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RISS 인기검색어
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- 저자 : 김도형(Do Hyeung Kim) (검색결과 7 건)
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Rao-Blackwellized Multiple Model Particle Filter자료융합 알고리즘
김도형 ( Do Hyeung Kim ) 한국항행학회 2011 韓國航行學會論文誌 Vol.15 No.4
일반적으로 비선형 시스템에서 particle filter가 Kalman Filter보다 표적추적 성능이 뛰어나다고 알려져 있다. 그러나 particle filter는 많은 연산량을 요구하는 단점이 있다. 본 논문에서는 particle filter 보다 적은 particle의 수, 즉 적은 연산량으로 동일한 성능을 가지는 Rao-Blackwellized particle filter의 모델의 민감성을 줄인 Rao-Blackwellized Multiple Model Particle Filter(RBMMPF)의 알고리즘을 소개하고 이에 다중센서 정보를 융합하는 자료융합 기법을 적용하였다. 시뮬레이션을 통해 단일센서 정보를 이용한 RBMMPF 표적추적 성능과 다중센서정보를 융합한 RBMMPF의 표적추적 성능을 비교, 분석하였다. It is generally known that particle filters can produce consistent target tracking performance in comparison to the Kalman filter for non-linear and non-Gaussian systems. In this paper, I propose a Rao-Blackwellized multiple model particle filter(RBMMPF) to enhance computational efficiency of the particle filters as well as to reduce sensitivity of modeling. Despite that the Rao-Blackwellized particle filter needs less particles than general particle filter, it has a similar tracking performance with a less computational load. Comparison results for performance is listed for the using single sensor information RBMMPF and using multisensor data fusion RBMMPF.
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비동기 다중레이더 환경에서 의사 측정치를 이용한 바이어스 추정기법
김형원,김도형,박효달,송택렬,Kim, Hyoung-Won,Kim, Do-Hyeung,Park, Hyo-Dal,Song, Taek-Lyul 한국군사과학기술학회 2011 한국군사과학기술학회지 Vol.14 No.6
In this paper, a sensor bias estimation method with pseudo measurement for asynchronous multisensor systems is proposed. The proposed bias estimation method separates the local filter which estimates the target state with biased measurements into two parts, one is bias part, the other is target state part. By using these two parts, the algorithm generates the pseudo bias measurement for estimating bias, and then eliminates bias of local track through bias compensation. Finally, the proposed algorithm is evaluated by comparing with the existing EXX method.
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항로표지 정보를 이용한 해상감시레이더의 시스템 오차 보정
김병두(Byung-Doo Kim),김도형(Do-Hyeung Kim),이병길(Byung-Gil Lee) 한국항해항만학회 2013 한국항해항만학회지 Vol.37 No.5
해상교통관제시스템(VTS)은 선박의 위치, 속도, 침로 등 해상 교통 정보를 획득하기 위하여 다수의 해상감시레이더를 주요 센서로 이용하고 있으며, 거리 및 방위각 바이어스와 같은 2차원 해상감시레이더의 시스템 오차는 레이더 영상 및 표적 추적정보의 정확도를 크게 저하시킬 수 있다. 따라서 해상교통관제시스템에서 정확한 표적정보를 제공하기 위하여 레이더의 시스템 오차는 정밀하게 보정되어야 한다. 본 논문에서는 VTS 관제영역에 설치된 항로표지의 위치정보를 이용하여 2차원 해상감시레이더의 거리 및 방위각 오차를 보정하기 위한 방법을 제안한다. 2차원 레이더 측정값의 표준오차 모델과 항로표지 위치정보로부터 측정 잔차 모델을 유도하고, 레이더 시스템 오차를 추정하기 위한 선형 칼만필터를 설계한다. Monte-Carlo 모의실험을 통하여 제안한 방법을 검증하고, 항로표지 정보의 개수에 따른 레이더 시스템 오차 추정의 수렴 특성 및 정확도를 분석한다. Vessel traffic system uses multiple sea surveillance radars as a primary sensor to obtain maritime traffic information like as ship's position, speed, course. The systematic errors such as the range bias and the azimuth bias of the two-dimensional radar system can significantly degrade the accuracy of the radar image and target tracking information. Therefore, the systematic errors of the radar system should be corrected precisely in order to provide the accurate target information in the vessel traffic system. In this paper, it is proposed that the method compensates the range bias and the azimuth bias using AtoN information installed at VTS coverage. The radar measurement residual error model is derived from the standard error model of two-dimensional radar measurements and the position information of AtoN, and then the linear Kalman filter is designed for estimation of the systematic errors of the radar system. The proposed method is validated via Monte-Carlo runs. Also, the convergence characteristics of the designed filter and the accuracy of the systematic error estimates according to the number of AtoN information are analyzed.
