AI 스피커의 보급과 함께 목소리를 이용한 결제, 신원 확인 등의 어플리케이션에 화자 인증 기술이 점차 상용화되고 있습니다. 본 발표에서는 여러 전처리 과정을 진행하지 않고, 직접 DNN에 Raw waveform (원 신호) 을 입력하는 화자 인증 시스템을 소개합니다. 또한 소개한 시스템과 교사-학생 학습(teacher-student learning) 기법을 이용하여 화자 인증 시스템의 성능이 하락하는 대표적인 경우인 발성의 길이가 짧은 경우, 원거리에서 발성이 입력된 경우에 대해 각각 보상을 진행한 연구를 소개합니다.
Python의 계산성능 향상을 위해 Fortran, C, CUDA-C, OpenCL-C 코드들과 연동하기Ki-Hwan Kim
PYCON Korea 2015
Python은 과학 계산 분야에서도 이미 널리 사용되고 있습니다. numpy와 scipy 기반으로 만들어진 많은 모듈들이 휼륭한 생태계를 이루고 있기 때문입니다. 그러나 극한의 계산 성능을 요구하는 분야(HPC, High Performance Computing)에서는 여전히 C와 Fortran으로만으로 짜여진 코드들이 선호되고 있습니다. 이런 분야에서 Python에 대한 일반적인 견해는 전처리/후처리에는 유용하지만 메인 코드에 적용하기에는 느리다라는 것입니다.
이번 발표에서는 HPC 분야에서도 Python의 유용함을 보여줍니다. 계산이 집중된 부분만을 Fortran, C로 구현하여 Python 메인 코드에 접합하면, Python의 장점은 충분히 활용하면서도 계산 성능에 큰 손해는 보지 않을 수 있습니다. 게다가 CUDA-C, OpenCL-C와 연동하면 GPU, MIC와 같은 가속 프로세서들도 비교적 쉽게 활용할 수 있습니다. 이번 발표에서는 간단한 시뮬레이션 코드를 예제로 사용하여 Python 코드로부터 시작하여 Fortran, C, CUDA-C, OpenCL-C 등을 단계적으로 접합해 나가는 것을 보여줄 것입니다.
2024 State of Marketing Report – by HubspotMarius Sescu
https://www.hubspot.com/state-of-marketing
· Scaling relationships and proving ROI
· Social media is the place for search, sales, and service
· Authentic influencer partnerships fuel brand growth
· The strongest connections happen via call, click, chat, and camera.
· Time saved with AI leads to more creative work
· Seeking: A single source of truth
· TLDR; Get on social, try AI, and align your systems.
· More human marketing, powered by robots
AI 스피커의 보급과 함께 목소리를 이용한 결제, 신원 확인 등의 어플리케이션에 화자 인증 기술이 점차 상용화되고 있습니다. 본 발표에서는 여러 전처리 과정을 진행하지 않고, 직접 DNN에 Raw waveform (원 신호) 을 입력하는 화자 인증 시스템을 소개합니다. 또한 소개한 시스템과 교사-학생 학습(teacher-student learning) 기법을 이용하여 화자 인증 시스템의 성능이 하락하는 대표적인 경우인 발성의 길이가 짧은 경우, 원거리에서 발성이 입력된 경우에 대해 각각 보상을 진행한 연구를 소개합니다.
Python의 계산성능 향상을 위해 Fortran, C, CUDA-C, OpenCL-C 코드들과 연동하기Ki-Hwan Kim
PYCON Korea 2015
Python은 과학 계산 분야에서도 이미 널리 사용되고 있습니다. numpy와 scipy 기반으로 만들어진 많은 모듈들이 휼륭한 생태계를 이루고 있기 때문입니다. 그러나 극한의 계산 성능을 요구하는 분야(HPC, High Performance Computing)에서는 여전히 C와 Fortran으로만으로 짜여진 코드들이 선호되고 있습니다. 이런 분야에서 Python에 대한 일반적인 견해는 전처리/후처리에는 유용하지만 메인 코드에 적용하기에는 느리다라는 것입니다.
