• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1994년도 Proceedings of the Korea Automatic Control Conference, 9th (KACC) ; Taejeon, Korea; 17-20 Oct. 1994
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• pp.251-256
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• 1994

Integration of intelligent robot workcell is now a hot issue in CIM and robotics area. This piper dealt with relatively low-level essential topics, i.e., multi-robot coordination and real-time communication for the integration of intelligent robot workcell. For the coordination of multi-robot system, the tightly-coupled coordination is proposed using the various sensors. In order to handle the numerous communication data, time-critical communication network (Field-bus) is introduced and investigated. Finally, intelligent robot workcell is suggested using the Mini-MAP and Field-bus.

• 지질공학
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• 제34권2호
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• pp.173-191
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• 2024

Landslides pose significant threats to many countries globally, yet the development and implementation of effective landslide early warning systems (LEWS) remain challenging due to multifaceted complexities spanning scientific, technological, and political domains. Addressing these challenges demands a holistic approach. Technologically, integrating thresholds, such as rainfall thresholds, with real-time data within accessible, open-source software stands as a promising solution for LEWS. This article introduces LandScient_EWS, a PHP-based program tailored to address this need. The software facilitates the comparison of real-time measured data, such as rainfall, with predefined landslide thresholds, enabling precise calculations and graphical representation of real-time landslide advisory levels across diverse spatial scales, including regional, basin, and hillslope levels. To illustrate its efficacy, the program was applied to a case study in Medellin, Colombia, where a rainfall event on August 26, 2008, triggered a shallow landslide. Through pre-defined rainfall intensity and duration thresholds, the software simulated advisory levels during the recorded rainfall event, utilizing data from a rain gauge positioned within a small watershed and a single grid cell (representing a hillslope) within that watershed. By identifying critical conditions that may lead to landslides in real-time scenarios, LandScient_EWS offers a new paradigm for assessing and responding to landslide hazards, thereby improving the efficiency and effectiveness of LEWS. The findings underscore the software's potential to streamline the integration of rainfall thresholds into both existing and future landslide early warning systems.

• Journal of Positioning, Navigation, and Timing
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• 제9권2호
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• pp.131-138
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• 2020

In this paper, we analyze the delay phenomenon that can occur when controlling an unmanned aerial vehicle using a camera and describe a solution to solve the phenomenon. The group of pictures (GOP) value is changed in order to reduce the delay according to the frame data size that can occur in the moving image data transmission. The appropriate GOP values were determined through experimental data accumulation and validated through camera self-test, system integration laboratory (SIL) verification test and system integration test.

• 한국지진공학회논문집
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• 제10권5호
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• pp.99-106
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• 2006

이 논문에서 소개되는 실시간 하이브리드 실험 시스템은 유사동적실험법을 근거로 하고 있으며, 실제 실험과수학적 모델을 이용한 수치해석을 결합한 실험법이다. 이 시스템은 종래의 유사동적해석법에 비해 지진하중을 받는 구조물의 실시간 반응에 근접하는 현저히 높은 하중재하 속도를 고려할 수 있도록 설계되었다. 또한 다자유도 구조물에 대해 안정적인 해석환경을 제공하기 위해 이 시스템은 implicit 시간적분법을 이용하여 수치해석을 수행한다. 이 논문은 연구를 통해 개발된 시스템의 전반적인 개요와 구성요소 그리고 이 시스템에서 사용하는 수치 해석법의 성능을 평가하기 위해 수행된 수치해석을 소개한다. 연구 결과 개발된 시스템에 적용된 수치해석법은 성능이 매우 우수하다는 것이 증명되었다.

• 대한전기학회:학술대회논문집
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• 대한전기학회 1993년도 하계학술대회 논문집 A
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• pp.406-409
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• 1993

Integration of intelligent robot workcell is now a hot issue in CIM and robotics area. This paper dealt with relatively low level essential topics. i. e., multi-robot coordination and real-time communication for the integration of intelligent robot workcell. For the coordination of multi-robot system, the tightly-coupled coordination is proposed using the various sensors. In order to handle the numerous communication data, time-critical communication network (field-bus) is introduced and investigated. Finally, intelligent robot workcell is suggested using the mini-MAP and field-bus.

