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Vessel-position Tracking in 3-sphere Space Using an Interacting Multiple Model Based on Lie Theory

Journal of Institute of Control, Robotics and systems 2024年第6期30卷 643-649页

作者： Jeong, Da Bin Ko, Nak Yong Department of Electronic Engineering Interdisciplinary Program in IT-Bio Convergence System Chosun University Korea Republic of

This paper proposes a method for tracking vessel positions using an interacting multiple model approach based on Lie theory in 3-sphere space. Attitude increments and errors are evaluated and corrected using Lie algebra, as well as exponential and logarithmic operations. The covariance of attitudes is appropriately represented in Lie algebra. The proposed method is compared with two methods, i.e., the unscented Kalman filter (UKF) in which the attitude is represented by a unit quaternion (quaternion-utilizing UKF) and the UKF with a single model that uses Lie theory (Lie theory-incorporating UKF). The quaternion-utilizing UKF represents the attitude using quaternions without incorporating Lie theory, whereas the Lie theory-incorporating UKF represents the attitude as a unit quaternion and utilizes Lie theory. The comparisons indicate that the proposed method effectively reduces tracking errors. Additionally, the proposed method adapts to changes in maneuvering conditions using optimized model probabilities, ensuring timely and appropriate responses. The robustness and effectiveness of the proposed method in various maneuvering scenarios demonstrate its potential for enhancing vessel tracking accuracy in real-world applications. © ICROS 2024.

关键词： Exponential functions

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Techno-economic analysis of green hydrogen production by a floating solar photovoltaic system for industrial decarbonization

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Clean Energy 2024年第4期8卷 1-14页

作者： Rahma Muthia Anastasia Segari Putri Pramudya Mochamad Rafly Maulana Widodo Wahyu Purwanto Department of Chemical Engineering Faculty of EngineeringUniversitas IndonesiaDepok16424Indonesia Sustainable Energy Systems and Policy Research Cluster Universitas IndonesiaDepok16424Indonesia Master Program in Energy Systems Engineering Faculty of EngineeringUniversitas IndonesiaDepok16424Indonesia

This study proposes a conceptual design of green hydrogen production via proton exchange membrane electrolysis powered by a floating solar photovoltaic *** system contributes to industrial decarbonization in which hydrogen blending with natural gas is proposed as an approach to smooth the energy *** proposed design addresses the challenge of supplying a continuous flow-rate of green hydrogen,which is typically demanded by industrial end *** study particularly considers a realistic area required for the installation of a floating solar photovoltaic *** enable the green hydrogen production of 7.5 million standard cubic feet per day,the required structure includes the floating solar photovoltaic system and Li-ion batteries with the nominal capacities of 518.4 megawatts and 780.8 *** is equivalent to the requirement for 1524765 photovoltaic modules and 3718 Li-ion *** assessment confirms the technical viability of the proposed concept of green hydrogen production,transportation and *** the present commercialization is hindered by economics due to a high green hydrogen production cost of USD 26.95 per kg,this green hydrogen pathway is expected to be competitive with grey hydrogen produced via coal gasification and via natural gas steam reforming by 2043 and 2047,respectively.

关键词： floating solar photovoltaics gas blending green hydrogen industrial decarbonization lithium-ion battery photon exchange membrane electrolysis

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Development of Video Stabilization Technology in Extreme Environments Using Lidar-inertial Odometry

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Journal of Institute of Control, Robotics and systems 2025年第1期31卷 61-67页

作者： Yoon, Yeong-In Suh, Hyeong-Seok Shin, Gwan-Jun Lim, Jong-Woo Department of Mechanical Engineering Seoul National University Korea Republic of Interdisciplinary Program in Artificial Intelligence Seoul National University Korea Republic of

This study proposes designing and applying a video stabilization algorithm using LIDAR-inertial odometry (LIO). The performance of the video stabilization function was validated in narrow, low-light environments using a small robot. A unique camera pose estimation method based on LIO has been introduced and integrated with the camera system in this work to not only overcome the limitations of image feature-based camera pose estimation but also address the issues arising from camera sensors. Thus, this strategy allows the practical implementation of a robust camera stabilization algorithm even in extreme environments. The proposed approach is resilient to the differing scan rates of the LIDAR system and the camera, and it enhances usability by filtering noise from the LIO. Furthermore, it requires less computational resources compared to traditional image feature extraction-based methods. This technology can substantially improve the operational convenience for robot operators, especially in scenarios where robots equipped with various sensors are deployed in extreme environments. © ICROS 2025.

