space objects falling in real events, Grace-1, Grace-2, Tiangong-1, and Chang Zheng-5B Rocket body. As a result, through analysis 12 hours before the final re-entry time, it is shown that the re-entry time window and crash time can be accurately predicted with an error of less than 20 minutes.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.30 no.7
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• pp.51-60
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• 2002

The Monte-Carlo simulation of statistical analysis is used to investigate the final conditions of states as well as the footprint boundaries resulting from the atmospheric re-entry dispersions. The re-entry dispersions in this paper are specified by a $7\times7$ covariance matrix of latitude, longitude, altitude, bank angle, flight path angle, heading error, and range at entry velocity. The error sources that affect these at re-entry for a deboost are the uncertainties associated with atmospheric density and temperature, initial errors, wind, and estimation error of aerodynamic coefficients. Using $3{\sigma}_n$ deviations of these errors and a nominal flight trajectory, the covariance matrix of state variables can be determined by performing a trajectory error analysis. Major considerations in the application of the Monte-Carlo method are the simulation of perturbed trajectories, bank reversal, and determination of the impact points for each of these trajectories. This paper analyzes the results of uncertainties from the viewpoint of aero-coefficients and bank reversal.

• Journal of Navigation and Port Research
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• v.43 no.3
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• pp.197-208
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• 2019

This paper assessed the impacts of the specification of the yard, handling equipment, and operation approaches on the expected number of re-handles during the loading operation for empty containers. When the various types of empty containers from multiple shipping liners are placed in separate spaces from each other, then the storage space cannot be fully utilized. So as to increase the utilization of the storage space, empty containers from multiple vessel liners are stored together incurring additional re-handles during the loading operation. Several formulas are derived for the estimation of the expected number of handles, including re-handles, for empty container retrieval from a bay. Transfer cranes and top handlers are utilized as handling equipment and various retrieval strategies are examined. Numerical analysis was conducted to assess the effects of various designs and operational parameters of the container stacking yard on the expected number of handles.

• Journal of Wetlands Research
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• v.25 no.1
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• pp.1-13
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• 2023

Coastal shellfish in the shallow aquaculture waters form carbon contained shells as they grow. The existing researches showed that carbon flux can be improved, if the shells are re-treated by the carbon stored methods. In the present study, firstly, the mechanism and the quantitative flux of carbon dioxide in the shellfish individual have been analyzed. The re-treated methods of the useful by-product in the shellfish aquaculture, shells, have been reviewed. Finally, the potential effects to reduce the greenhouse gas has been suggested, if the shells can be properly re-treated.