이번 발표에서는 HPC 분야에서도 Python의 유용함을 보여줍니다. 계산이 집중된 부분만을 Fortran, C로 구현하여 Python 메인 코드에 접합하면, Python의 장점은 충분히 활용하면서도 계산 성능에 큰 손해는 보지 않을 수 있습니다. 게다가 CUDA-C, OpenCL-C와 연동하면 GPU, MIC와 같은 가속 프로세서들도 비교적 쉽게 활용할 수 있습니다. 이번 발표에서는 간단한 시뮬레이션 코드를 예제로 사용하여 Python 코드로부터 시작하여 Fortran, C, CUDA-C, OpenCL-C 등을 단계적으로 접합해 나가는 것을 보여줄 것입니다.
2024 State of Marketing Report – by HubspotMarius Sescu
https://www.hubspot.com/state-of-marketing
· Scaling relationships and proving ROI
· Social media is the place for search, sales, and service
· Authentic influencer partnerships fuel brand growth
· The strongest connections happen via call, click, chat, and camera.
· Time saved with AI leads to more creative work
· Seeking: A single source of truth
· TLDR; Get on social, try AI, and align your systems.
· More human marketing, powered by robots
ChatGPT is a revolutionary addition to the world since its introduction in 2022. A big shift in the sector of information gathering and processing happened because of this chatbot. What is the story of ChatGPT? How is the bot responding to prompts and generating contents? Swipe through these slides prepared by Expeed Software, a web development company regarding the development and technical intricacies of ChatGPT!
Product Design Trends in 2024 | Teenage EngineeringsPixeldarts
The realm of product design is a constantly changing environment where technology and style intersect. Every year introduces fresh challenges and exciting trends that mold the future of this captivating art form. In this piece, we delve into the significant trends set to influence the look and functionality of product design in the year 2024.
How Race, Age and Gender Shape Attitudes Towards Mental HealthThinkNow
Mental health has been in the news quite a bit lately. Dozens of U.S. states are currently suing Meta for contributing to the youth mental health crisis by inserting addictive features into their products, while the U.S. Surgeon General is touring the nation to bring awareness to the growing epidemic of loneliness and isolation. The country has endured periods of low national morale, such as in the 1970s when high inflation and the energy crisis worsened public sentiment following the Vietnam War. The current mood, however, feels different. Gallup recently reported that national mental health is at an all-time low, with few bright spots to lift spirits.
To better understand how Americans are feeling and their attitudes towards mental health in general, ThinkNow conducted a nationally representative quantitative survey of 1,500 respondents and found some interesting differences among ethnic, age and gender groups.
Technology
For example, 52% agree that technology and social media have a negative impact on mental health, but when broken out by race, 61% of Whites felt technology had a negative effect, and only 48% of Hispanics thought it did.
While technology has helped us keep in touch with friends and family in faraway places, it appears to have degraded our ability to connect in person. Staying connected online is a double-edged sword since the same news feed that brings us pictures of the grandkids and fluffy kittens also feeds us news about the wars in Israel and Ukraine, the dysfunction in Washington, the latest mass shooting and the climate crisis.
Hispanics may have a built-in defense against the isolation technology breeds, owing to their large, multigenerational households, strong social support systems, and tendency to use social media to stay connected with relatives abroad.
Age and Gender
When asked how individuals rate their mental health, men rate it higher than women by 11 percentage points, and Baby Boomers rank it highest at 83%, saying it’s good or excellent vs. 57% of Gen Z saying the same.
Gen Z spends the most amount of time on social media, so the notion that social media negatively affects mental health appears to be correlated. Unfortunately, Gen Z is also the generation that’s least comfortable discussing mental health concerns with healthcare professionals. Only 40% of them state they’re comfortable discussing their issues with a professional compared to 60% of Millennials and 65% of Boomers.
Race Affects Attitudes
As seen in previous research conducted by ThinkNow, Asian Americans lag other groups when it comes to awareness of mental health issues. Twenty-four percent of Asian Americans believe that having a mental health issue is a sign of weakness compared to the 16% average for all groups. Asians are also considerably less likely to be aware of mental health services in their communities (42% vs. 55%) and most likely to seek out information on social media (51% vs. 35%).
AI Trends in Creative Operations 2024 by Artwork Flow.pdfmarketingartwork
This article is all about what AI trends will emerge in the field of creative operations in 2024. All the marketers and brand builders should be aware of these trends for their further use and save themselves some time!