关键词： image perspective transformation lidar-inertial odometry video stabilization

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Development and Flight Experiments of Scaled-model AAM Aircraft With Boxed-wing

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Journal of Institute of Control, Robotics and systems 2025年第1期31卷 5-13页

作者： Yang, Yechan Park, Seonghyeon Park, Joonhyuk Seo, Bin Kim, Nakyung Jeong, Hoijo Suk, Jinyoung Kim, Seungkeun Department of Aerospace Engineering Chungnam National University Korea Republic of Interdisciplinary Program in Intelligent Aerospace System Seoul National University Korea Republic of

Advanced air mobility (AAM) is being developed to address complex transportation challenges in urban environments. In this study, a scaled model of a boxed-wing tiltrotor AAM has been designed and implemented through simulation and flight testing, establishing a foundation for the future commercialization of AAM. All structural and aerodynamic factors involved in the design of the Boxed-wing were considered during the initial stage of development, and its aerodynamic performance was analyzed. A software-in-the-loop simulation was conducted by integrating the Gazebo simulator and PX4 to verify the performance of the simulation model. The model successfully followed the predefined waypoints during the simulation, and the control parameters derived from the simulation were then applied to the flight test. The key parameters among them were validated through the flight test, confirming their effectiveness in ensuring a stable flight. © ICROS 2025.

关键词： Urban transportation

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Comprehensive technical analysis of post-combustion carbon capture and storage based on monoethanolamine absorption for petrochemical industry in Indonesia

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Clean Energy 2024年第6期8卷 16-36页

作者： Muh Asyrofi Rahma Muthia Mohammad Akita Indianto Energy Systems Engineering Graduate Program Department of Interdisciplinary EngineeringFaculty of EngineeringUniversitas IndonesiaKampus Baru UI DepokDepokWest Java 16424Indonesia Department of Chemical Engineering Faculty of EngineeringUniversitas IndonesiaKampus Baru UI DepokDepokWest Java 16424Indonesia Sustainable Energy Systems and Policy Research Cluster Universitas IndonesiaKampus Baru UI DepokDepokWest Java 16424Indonesia Tropical Renewable Energy Center Faculty of EngineeringUniversitas IndonesiaKampus Baru UI DepokDepokWest Java 16424Indonesia

The implementation of carbon capture and storage in the petrochemical industry is one of the means of *** research focuses on a comprehensive technical analysis of the deployment of post-combustion carbon capture and storage based on monoethanolamine absorption in the petrochemical *** olefin complex petrochemical industry in Tuban,Indonesia,is the basis for the analysis,which includes a steam cracker,polyethylene,polypropylene,and raw pyrolysis gasoline hydrotreating units,with capacities of 1000,940,600,and 570 kilotons/year,*** total energy consumption is about 16024.53 GJ/h,and the CO_(2) emissions are about 1.6 megatons/*** on these plant systems,comprehensive technical analyses of the implementation of carbon capture and storage in that industry were performed using Aspen HYSYS®simulation *** analysis was carried out to determine the total CO_(2) captured,energy intensity,monoethanolamine consumption,and net CO_(2) captured in various scenarios based on the number of absorber column stages,absorption pressure,and desorption *** CO_(2) storage site is about 100 km away and is transported by an onshore pipeline with a supercritical phase of CO_(2).The optimal net CO_(2) capture value is achieved by setting up a 50-stage absorber column with a pressure of 1 barg and a temperature of 110℃ at the top of the desorber column,resulting in a CO_(2) capture yield of 86.4%and an energy intensity of 12.6 GJ/ton CO_(2).Under these conditions,the net CO_(2) captured in the scenario based on gas power plants’electricity is 0.225 megatons/year,while in the scenario based on gas power plants incorporating 30%biomass electricity,it is 0.544 megatons/*** increased use of renewable energy in carbon capture and storage facilities,more net CO_(2) is *** study can be applied to various cases of post-combustion carbon capture and storage implementation in the industrial sector,especially in the

