• Journal of Institute of Control, Robotics and Systems
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• v.22 no.9
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• pp.716-722
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• 2016

Coordinate estimation is an essential function for autonomous navigation of a mobile robot. The optical mouse sensor is convenient and cost-effective for the coordinate estimation problem. It is possible to overcome the position estimation error caused by the slip and the model mismatch of robot's motion equation using the optical mouse sensor. One of the simple methods for the position estimation using the optical mouse sensor is integration of the velocity data from the sensor with time. However, the unavoidable noise in the sensor data may deteriorate the position estimation in case of the simple integration method. In general, a mobile robot has ready-to-use motion information from the encoder sensors of driving motors. By combining the velocity data from the optical mouse sensor and the motion information of a mobile robot, it is possible to improve the coordinate estimation performance. In this paper, a coordinate estimation algorithm for an autonomous mobile robot is presented based on the well-known Kalman filter that is useful to combine the different types of sensors. Computer simulation results show the performance of the proposed localization algorithm for several types of trajectories in comparison with the simple integration method.

• Journal of Positioning, Navigation, and Timing
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• v.9 no.1
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• pp.33-42
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• 2020

In Integration Approach (IA)-based Pedestrian Dead Reckoning (PDR), it is important to detect the exact zero-velocity of the foot with an Inertial Measurement Unit (IMU). By detecting zero-velocity during the stance phase of the foot touching the ground and executing Zero-velocity UPdaTe (ZUPT) at the exact time, stable navigation information can be provided by the PDR. When the pace is fast, however, it is not easy to accurately detect the zero-velocity because of the small stance phase interval and the large signal variance of the corresponding interval. Incorrect zero-velcity detection greatly causes navigation errors of IA-based PDR. In this paper, we propose a method to detect the zero-velocity stably even at high speed by novel buffering of IMU's output data and signal processing of the buffer. And we design a PDR based on this. By analyzing the performance of the proposed Zero-Velocity Detection (ZVD) algorithm and ZVD-based PDR through experiemnts, we confirm that the proposed method can provide accurate navigation information of pedestrians such as firefighters in the indoor space.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.27 no.10
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• pp.1793-1799
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• 2003

An optimal design of a multi-layered plate structure to endure high-velocity impact has been suggested by using size optimization after numerical simulations. The NET2D, a Lagrangian explicit time-integration finite element code for analyzing high-velocity impact, was used to find the parameters for the optimization. Three different materials such as mild steel, aluminum for a multi-layered plate structure and die steel for the pellet, were assumed. In order to consider the effects of strain rate hardening, strain hardening and thermal softening, Johnson-Cook model and Phenomenological Material Model were used as constitutive models for the simulation. It was carried out with several different gaps and thickness of layers to figure out the trend in terms of those parameters' changes under the constraint, which is against complete penetration. Also, the measuring domain has been shrunk with several elements to reduce the analyzing time. The response surface method based on the design of experiments was used as optimization algorithms. The optimized thickness of each layer in which perforation does not occur has been obtained at a constant velocity and a designated total thickness. The result is quite acceptable satisfying both the minimized deformation energy and the weight criteria. Furthermore, a conceptual idea for topology optimization was suggested for the future work.

• Proceedings of the Korea Water Resources Association Conference
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• 2006.05a
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• pp.488-493
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• 2006

Accurate river discharge is the most important factor in managing river basins and for successfully maintaining total maximum daily loads in Korea. It is not easy to measure the discharge directly in large rivers owing to physical and environmental constraints, even after investing much time and money. Recently, to overcome these historical drawbacks in river discharge measurement, we have developed the Automatic Discharge Acquisition & Management System (ADAMS) that scans the river cross-section and measures each cell $(1m{\times}1m)$ velocity using HADCP. The hardware system is composed of an HADCP sensor and winch, as well as a PC and software system for the discharge calculation module and hardware control module. It is controlled remotely via the internet and uses the velocity-depth integration method and the velocity-contour method for calculating river discharges. The characteristics of ADAMS are a ubiquitously accessible system, featuring real time automatic discharge measurement, remote control via the internet. The results using ADAMS at the Jindong stage site show less than 5% uncertainty and are 4 times more efficient than the ADCP & Q-boat system. This system can be used to measure any large river, river mouth or tributary river affected by backwater, all of which have a very difficult measuring real time discharge. The next generation of ADAMS will feature an upgrade to increase portability and GPS integration.

• Earthquakes and Structures
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• v.8 no.6
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• pp.1325-1348
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• 2015

Real-time hybrid testing (RTHT) involves virtual splitting of the structure into two parts: physical substructure that contains the key region of interest which is tested in a laboratory and numerical substructure that contains the remaining part of the structure in the form of a numerical model. This paper numerically assesses four step-by-step integration methods (Central difference method (CDM), Operator splitting method (OSM), Rosenbrock based method (RBM) and CR-integration method (CR)) which are widely used in RTHT. The methods have been assessed in terms of stability and accuracy for various realistic damping ratios of the physical substructure. The stability is assessed in terms of the spectral radii of the amplification matrix while the accuracy in terms of numerical damping and period distortion. In order to evaluate the performance of the methods, five carefully chosen examples have been studied - undamped SDOF, damped SDOF, instantaneous softening, instantaneous hardening and hysteretic system. The performance of the methods is measured in terms of a non-dimensional error index for displacement and velocity. Based on the error indices, it is observed that OSM and RBM are robust and performs fairly well in all the cases. CDM performed well for undamped SDOF system. CR method can be used for the system showing softening behaviour. The error indices indicate that accuracy of OSM is more than other method in case of hysteretic system. The accuracy of the results obtained through time integration methods for different damping ratios of the physical substructure is addressed in the present study. In the presence of a number of integration methods, it is preferable to have criteria for the selection of the time integration scheme. As such criteria are not available presently, this paper attempts to fill this gap by numerically assessing the four commonly used step-by-step methods.