A report by thenetworkone and Kurio.
The contributing experts and agencies are (in an alphabetical order): Sylwia Rytel, Social Media Supervisor, 180heartbeats + JUNG v MATT (PL), Sharlene Jenner, Vice President - Director of Engagement Strategy, Abelson Taylor (USA), Alex Casanovas, Digital Director, Atrevia (ES), Dora Beilin, Senior Social Strategist, Barrett Hoffher (USA), Min Seo, Campaign Director, Brand New Agency (KR), Deshé M. Gully, Associate Strategist, Day One Agency (USA), Francesca Trevisan, Strategist, Different (IT), Trevor Crossman, CX and Digital Transformation Director; Olivia Hussey, Strategic Planner; Simi Srinarula, Social Media Manager, The Hallway (AUS), James Hebbert, Managing Director, Hylink (CN / UK), Mundy Álvarez, Planning Director; Pedro Rojas, Social Media Manager; Pancho González, CCO, Inbrax (CH), Oana Oprea, Head of Digital Planning, Jam Session Agency (RO), Amy Bottrill, Social Account Director, Launch (UK), Gaby Arriaga, Founder, Leonardo1452 (MX), Shantesh S Row, Creative Director, Liwa (UAE), Rajesh Mehta, Chief Strategy Officer; Dhruv Gaur, Digital Planning Lead; Leonie Mergulhao, Account Supervisor - Social Media & PR, Medulla (IN), Aurelija Plioplytė, Head of Digital & Social, Not Perfect (LI), Daiana Khaidargaliyeva, Account Manager, Osaka Labs (UK / USA), Stefanie Söhnchen, Vice President Digital, PIABO Communications (DE), Elisabeth Winiartati, Managing Consultant, Head of Global Integrated Communications; Lydia Aprina, Account Manager, Integrated Marketing and Communications; Nita Prabowo, Account Manager, Integrated Marketing and Communications; Okhi, Web Developer, PNTR Group (ID), Kei Obusan, Insights Director; Daffi Ranandi, Insights Manager, Radarr (SG), Gautam Reghunath, Co-founder & CEO, Talented (IN), Donagh Humphreys, Head of Social and Digital Innovation, THINKHOUSE (IRE), Sarah Yim, Strategy Director, Zulu Alpha Kilo (CA).
Trends In Paid Search: Navigating The Digital Landscape In 2024Search Engine Journal
The search marketing landscape is evolving rapidly with new technologies, and professionals, like you, rely on innovative paid search strategies to meet changing demands.
It’s important that you’re ready to implement new strategies in 2024.
Check this out and learn the top trends in paid search advertising that are expected to gain traction, so you can drive higher ROI more efficiently in 2024.
You’ll learn:
- The latest trends in AI and automation, and what this means for an evolving paid search ecosystem.
- New developments in privacy and data regulation.
- Emerging ad formats that are expected to make an impact next year.
Watch Sreekant Lanka from iQuanti and Irina Klein from OneMain Financial as they dive into the future of paid search and explore the trends, strategies, and technologies that will shape the search marketing landscape.
If you’re looking to assess your paid search strategy and design an industry-aligned plan for 2024, then this webinar is for you.
5 Public speaking tips from TED - Visualized summarySpeakerHub
From their humble beginnings in 1984, TED has grown into the world’s most powerful amplifier for speakers and thought-leaders to share their ideas. They have over 2,400 filmed talks (not including the 30,000+ TEDx videos) freely available online, and have hosted over 17,500 events around the world.
With over one billion views in a year, it’s no wonder that so many speakers are looking to TED for ideas on how to share their message more effectively.
The article “5 Public-Speaking Tips TED Gives Its Speakers”, by Carmine Gallo for Forbes, gives speakers five practical ways to connect with their audience, and effectively share their ideas on stage.
Whether you are gearing up to get on a TED stage yourself, or just want to master the skills that so many of their speakers possess, these tips and quotes from Chris Anderson, the TED Talks Curator, will encourage you to make the most impactful impression on your audience.