关键词： carbon capture and storage petrochemical olefin monoethanolamine absorption pipeline injection energy intensity net captured CO_(2)

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Experimental Study on Heat Storage Properties Comparison of Paraffin/Metal Foams Phase Change Material Composites

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Journal of Thermal Science 2024年第2期33卷 469-478页

作者： Waqar AHMED Abid HUSSAIN Hanzla SHAHID Imran ALI Hafiz Muhammad ALI Department of Mechanical Engineering University of Engineering and TechnologyTaxila47080Pakistan Department of Mechanical Engineering Institute of Space TechnologyIslamabadPakistan Department of Mechanical Mechatronics and Manufacturing EngineeringUniversity of Engineering and Technology LahoreFaisalabad CampusPunjabPakistan Mechanical Engineering Department King Fahd University of Petroleum and MineralsDhahran31261Saudi Arabia Interdisciplinary Research Center for Renewable Energy and Power Systems(IRC-REPS) King Fahd University of Petroleum and MineralsDhahran31261Saudi Arabia

Heat storage properties of phase change materials(PCMs) are essential characteristics that perform a key role in thermal heat energy storage *** thermal properties of PCMs can be improved by developing metal foam/PCM *** addition of metal foam in PCMs has a significant effect on the thermal characteristics of *** this paper,the heat storage properties of two different metal foam/PCM composites were experimentally *** behavior of paraffin in metal foam(copper and iron-nickel)/paraffin composites concerning pure paraffin at a constant heat flux of 1000 W/m^(2) in three directions simultaneously(x,y,and z) was *** was infiltrated into copper and iron-nickel foams to develop composite materials which resulted in enhancing the thermal conductivity of the paraffin.A comparative analysis is made on the heat storage properties of paraffin in copper and iron-nickel foams/paraffin *** temperature distribution during the phase transition process is experimentally *** comparison indicates that temperature uniformity in copper foam/paraffin composite is better than in iron-nickel foam/paraffin composite and pure paraffin at the same heat *** results show that at heat flux of 1000 W/m^(2),the heat storage time for copper foam/paraffin composite is 20.63% of that of iron-nickel foam/paraffin composite.

关键词： heat storage capacity paraffin/metal foam composite temperature uniformity heat storage rate phase transition process

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Vessel Location Tracking by Using Unscented Kalman Filter Implemented in Nonlinear Attitude Space

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Journal of Institute of Control, Robotics and systems 2023年第4期29卷 347-354页

作者： Jeong, Da Bin Ko, Nak Yong Choi, Hyun-Taek Department of Electronic Engineering Interdisciplinary Program in IT-Bio Convergence System Chosun University Korea Republic of Korea Republic of

In this study, Lie group theory was used for implementing the unscented Kalman filter (UKF). The UKF was used to track an unmanned surface vehicle (USV) by using radar measurements and the data recorded by the automatic identification system. The attitude of the USV was represented using unit quaternions constituting a Lie group called the 3-sphere space (S3). The increment and difference in the attitudes in S3 constitute a Lie algebra. The correspondence between the Lie group component and the Lie algebra component was used by the exponential and logarithm functions of the UKF. Simulation studies verify that the Lie group based UKF results in better convergence property in Kalman gain, measurement innovation, and covariance, as well as better tracking accuracy than the traditional UKF. © ICROS 2023.

关键词： Lie groups

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Multi-Functional Brain-Computer Interface Using Convolutional Neural Networks

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Journal of Institute of Control, Robotics and systems 2023年第1期29卷 29-34页

作者： Choi, Woo-Sung Yeom, Hong Gi Department of Electronics Engineering Chosun University Korea Republic of Interdisciplinary Program in IT-Bio Convergence System Korea Republic of

The Brain-computer interface (BCI) is a technology that measures and analyzes electroencephalogram (EEG) signals to control robots or machines according to the user's intention. The BCI is a beneficial technology that helps people who can not move their body because of paralysis or amputation so that they can control various electronic devices or express their intentions just by thinking. However, previous BCI technologies have a limitation that they can not have been unable to predict multiple intentions. To use the BCI system in daily life, BCI should be able to predict various intentions such as movement, communication, and robot control. In this study, we developed a BCI technology that can predict multiple intentions simultaneously using a convolutional neural network (CNN). We evaluated the proposed BCI model with EEG signals measured from 10 subjects participants during completing Sensory-Motor Rhythm (SMR) and Steady-State Visual Evoked Potential (SSVEP) tasks. The evaluation showed that the proposed BCI model could predict multiple intentions. The average accuracy averaged by all subjects was 62.8±13.7%. This result implies that BCI users can simultaneously perform various tasks, such as typing and moving. We expect that our study will promote the development of the practical applications of BCI. in daily life. © ICROS 2023.