• Structural Engineering and Mechanics
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• v.48 no.5
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• pp.711-736
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• 2013

In this paper new implicit time integration called N-IHOA is presented for dynamic analysis of high damping systems. Here, current displacement and velocity are assumed to be functions of the velocities and accelerations of several previous time steps, respectively. This definition causes that only one set of weighted factors is calculated from the Taylor series expansion which leads to a simple approach and reduce the computational efforts. Moreover a comprehensive study on stability of the proposed method i.e., N-IHOA compared with IHOA integration which is performed based on amplification matrices proves the ability of the N-IHOA in high damping vibrations such as control systems. Also, wide range of numerical examples which contains single/multi degrees of freedom, damped/un-damped, free/forced vibrations from finite element/finite difference demonstrate that the accuracy and efficiency of the proposed time integration is more than the common approaches such as the IHOA, the Wilson-${\theta}$ and the Newmark-${\beta}$.

• Proceedings of the Korean Society For Composite Materials Conference
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• 2000.04a
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• pp.38-42
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• 2000

In this study, the low velocity impact behavior of the composite laminates has been described by using 3 dimensional nonlinear finite elements. To describe the geometric nonlinearity due to large deformation, the dynamic contact problem is formulated using the exterior penalty finite element method on the base of Total Lagrangian formulation. The incremental decomposition is introduced, and the converged solution is attained by Newton-Raphson Method. The Newmark's constant-acceleration time integration algorithm is used. To make verification of the finite element program developed in this study, the solution of the nonlinear static problem with occurrence of large deformation is compared with ABAQUS, and the solution of the static contact problem with indentation is compared with the Hertz solution. And, the solution of low velocity impact problem for isotropic material is verificated by comparison with that of LS-DYNA3D. Finally the contact force of impact response from the nonlinear analysis are compared with those from the linear analysis.

• Transactions of the Korean Society for Noise and Vibration Engineering
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• v.14 no.5
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• pp.424-431
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• 2004

An implicit direct-time integration method for obtaining transient responses of general dynamic systems is described. The conventional Newmark method cannot be directly applied to state-space first-order differential equations, which contain no explicit acceleration terms. The method proposed here is the state-space Newmark method that incorporates the average velocity concept, and can be applied to an analysis of general dynamic systems that are expressed by state-space first-order differential equations. It is also readily coded into a program. Stability and accuracy analyses indicate that the method is numerically unconditionally stable like the conventional Newmark method, and has a period error of 2nd-order accuracy for small damping and 4th-order for large damping and an amplitude error of 2nd-order, regardless of damping. In addition, its utility and validity are confirmed by two application examples. The results suggest that the proposed state-space Newmark method based on average velocity be generally applied to the analysis of transient responses of general dynamic systems with a high degree of reliability with respect to stability and accuracy.

• International Journal of Internet, Broadcasting and Communication
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• v.12 no.3
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• pp.1-8
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• 2020

This paper studied a method of estimating target information using a radar in wireless communication. Position information on the target can be estimated angle, distance and velocity. The velocity information can be estimated since the Doppler frequency is changed in the moving target. The signal incident on the receiving array antenna is multiplied by the delay time and the reference signal to represent the output signal. This output signal is estimated by applying FFT (Fast Fourier Transform) after calculating signal correlation through correlation integrator. Since the output signal must be calculated within the correlator, it should be processed with the Dwell time. The correlation signal of the correlation integrator outside this Dwell time is indicated by the velocity measurement error. The FFT is applied to the signal that has passed through the correlated integrator in order to estimate the distance of the signal. The Doppler resolution must be improved because the FFT estimates target information using the Doppler information. The Doppler resolution decreases with increasing the integration time. The velocity information estimation should have no spread of the velocity. As a result of the simulation, there was no spread of the target velocity in this study.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2003.11a
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• pp.465-470
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• 2003

In this study, the state-space Newmark method based on average velocity is presented to analyse the transient dynamic response for general dynamic system. The conventional Newmark method based on average acceleration cannot he directly to the first-order state-space differential equations introducing the state-space vector. To overcome this problem, the time-step integration algorithm, based on average velocity concept, suitable for the first-order state-space differential equations is proposed In results, the proposed method has %he numerical stability and order of accuracy, which is proved analytically, equal to those of the conventional Newmark method based on average acceleration. Also, the formulation for numerical solution is very simple and the calculation time Is nearly equal to that of the conventional Newmark method based on average acceleration in spite of an increase of two times over matrix size. This method will be look forward to applying the general dynamic system to calculate the transient dynamic response.