See the full article and more summaries like this on SpeakerHub here: https://speakerhub.com/blog/5-presentation-tips-ted-gives-its-speakers
See the original article on Forbes here:
http://www.forbes.com/forbes/welcome/?toURL=http://www.forbes.com/sites/carminegallo/2016/05/06/5-public-speaking-tips-ted-gives-its-speakers/&refURL=&referrer=#5c07a8221d9b
ChatGPT and the Future of Work - Clark Boyd Clark Boyd
Everyone is in agreement that ChatGPT (and other generative AI tools) will shape the future of work. Yet there is little consensus on exactly how, when, and to what extent this technology will change our world.
Businesses that extract maximum value from ChatGPT will use it as a collaborative tool for everything from brainstorming to technical maintenance.
For individuals, now is the time to pinpoint the skills the future professional will need to thrive in the AI age.
Check out this presentation to understand what ChatGPT is, how it will shape the future of work, and how you can prepare to take advantage.
A brief introduction to DataScience with explaining of the concepts, algorithms, machine learning, supervised and unsupervised learning, clustering, statistics, data preprocessing, real-world applications etc.
It's part of a Data Science Corner Campaign where I will be discussing the fundamentals of DataScience, AIML, Statistics etc.
Time Management & Productivity - Best PracticesVit Horky
Here's my presentation on by proven best practices how to manage your work time effectively and how to improve your productivity. It includes practical tips and how to use tools such as Slack, Google Apps, Hubspot, Google Calendar, Gmail and others.
The six step guide to practical project managementMindGenius
The six step guide to practical project management
If you think managing projects is too difficult, think again.
We’ve stripped back project management processes to the
basics – to make it quicker and easier, without sacrificing
the vital ingredients for success.
“If you’re looking for some real-world guidance, then The Six Step Guide to Practical Project Management will help.”
Dr Andrew Makar, Tactical Project Management
Unlocking the Power of ChatGPT and AI in Testing - A Real-World Look, present...Applitools
During this webinar, Anand Bagmar demonstrates how AI tools such as ChatGPT can be applied to various stages of the software development life cycle (SDLC) using an eCommerce application case study. Find the on-demand recording and more info at https://applitools.info/b59
Key takeaways:
• Learn how to use ChatGPT to add AI power to your testing and test automation
• Understand the limitations of the technology and where human expertise is crucial
• Gain insight into different AI-based tools
• Adopt AI-based tools to stay relevant and optimize work for developers and testers
* ChatGPT and OpenAI belong to OpenAI, L.L.C.
ChatGPT is a revolutionary addition to the world since its introduction in 2022. A big shift in the sector of information gathering and processing happened because of this chatbot. What is the story of ChatGPT? How is the bot responding to prompts and generating contents? Swipe through these slides prepared by Expeed Software, a web development company regarding the development and technical intricacies of ChatGPT!
Product Design Trends in 2024 | Teenage EngineeringsPixeldarts
The realm of product design is a constantly changing environment where technology and style intersect. Every year introduces fresh challenges and exciting trends that mold the future of this captivating art form. In this piece, we delve into the significant trends set to influence the look and functionality of product design in the year 2024.
How Race, Age and Gender Shape Attitudes Towards Mental HealthThinkNow
Mental health has been in the news quite a bit lately. Dozens of U.S. states are currently suing Meta for contributing to the youth mental health crisis by inserting addictive features into their products, while the U.S. Surgeon General is touring the nation to bring awareness to the growing epidemic of loneliness and isolation. The country has endured periods of low national morale, such as in the 1970s when high inflation and the energy crisis worsened public sentiment following the Vietnam War. The current mood, however, feels different. Gallup recently reported that national mental health is at an all-time low, with few bright spots to lift spirits.
To better understand how Americans are feeling and their attitudes towards mental health in general, ThinkNow conducted a nationally representative quantitative survey of 1,500 respondents and found some interesting differences among ethnic, age and gender groups.
Technology
For example, 52% agree that technology and social media have a negative impact on mental health, but when broken out by race, 61% of Whites felt technology had a negative effect, and only 48% of Hispanics thought it did.
While technology has helped us keep in touch with friends and family in faraway places, it appears to have degraded our ability to connect in person. Staying connected online is a double-edged sword since the same news feed that brings us pictures of the grandkids and fluffy kittens also feeds us news about the wars in Israel and Ukraine, the dysfunction in Washington, the latest mass shooting and the climate crisis.