关键词： Brain computer interface

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Texture development and surface reconstruction of BiVO_(4)photoanode via one-pot hydrothermal reaction for enhanced photoelectrochemical water splitting

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Journal of Advanced Ceramics 2025年第3期14卷 133-141页

作者： Sung Won Hwang Yoo Jae Jeong Runfa Tan Indhujasri Saravanan Hyun Soo Han Dong Hoe Kim In Sun Cho Department of Energy Systems Research Ajou UniversitySuwon 16499Republic of Korea Department of Material Science&Engineering Ajou UniversitySuwon 16499Republic of Korea Department of Mechanical Engineering Stanford UniversityStanford 94305USA Department of Material Science&Engineering Korea UniversitySeoul 02841Republic of Korea Materials Science and Engineering Program University of Colorado BoulderBoulder 80303USA

The simultaneous optimization of the bulk and surface characteristics of photoelectrodes is essential to maximize their photoelectrochemical(PEC)*** report a novel one-pot hydrothermal synthesis of textured and surface-reconstructed BiVO_(4)photoanodes(ts-BVO),achieving significant improvements in PEC water *** controlling precursor molarity and ethylene glycol(EG)addition,we developed a stepwise dual reaction(SDR)mechanism,which enables simultaneous bulk texture development and surface *** optimized CoBi/ts-BVO photoanode exhibited a photocurrent density of 4.3 mA∙cm^(−2)at 1.23 V *** hydrogen electrode(RHE)with a high Faradaic efficiency of 98%under one sun *** with nontextured BiVO_(4),the charge transport efficiency increased from 8%to 70%,whereas the surface charge transfer efficiency improved from 9%to 85%.These results underscore the critical role of both bulk and surface engineering in enhancing PEC *** findings offer a streamlined approach for improving the intrinsic properties of photoanodes in solar water splitting.

关键词： BiVO_(4) hydrothermal texture surface reconstruction ethylene glycol(EG) photoelectrochemical water splitting

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Design of Navigation Satellite Constellation for Global Lunar PNT

Design of Navigation Satellite Constellation for Global Luna...

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2025 International Technical Meeting of The Institute of Navigation, ITM 2025

作者： Kang, Minjae Jeong, Hojoon Park, Jaeuk Kee, Changdon Interdisciplinary Program in Space Systems Seoul National University Korea Republic of Department of Aerospace Engineering and SNU-IAMD Seoul National University Korea Republic of

ISBN: (纸本)9780936406404

This study presents the design of a lunar navigation satellite constellation to provide global Positioning, Navigation, and Timing (PNT) services, beginning with coverage at the lunar South Pole and gradually expanding to the entire Moon. Building upon an initial Phase 1 constellation that ensures reliable PNT at the South Pole, Phase 2 extends this coverage globally, addressing the challenges of providing continuous navigation services across the lunar surface. The proposed Hybrid Frozen Constellation combines Elliptical Lunar Frozen Orbits (ELFOs) and Circular Frozen Orbits to offer a cost-effective and efficient solution, leveraging the stable South Pole-oriented orbits while minimizing the number of satellites required. The study explores various satellite configurations to achieve best Position Dilution of Precision (PDOP) across the entire lunar surface. By carefully analyzing the geometry and phasing of the orbits, the design aims to maximize navigation performance while reducing the satellite volume. Simulation results confirm that the full constellation achieves over 98% PDOP availability, ensuring PDOP values remain below 6, meeting the GPS standards for reliable navigation. This performance guarantees accurate positioning, even in challenging regions of the lunar surface, and supports both robotic and crewed exploration missions. © 2025 Proceedings of the International Technical Meeting of The Institute of Navigation, ITM. All rights reserved.

关键词： Lunar missions

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