• The Journal of Korea Robotics Society
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• v.7 no.1
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• pp.29-34
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• 2012

This paper suggests a new observation model for Extended Kalman Filter based Simultaneous Localization and Mapping (EKF-SLAM). Since the EKF framework linearizes non-linear functions around the current estimate, the conventional line model has large linearization errors when a mobile robot locates faraway from its initial position. On the other hand, the model that we propose yields less linearization error with respect to the landmark position and thus suitable in a large-scale environment. To achieve it, we build up a three-dimensional space by adding a virtual axis to the robot's two-dimensional coordinate system and extract a plane by using a detected line on the two-dimensional space and the virtual axis. Since Jacobian matrix with respect to the landmark position has small value, we can estimate the position of landmarks better than the conventional line model. The simulation results verify that the new model yields less linearization errors than the conventional line model.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.22 no.4
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• pp.41-48
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• 1986

To investigate the midwater trawl gear available for the Korean near sea trawlers, the authors carried out a field experiment on the attitude and the opening efficiency of the otter board with the Pusan 404 (160GT, 750ps), a training ship of National Fisheries University of Pusan. The experimental trawl gear was designed to be operable by the ship and the otter board was made of single iron plate with 12% camber ratio. The special-prepared potentiometric angle detector was used for determining the attitude, and the 50 KHz fish finder for the opening between the otter boards. The results obtained can be summarized as follows: 1. The angle of attack varied by moving the towing point on the towing plate of the otter board. It showed 33 to 36 degrees when the point was set at the outmost position, 25 to 31 degrees at the middle position and 19 to 30 degrees at the inmost position, with a decreasing tendency according to the increase of towing speed in each cases. 2. The heel of the otter board always occured inwards, increasing slightly according to the increase of towing speed. 3. The tilt of the otter board always occured outwards, increasing slightly according to the move of the towing point inwards, and decreasing slightly according to the increase of towing speed. 4. The opening between otter boards showed the largest value when the towing point was set at the outmost position.

• Transactions of Materials Processing
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• v.27 no.2
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• pp.115-122
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• 2018

Most domestic and international standards on the forming limit diagram (FLD) including ISO 12004-2, use a 'position-dependent method,' which determines the forming limit from a strain distribution measured on the specimen after necking or fracture. However, the position-dependent method has inherent problems such as the incidence of asymmetry of a strain distribution, the estimation of missing data near fracture, the termination time of test, and the deformation due to the new stress equilibrium after a fracture, which is blamed for causing sometimes a significant lab-to-lab variation. The 'time-dependent method,' which is anticipated to be a new international standard for evaluating the forming limit, is expected to greatly improve these intrinsic disadvantages of the position-dependent method. It is because the time-dependent method makes it possible to identify and accurately determine the forming limit, just before the necking point from the strain data as continuously measured in a short time interval. In this study, we propose a new time-dependent method based on a Gaussian fitting of strain acceleration with the introduction of 'normalized correlation coefficient.' It has been shown in this study that this method can determine the forming limit very stably and gives a higher value, which is in comparison with the results of the previously studied position-dependent and time-dependent methods.

• Journal of Korean Academy of Nursing Administration
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• v.4 no.1
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• pp.19-31
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• 1998

The purpose of this study was to identify whether ethical values of nursing students are deontological or utilitarinian. The subjects of this study were consisted of 163 nursing students. The data was collected from September 3 to 30, 1997. Sub-scale of Nursing Ethical Values(Lee, 1990) were used to measure human life area, nurse-patient relationship area, nurse-nursing task relationship area, nurse-colleague relationship area. Data were analyzed by SPSS for Windows program. The results of this study were summarized as follows: 1. The students took the position of utilitarian slightly in human life area. 2. The students took deontological position slightly in nurse-patient relationships area. 3. The students took deontological position slightly in nurse-nursing task relationships area. 4. The students took deontological position greatly in nurse-colleague relationships area. 5. There were significant relationship between nurse-colleague relationship area and both human life area and nurse-patient relationship area(p< .01). 6. The ethical values of human life area related to religion(p< .01) and attitude of nursing(p< .05). The ethical values of nurse-colleague relationships area related to attitude of nursing(p< .01).

• Korean Journal of Computational Design and Engineering
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• v.9 no.1
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• pp.35-43
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• 2004

It is well known that the five-axis machining has advantages of tool accessibility and machined surface quality when compared with conventional three-axis machining. Traditional researches on the five-axis tool-path generation have addressed interferences such as cutter gouging, collision, machine kinematics and optimization of a CL(cutter location) or a cutter position. In the paper it is presented that optimal CL data for a face-milling cutter moving on a tool-path are obtained by incorporating TSS(tool swept surface) model. The TSS model from current CL position to the next CL position is constructed based on machine kinematics as well as cutter geometry, with which the deviation from the design surface can be computed. Then the next CC(cutter-contact) point should be adjusted such that the deviation conforms to given machining tolerance value. The proposed algorithm was implemented and applied to a marine propeller machining, which proved effective from a quantitative point of view. In addition, the algorithm using the TSS can also be applied to avoid cutter convex interferences in general three-axis NC machining.

• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.20 no.4
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• pp.65-71
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• 2020

In order to accurately track the trajectory of the smartphone indoors and outdoors, the WiFi Fingerprint method and the Pedestrian Dead Reckoning method are fused. The former can estimate the absolute position, but an error occurs randomly from the actual position, and the latter continuously estimates the position, but there are accumulated errors as it moves. In this paper, the model and Kalman Filter equation to fuse the estimated position data of the two methods were established, and optimal system parameters were derived. According to covariance value of the system noise and measurement noise the estimation accuracy is analyzed. Using the measured data and simulation, it was confirmed that the improved performance was obtained by complementing the two methods.

• Journal of Environmental Science International
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• v.11 no.2
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• pp.103-110
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• 2002

The position fixing usually is determined by triangulation, traverse surveying and astronomy surveying. However, when the station is moving, it is impossible to determine its position continuously by the former method. By a satellite positioning method(GPS), this problem can be solved. In our study, we used two methods to determine the length and coordinate of a point position. One is a kinematic GPS method and the other is a static one. Each is based on carrier phase measurement and employs a relative position technique. We implemented observation experiments such as Geodimeter and DGPS(Differential GPS) successfully. To estimate the accuracy between the kinematic and static methods, we compared the results of Geodimeter, the kinematic, and the static. The results showed that the static is relatively a little more accurate than the kinematic. However, in the kinematic mode, when we received the GPS data for a long time, we found that the kinematic also had a high accuracy value for the length survey Finally, we applied the GPS to Jeju Harbor Breakwater to examine the applicability of GPS for coastal ocean structure based on the kinematics and the statics, respectively.

• Journal of Electrical Engineering and Technology
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• v.9 no.4
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• pp.1418-1425
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• 2014

In ultrasonic medical imaging, spatial compounding of images is a technique where ultrasonic beam is steered to examine patient tissues in multiple angles. In the conventional ultrasonic diagnostic imaging, the steering of the ultrasonic beam is achieved electronically using the phased array transducer elements. In this paper, a spatial compounding approach is presented where the ultrasonic probe element is rotated mechanically and the beam steering is achieved mechanically. In the spatial compounding, target position is computed using the value of the rotation axis and the transducer array angular position. However, in the process of the rotation mechanism construction and the control system there arises the inevitable uncertainties in these values. These geometric parameter errors result in the target position error, and the consequence is a blurry compounded image. In order to reduce these target position errors, we present a spatial compounding scheme where error correcting transformation matrices are computed and applied to the raw images before spatial compounding to reduce the blurriness in the compounded image. The proposed scheme is illustrated using phantom and live scan images of human knee, and it is shown that the blurriness is effectively reduced.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2011.10a
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• pp.173-175
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• 2011

In this paper, we present an user interface which can show some 3D objects at various angles using tracked 3d head position and orientation. In implemented user interface, First, when user's head moves left/right (X-Axis) and up/down(Y-Axis), displayed objects are moved towards user's eyes using 3d head position. Second, when user's head rotate upon an X-Axis(pitch) or an Y-Axis(yaw), displayed objects are rotated by the same value as user's. The results of experiment from a variety of user's position and orientation show good accuracy and reactivity for 3d visualization.

• Journal of Communications and Networks
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• v.11 no.3
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• pp.271-278
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• 2009

A new modulation scheme called multicoded-pulse position modulation (MC-PPM) is proposed for an ultrawideband (UWB) impulse radio communication system. The multicoded signal is generated by using several orthogonal codes for transmitting data simultaneously. Then, each multi-level value of the multicoded signal is converted to pulse position which results in not only an improved data rate, but also a processing gain in reception, delivering the power-efficient benefit of PPM and guaranteeing the low pulse energy for UWB systems. We notice that the modulation of multi-level values of the multicoded signal to pulse position is more efficient in terms of achievable data rate than the modulation of transmitting data based on other PPM schemes within given bandwidth and pulse energy. Therefore, as a performance measure, we focus on the achievable data rate (link capacity) of the proposed scheme and analyze it theoretically. Through simulation, we compare the link capacity of the MC-PPM scheme and other PPM schemes, such as M -ary PPM and multiple PPM. With the fixed bandwidth and same pulse energy condition, the UWB system based on the proposed MC-PPM scheme shows good link capacity and an increased data rate as L increases, which is contrary to other PPM schemes.