Hispanics may have a built-in defense against the isolation technology breeds, owing to their large, multigenerational households, strong social support systems, and tendency to use social media to stay connected with relatives abroad.
Age and Gender
When asked how individuals rate their mental health, men rate it higher than women by 11 percentage points, and Baby Boomers rank it highest at 83%, saying it’s good or excellent vs. 57% of Gen Z saying the same.
Gen Z spends the most amount of time on social media, so the notion that social media negatively affects mental health appears to be correlated. Unfortunately, Gen Z is also the generation that’s least comfortable discussing mental health concerns with healthcare professionals. Only 40% of them state they’re comfortable discussing their issues with a professional compared to 60% of Millennials and 65% of Boomers.
Race Affects Attitudes
As seen in previous research conducted by ThinkNow, Asian Americans lag other groups when it comes to awareness of mental health issues. Twenty-four percent of Asian Americans believe that having a mental health issue is a sign of weakness compared to the 16% average for all groups. Asians are also considerably less likely to be aware of mental health services in their communities (42% vs. 55%) and most likely to seek out information on social media (51% vs. 35%).
AI Trends in Creative Operations 2024 by Artwork Flow.pdfmarketingartwork
This article is all about what AI trends will emerge in the field of creative operations in 2024. All the marketers and brand builders should be aware of these trends for their further use and save themselves some time!
A report by thenetworkone and Kurio.
The contributing experts and agencies are (in an alphabetical order): Sylwia Rytel, Social Media Supervisor, 180heartbeats + JUNG v MATT (PL), Sharlene Jenner, Vice President - Director of Engagement Strategy, Abelson Taylor (USA), Alex Casanovas, Digital Director, Atrevia (ES), Dora Beilin, Senior Social Strategist, Barrett Hoffher (USA), Min Seo, Campaign Director, Brand New Agency (KR), Deshé M. Gully, Associate Strategist, Day One Agency (USA), Francesca Trevisan, Strategist, Different (IT), Trevor Crossman, CX and Digital Transformation Director; Olivia Hussey, Strategic Planner; Simi Srinarula, Social Media Manager, The Hallway (AUS), James Hebbert, Managing Director, Hylink (CN / UK), Mundy Álvarez, Planning Director; Pedro Rojas, Social Media Manager; Pancho González, CCO, Inbrax (CH), Oana Oprea, Head of Digital Planning, Jam Session Agency (RO), Amy Bottrill, Social Account Director, Launch (UK), Gaby Arriaga, Founder, Leonardo1452 (MX), Shantesh S Row, Creative Director, Liwa (UAE), Rajesh Mehta, Chief Strategy Officer; Dhruv Gaur, Digital Planning Lead; Leonie Mergulhao, Account Supervisor - Social Media & PR, Medulla (IN), Aurelija Plioplytė, Head of Digital & Social, Not Perfect (LI), Daiana Khaidargaliyeva, Account Manager, Osaka Labs (UK / USA), Stefanie Söhnchen, Vice President Digital, PIABO Communications (DE), Elisabeth Winiartati, Managing Consultant, Head of Global Integrated Communications; Lydia Aprina, Account Manager, Integrated Marketing and Communications; Nita Prabowo, Account Manager, Integrated Marketing and Communications; Okhi, Web Developer, PNTR Group (ID), Kei Obusan, Insights Director; Daffi Ranandi, Insights Manager, Radarr (SG), Gautam Reghunath, Co-founder & CEO, Talented (IN), Donagh Humphreys, Head of Social and Digital Innovation, THINKHOUSE (IRE), Sarah Yim, Strategy Director, Zulu Alpha Kilo (CA).
Trends In Paid Search: Navigating The Digital Landscape In 2024Search Engine Journal
The search marketing landscape is evolving rapidly with new technologies, and professionals, like you, rely on innovative paid search strategies to meet changing demands.
It’s important that you’re ready to implement new strategies in 2024.
Check this out and learn the top trends in paid search advertising that are expected to gain traction, so you can drive higher ROI more efficiently in 2024.
You’ll learn:
- The latest trends in AI and automation, and what this means for an evolving paid search ecosystem.
- New developments in privacy and data regulation.
- Emerging ad formats that are expected to make an impact next year.