• Journal of Mechanical Science and Technology
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• 제20권3호
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• pp.376-381
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• 2006

In this paper, the quaternion, the dual Euler, and the direction cosine methods are numerically compared using a non-aerodynamic 6 degree-of-freedom rigid model at all-attitude angles of an aircraft. The dual Euler method turns out to be superior to the others in the applications because it shows better numerical accuracy, stability, and robustness in integration step sizes. The dual Euler method is affordably less efficient than the quaternion method in terms of computational cost. Numerical accuracy and stability, which allow larger integration step sizes, are more critical in modern real-time applications than computational efficiency because of today's increased computational power. If the quaternion method is required because of constraints in computation time, then a suppression mechanism should be provided for algebraic constraint errors which will eventually add computational burden.

• Journal of Mechanical Science and Technology
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• 제19권spc1호
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• pp.388-394
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• 2005

Recently, the authors have developed a method for real-time dynamics of multibody systems, which combines a semi-recursive formulation to derive the equations of motion in dependent relative coordinates, along with an augmented Lagrangian technique to impose the loop closure conditions. The following numerical integration procedures, which can be grouped into the so-called structural integrators, were tested : trapezoidal rule, Newmark dissipative schemes, HHT rule, and the Generalized-${\alpha}$ family. It was shown that, for large multi body systems, Newmark dissipative was the best election since, provided that the adequate parameters were chosen, excellent behavior was achieved in terms of efficiency and robustness with acceptable levels of accuracy. In the present paper, the performance of the described method in combination with another group of integrators, the Implicit Runge-Kutta family (IRK), is analyzed. The purpose is to clarify which kind of IRK algorithms can be more suitable for real-time applications, and to see whether they can be competitive with the already tested structural family of integrators. The final objective of the work is to provide some practical criteria for those interested in achieving real-time performance for large and complex multibody systems.

• 전기전자학회논문지
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• 제24권2호
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• pp.426-434
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• 2020

CPS의 대규모 시뮬레이션을 연동하기 위한 표준으로 FMI가 연구되고 있다. FMI를 이용한 대규모 시뮬레이션에서 결과의 신뢰성을 보장하기 위해 시간관리 기법을 통한 이벤트 처리가 필요하다. 본 논문은 CPS와 같은 대규모 Co-Simulation 환경에서 실시간성과 정확성을 보장하도록 한다. 실시간성을 보장하기 위해 Wallclock time과 Simulation time을 동기화한다. 또한 정확성을 보장하기 위해 시뮬레이션을 진행하기 전에 이벤트 여부를 확인한 후, 이벤트 발생시간까지 실시간성을 유지하면서 최대한 작은 step size로 시뮬레이션을 진행한다. 그 결과 Co-Simulation 환경에서 발생하는 이벤트를 순차적으로 즉시 처리하였으며, 실시간성을 보장함과 동시에 시뮬레이션 해상도를 최대로 하여 수치적분 에러를 최소화한다. 실험에서 제안하는 기법은 이벤트 처리가 즉시 이루어졌으며, 해상도를 보장하지 않는 기존의 시간관리 기법과 달리 수치적분 에러가 1/5가량 감소하는 것을 확인하였다.

• 한국통신학회논문지
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• 제36권1A호
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• pp.41-48
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• 2011

This paper proposes an efficient code acquisition scheme for direct-sequence spread spectrum (DSSS) based real-time locating systems (RTLS). The proposed scheme employs multiple bit integration to significantly decrease false alarms when no packet signal is transmitted and increase the detection probability when the RTLS tags are excited. The performance of the proposed code acquisition scheme is analyzed and numerically evaluated, and compared with those of single-dwell and traditional double-dwell code acquisition schemes. The simulation results show that the proposed multiple-bit integration scheme outperforms single-dwell and double-dwell schemes.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2002년도 Proceedings of International Symposium on Remote Sensing
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• pp.287-290
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• 2002

Real-time flood submerged area map provides important scientific basis for the decision-making of flood control and relieving disaster. Taking the Wuhan area as an example, this article gives out a image interpretation method under influence of flood, and describes real-time or quasi-real-time flood submerged area map by using the integration of ERS-2 SAR image and LANDSAT TM image in support of remote sensing images process software ERDAS.