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다발성 개방성 골절 이후 발생한 패혈증에 속발된 파종상 혈관내 응고병증 - 1례 보고 -
김태승,오성희,조재림,김도형,최충혁,황건성 대한골절학회 1997 대한골절학회지 Vol.10 No.3
Disseminated intravascular coagulation is known to be a syndrome which can evoke compound derangement in the cascade mechanism of normal hemostasis, which causes depletion of coagulation factors, secondary fibrinogen, and eventually massive and uncontrollable bleeding. Even though there still are not absolute criteria for diagnosis, some laboratory findings platelet count, plasma fibrinogen, fibrinogen degradation product, plasma protamine test, etc can suggest the possibility to diagnose. The basic principle in management is. to eliminate the triggering mechanism as soon as possible and to cure the initial disease entities. In orthopedic point of view, disseminated intravascular coagulation can occur in the case of malignancy, massive trauma, infection, sepsis and so on. Authors report a case of disseminated intravascular coagulation occured in a 12 year 2 month old male patient who visited Hanyang university hospital in septic condition after emergency operations following multiple open fractures on his left femur, tibia and fibula in a motor-cycle accident.
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Kaneda 기기를 이용한 흉요추부 및 요추부 방출성 골절의 수술적 치료
조재림,박예수,김도형 대한척추외과학회 1997 대한척추외과학회지 Vol.4 No.1
Study Design : Burst fracture consists of 15% of all spine fracture and half of them show neurologic deficit because of neural compression by the posteriorly displaced bony fragment of the mid column. Operative treatment is usually indicated for decompression in moderate to severe canal compromise with or without neurologic deficit. To maintain reduction and for early rehabilitation, various instrumentations are recommended and Kaneda instrument is one of the popular device for anterior decompression. Objectives : To confirm the relationship of anterior decompression and recovery of neurological function in burst fracture and the efficacy of the Kaneda instrumentation. Summary of Literature Review : Anterior approach has the advantages that it can directly remove displaced bony fragment to the spinal canal and also effecitvely correct deformity of the kyphotic angle. In this treatment, we generally use Kaneda instrument as an internal device which is biomechanically more rigid, and can fix even the least segment than any other one. Materials and Methods : From Aug. 1989 to Nov. 1994, the authors applied Kaneda instrument after anteriordecompression in 26 cases of burst fracture, which was followed for more than 1 year. We analysed burst fracture with Denis' classification, Cobbs' method, Mumford technique, Bradford and McBride classification, Denis' pain and work scale. Results : The average rate of preoperative canal encroachment was 55.9% and complete decompression was carried out in all cases. And there was no difference of these results in both groups of with or without neurologic deficit. At the time of injury, neurlogic deficit occurred in 12 cases. 3 of which showed complete paraplegia. In cord level injury, neurologic deficit was observed in horse-shoe and crescent type but no correlation was observed in cauda equina level injury. Neurologic status was improved average 1.3 grade in 9 cases except 3 cases of complete paraplegia. According to Denis' pain and work scale, it was 77% above P₂W₂. There was 4 cases of complications including 2 cases of superficial infection, 1 case of deep infection and 1 case of metal failure. Conclusion : We recommend the anterior spinal decompression and Kaneda instrumentation for restoration of spinal canal and optimal recovery of neurological function and for early rehabilitation.
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