Watch Sreekant Lanka from iQuanti and Irina Klein from OneMain Financial as they dive into the future of paid search and explore the trends, strategies, and technologies that will shape the search marketing landscape.
If you’re looking to assess your paid search strategy and design an industry-aligned plan for 2024, then this webinar is for you.
5 Public speaking tips from TED - Visualized summarySpeakerHub
From their humble beginnings in 1984, TED has grown into the world’s most powerful amplifier for speakers and thought-leaders to share their ideas. They have over 2,400 filmed talks (not including the 30,000+ TEDx videos) freely available online, and have hosted over 17,500 events around the world.
With over one billion views in a year, it’s no wonder that so many speakers are looking to TED for ideas on how to share their message more effectively.
The article “5 Public-Speaking Tips TED Gives Its Speakers”, by Carmine Gallo for Forbes, gives speakers five practical ways to connect with their audience, and effectively share their ideas on stage.
Whether you are gearing up to get on a TED stage yourself, or just want to master the skills that so many of their speakers possess, these tips and quotes from Chris Anderson, the TED Talks Curator, will encourage you to make the most impactful impression on your audience.
See the full article and more summaries like this on SpeakerHub here: https://speakerhub.com/blog/5-presentation-tips-ted-gives-its-speakers
See the original article on Forbes here:
http://www.forbes.com/forbes/welcome/?toURL=http://www.forbes.com/sites/carminegallo/2016/05/06/5-public-speaking-tips-ted-gives-its-speakers/&refURL=&referrer=#5c07a8221d9b
ChatGPT and the Future of Work - Clark Boyd Clark Boyd
Everyone is in agreement that ChatGPT (and other generative AI tools) will shape the future of work. Yet there is little consensus on exactly how, when, and to what extent this technology will change our world.
Businesses that extract maximum value from ChatGPT will use it as a collaborative tool for everything from brainstorming to technical maintenance.
For individuals, now is the time to pinpoint the skills the future professional will need to thrive in the AI age.
Check out this presentation to understand what ChatGPT is, how it will shape the future of work, and how you can prepare to take advantage.
A brief introduction to DataScience with explaining of the concepts, algorithms, machine learning, supervised and unsupervised learning, clustering, statistics, data preprocessing, real-world applications etc.
It's part of a Data Science Corner Campaign where I will be discussing the fundamentals of DataScience, AIML, Statistics etc.
Time Management & Productivity - Best PracticesVit Horky
Here's my presentation on by proven best practices how to manage your work time effectively and how to improve your productivity. It includes practical tips and how to use tools such as Slack, Google Apps, Hubspot, Google Calendar, Gmail and others.
The six step guide to practical project managementMindGenius
The six step guide to practical project management
If you think managing projects is too difficult, think again.
We’ve stripped back project management processes to the
basics – to make it quicker and easier, without sacrificing
the vital ingredients for success.
“If you’re looking for some real-world guidance, then The Six Step Guide to Practical Project Management will help.”
Dr Andrew Makar, Tactical Project Management
Unlocking the Power of ChatGPT and AI in Testing - A Real-World Look, present...Applitools
During this webinar, Anand Bagmar demonstrates how AI tools such as ChatGPT can be applied to various stages of the software development life cycle (SDLC) using an eCommerce application case study. Find the on-demand recording and more info at https://applitools.info/b59
Key takeaways:
• Learn how to use ChatGPT to add AI power to your testing and test automation
• Understand the limitations of the technology and where human expertise is crucial
• Gain insight into different AI-based tools
• Adopt AI-based tools to stay relevant and optimize work for developers and testers
* ChatGPT and OpenAI belong to OpenAI, L.L.C.
4. * AUV 운용 *
1. 단정에서 진수 또는
소해함 진수 근거리 통제
작전지역 이동
2. 해저면 탐색
(광역/정밀)
4. 복귀
3. RF통신 및 GPS 위치보정
5. 단정을 이용한 인양 또는
지정위치에서 복귀, 근거리 통제
인양 (소해함 )
5. * AUV 구성 *
-Mission : Seabed 탐색, 정찰용
-구성품 : PC, Bat., IMU, GPS, SSS,
안테나, AC camera.
6. 1. 연구배경 및 동향_연구배경
AUV 용도 : 감시/정찰, 공격 Mission 의 필요성 증가
국내외 자율 무인잠수정 연구 Start up. ( 소형, 대형 잠수정 )
무인잠수정 관련연구
1. 잠수함 인프라 중심
2. 소형 잠수정 인식 : 개발기간, 비용 등 애로.
3. 실해역 시험의 제한으로 인한 충분한 사전연구 필요
소형 무인잠수정 시스템 제어 파라미터 식별방안 효율증진 필요
7. 1. 연구배경 및 동향_연구동향
Kalman Filter 이용한 계수 추정
- Don Pfitsch, Benjamin Gordon, James Rice, Samuel Cubbage, “Development and Deployment of
Autonomous Scale Submarine Models for Hydrodynamic Testing of US Navy Submarine Maneuvering
Characteristics“, IEEE/MTS Oceans Conference, Monterey, CA, Sept. 2016
- 윤현규, 이기표, “선박 조종미계수 식별 시 모델링 전 추정기법과 확장 Kalman 필터에 의한 계수추정법의
비교에 관한 연구”, 대한조선학회논문집 제40권5호, pp. 43-52, 2003.10.
- J. Kim, K. Kim, H.S. Choi, W. Seong, K.Y. Lee, “Estimation of Hydrodynamic Coefficients for an AUV Using
Nonlinear Observers“, IEEE J. of Oceanic Engineering, Vol 27, No.4, October 2002.
- Juan C.C. Luque, Decio C. Donha, “AUV Identification and Robust Control”, the 18th IFAC World Congress,
Milano, September 2011.
AUV 운동 실측 데이터에 확장 칼만필터를 적용한 계수추정은 추정 계수의 정확도에 한계 보유.
시스템 모델 입력값이 넓은 주파수 범위를 갖지 못함
시스템 모델의 상태변수가 가우스 분포를 갖는 랜덤 오차라는 조건을 충족시키기 어렵고, 오차공분산의
범위를 정하는 것에 오차가 존재
8. 1. 연구배경 및 동향_연구동향
해상 실험 또는 실측 data 를 이용한 계수 추정
- 해상 실측 자료를 이용한 횡동요 조종 계수 식별 -1998 JSNAK 김찬기
확장칼만 필터와 상호 보완적인 방법으로 사용을 위한 방안으로 사용
- Experimental model identification of open-frame underwater vehicles(2013 OE)
ROV의 적용을 목표로 연구
민감도 분석내용의 활용
- 민감도_분석을_이용한_수중운동체의_계수식별 – 1997 KACC
- On the identification of non-linear models of UUV (2003 CEP)
- 수중운동체의 조종성능에 대한 민감도 해석법의 적용- 2005 JSNAK
- 선수동요 동유체력 미계수 추정을 위한 시운전 시나리오에 관한 연구 2006 JSNAK
9. 자율 무인잠수정의 동유체력 계수 식별에 있어서
계산된 (이론 및 경험식) 계수를 기반으로,
- PMM (Planar Motion Mechanism) 시험검증 없이 AUV의 실험
데이타를 활용, 계수를 추정 / 식별하고
- 최적설계 개념을 도입하여 민감도 분석 및 메타모델을 구하여
계수를 식별하는 방법을 연구 및 성능검증
* 6자유도 AUV 수치모델에 추정계수 입력
2. 연구 내용
19. 4. 자율 무인잠수정 계수식별 _ 이론 및 경험식 산출
계수 검증 / 보완
이론 및 경험식 산출 계수 Simulation 결과 수치해석 모델기반 시뮬레이터
-200 -180 -160 -140 -120 -100 -80 -60 -40 -20 0
0
20
40
60
80
100
120
140
160
180
200
East [m]
North[m]
X-Y Trajectory with Initial System Parameter
Trajectory
Start
Stop
- 속도 및 이로 인한 전체 이동거리의 차이
추진기 모델 수정 및 상대속도 개념
- 방향전환의 일관성이 없슴
부력중심 이동, Fin Coefficients ( Y,Z,M,N ),
Moment 값 확인, 부호의 적정성, Mass 및
관성모우멘트 값 조정, 방향타 오류 수정
- 조류에 밀리는 현상 조류속도 반영
- 주요 파라미터 계수 조정
X_uu, Z1_q, Y1_del_r, Z1_del_s, M1_del_s,
K1_r, K1_v 값 조정
- 초기 헤딩값 정렬 셋팅
roll, pitch, heading, 초기 Elevator각 수정 등.
* 원인추정
: 원통형상외 부착물 효과.
: 조립작업의 일관성 결여
: 시험환경 불일치, 초기 셋팅 등
20. 4. 자율 무인잠수정 계수식별 _ 이론 및 경험식 산출
계수 검증 / 보완
Parameter 항
이론 및 경험식
산출 계수 값 (*105)
자율무인 잠수정
운용실험 data. 보정값 (*105)
비 고
Xrr -86.9941 -1893.7 * 10 이상
Xvr 1614.799 1614.799 -
Xuu -142.062 -307.25 * 2 이상
Ydelr 2333.286 140.0 * 10 이상
Zdels -2377.97 -142.7 * 10 이상
Kv 77.03625 -770.362 * 10 이상
Mdels -950.579 -92.91 * 10 이상
Nrdot -83.8809 -41.940 * 2 이상
Npq -83.3832 -42.6916 * 2 이상
Nvdot 86.99409 43.4970 * 2 이상
Nv -1255.76 -1268.32 -
Ndelr -932.717 -71.68 * 10 이상
21. 4. 자율 무인잠수정 계수식별_최종결과, 개선필요성
자율운항 실험 궤적에 맞는 파라미터 보정
-250 -200 -150 -100 -50 0 50 100 150 200
-300
-250
-200
-150
-100
-50
0
50
East [m]
North[m]
Exp 140813-#1522-2 : 20h Dive1 - Initial Position : x0
= 15.7, y0
= -217 m
Experiment
Simulation
500 1000 1500 2000
-400
-200
0
200
East[m]
Exp 140813-#1522-2 : 20h Dive1 - Initial Position : X = 15.7, Y = -217, Z = 1.28 [m]
500 1000 1500 2000
-300
-200
-100
0
100
North[m]
500 1000 1500 2000
-5
0
5
10
Time [s]
Depth[m]
Experiment
Simulation
파라미터 식별에 장기간 소요
비전문가의 접근 어려움, 파라미터의 전체 시
스템 영향성 판단에 많은 시간 투입
제어시스템의 지능화에 대한 요구 증대
개선 필요성
22. 목적함수 – 궤적 Data.
5. 최적설계 이론 적용 – 최적설계 정식화
-250 -200 -150 -100 -50 0 50 100 150 200
-300
-250
-200
-150
-100
-50
0
50
Object Function 궤적 - Initial Position : x0
= 15.74, y0
= -216.6 m
North[m]
Eat [m]
변수설정
* X-Y plane. 무인잠수정의 이동좌표를 10 Hz의 간격으로 획득 X,Y 각각 13341개 값.
00 대학 외 00 연구소 외
Np,
Nr,
Nv,
N_delta_r
Zrp,
Zvp,
Z_delta_s
Xuu,
Y_delta_r,
K_r,
Y_vav
Object Function =
𝑖=1
𝑛
𝑥 𝐸𝑥𝑝. − 𝑥 𝑠𝑖𝑚𝑢. 2 +
𝑖=1
𝑛
𝑦 𝐸𝑥𝑝. − 𝑦𝑠𝑖𝑚𝑢. 2
23. 변수 민감도 분석결과
5. 최적설계 이론 적용 – 변수 민감도 분석
- 설계변수 (Design Variable)들이 해석응답 (Analysis Response)에 미치는 상대적 크기분석
- 여러 개의 해석응답에 영향력이 큰 설계변수를 구분
24. 메타모델 : 상용 Tool 중, Easy Design의 Kriging 알고리즘 적용
: 초기 변수를 적용한 해석 결과 메타 모델을 생성 및 최적치 추정
이 값으로 다시 해석하여 확인과정을 거침.
: 추정값과 실제값의 차이로부터 다시 메타 모델을 수정 반복, 순차적 해석으로
메타모델 수정 및 최적의 시스템 변수를 추정하는 방법
5. 최적설계 이론 적용 – 메타모델 선정/최적화
최적화는 22회의 초기해석 포함 전체 50회 입력 및 해석하고 과정
정 중 근사값이 도출되어 수렴시킴.