• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2015.05a
• /
• pp.548-549
• /
• 2015

무인 잠수정은 자율 무인잠수정(이하 'AUV' 또는 '자율무인잠수정'을 혼용)과 원격조정잠수정(이하 'ROV'로 지칭)으로 분류를 할 수 있다. ROV는 테더 게이블로 인한 작업 범위의 한계와 운동성능 효율이 떨어지는 단점을 지니고 있어, 테더 케이블이 필요 없는 AUV에 대한 필요성이 증대되고 있다. 추측 항법 시스템인 관성 항법 시스템(inertial navigation system, 이하 'INS'로 지칭)은 외부 도움없이 관성측정 장치(inertial measurement unit, 이하 'IMU'로 지칭)를 활용하여 구성된 시스템을 말한다. IMU는 자이로 스코프(gyroscope), 가속도계(accelerometer), 지자기(magnetic)센서로 구성된 측정 장치로 3개의 센서를 사용하여 상호 보정을 통한 기동 체의 위치, 속도 및 자세 정보를 제공한다. 복합항법시스템은 추측항법시스템이 가지는 누적오차와 측위 항법시스템이 가지는 외부환경에 대한 단점을 상호 보완하는 방법으로 연구가 진행 중이다. 하지만 심해서 또는 해양의 특성에 따라 측위 시스템이 사용되지 못하기 때문에 추측 항법시스템의 다양한 관성 센서를 활용한 상로 보완과 신호처리 방법을 통한 연구 개발이 진행 중이다. 다양한 센서 정보를 통합하는 목적으로 칼만 필터와 같은 최적 필터기법이 보편적으로 사용되고 있다. 칼만 필터는 확률 선형 시스템에 대하여 공정잡음 및 측정 잡음이 가우시안 확률 분포를 따를 때 최적의 추정자가 된다. 또한 가우시안 조건을 만족하지 않는 경우에도 선형 추정자 중에 추정 오차의 분산이 가장 작은 추정자이다. 칼만 필터가 최상의 성능을 발휘 하려면 공정잡음과 측정 잡음의 실제 값을 정확히 알아내는 것이 중요하다. 잡음 수준에 대한 정보가 부정확 할 경우 칼만 필터는 발산 할 수 있기 때문에 시스템에서 잡음 수준의 공산은 칼만 필터의 최적 이득을 결정하는 중요한 요소로 추정치에 큰 영향을 준다. 따라서 칼만 필터를 추측항법시스템에 적용 시킬 경우 실제 모텔의 잡음 공분산을 정확히 추정할 수 있는 기법이 요구된다. 추측항법시스템은 다양한 센서를 활용하기 때문에 움직이는 기동 표적에 적용시 잡음공분상이 변하기 때문에 항법시스템이 저하 될 수 있다. 본 연구에서는 다양한 센서를 융합하여 해양 생체 로봇의 정밀 자세 제어가 가능한 시스템을 제안하고자 한다.

• Journal of the Korea Convergence Society
• /
• v.6 no.4
• /
• pp.249-255
• /
• 2015

The study was to investigate the effects of stimulus velocity and passer's skill level on anticipation timing performance. Fourteen subjects(seven novices and seven experts) were required to make a total 12 passes in coincidence with an experimentally manipulated moving light signal in randomly presented three different conditions(4m/s, $3m/s{\rightarrow}5m/s$, $5m/s{\rightarrow}3m/s$). Results of analyses showed that absolute error(AE) and constant error(CE) were greater in constant acceleration of the moving stimulus. In addition, experts were more accuracy and consistency than novices on absolute, constant and variable error(VE). These findings indicated that stimulus velocity served as the major determination of anticipation timing performance of passing.

• Journal of the Korean Society for Nondestructive Testing
• /
• v.27 no.4
• /
• pp.339-344
• /
• 2007

Safety of large scale cable in bridge is very important because it may cause the unwanted catastrophic failure. Although the proof load were considered at the design stage, its soundness must be monitored continuously because the cable may be broken out without warning by the variable external load. The cable tension of in-use structures has been mainly measured by the resonance method and its use has been limited because of relatively large measurement uncertainty. Recently a new magnetic method was developed and its reliability is known to be good for evaluating the cable tension. In this study a system which can deliver the calibrated load to the cable was developed and the measurement reliability of developed magnetic sensor according to the change of external load was analyzed quantitatively. The effect of magnetization frequency, bias magnetic field, and temperature on the sensor output was also evaluated.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
• /
• 2022.05a
• /
• pp.249-251
• /
• 2022

In this paper, we present machine learning to control drone flight using EEG signals. We defined takeoff, forward, backward, left movement and right movement as control targets and measured EEG signals from the frontal lobe for controlling using Fp1. Fp2 Fp2 two-channel dry electrode (NeuroNicle FX2) measuring at 250Hz sampling rate. And the collected data were filtered at 6~20Hz cutoff frequency. We measured the motion image of the action associated with each control target open for 5.19 seconds. Using Matlab's classification learner for the measured EEG signal, the triple layer neural network, logistic regression kernel, nonlinear polynomial Support Vector Machine(SVM) learning was performed, logistic regression kernel was confirmed as the highest accuracy for takeoff and forward, backward, left movement and right movement of the drone in learning by class True Positive Rate(TPR).

• The Journal of the Acoustical Society of Korea
• /
• v.43 no.5
• /
• pp.547-556
• /
• 2024

To predict the response of dynamic systems through analysis, it is essential to accurately estimate the system's stiffness and apply it to the analytical model. However, directly measuring the stiffness of actual mechanical systems is challenging. Many existing methods involve decomposing the system into components, obtaining the frequency response for each component, and then reassembling them to determine the overall system response. This process can be cumbersome, and variations in coupling conditions between components can increase errors. In this study, a new method is proposed to estimate system stiffness indirectly through experiments without decomposing the system into components. The approach combines response measurements from the entire system with a theoretical model for analysis. It simplifies the stiffness source into a lumped mass model and constructs the equations of motion based on a reduced-order model of the entire system. Subsequently, the stiffness is quantified by calculating the interface forces between the stiffness source and the receiver using vibration measurements obtained at arbitrary positions through experimentation.

• Korean Journal of Cognitive Science
• /
• v.5 no.2
• /
• pp.25-45
• /
• 1994

The presnt study investigated the effect of stimulus-response compatibility (S-R compatibility) on Hangul transcription typing. In this experiment, two condition were manipulated, the first was a low S-R compatibility condition in which consonants were typed with left hand and vowels with right hand; the second was a high S-R compatibility condition in which hands for consonants and vowels were reversed. Subjects were requested to type the letter presented on the screen as accurately and immediately as possible. It was found that the compatibility interacted with the vowel shape. That is, in the high S-R compatibility condition, the response time was shorter when letters of vertically- shaped vowel were typed than when those of horizontally-shaped vowel were typed. In the low S-R compatibility codition, however, the response time was shorter for letters of horizontally-shaped vowel than for those of vertically-shaped vowel.

• Composites Research
• /
• v.32 no.5
• /
• pp.279-283
• /
• 2019

A flight training simulator of a fully spherical configuration is being developed to precisely and quickly control six degrees of freedom (Dof) motions especially with unlimited rotations. The full-scale simulator should be designed with a lightweight material to reduce inertial effects for fast and stable feedback controls while no structural failure is ensured during operations. In this study, a sandwich composite consisting of glass fiber reinforced plastics and a foam core is used to obtain high specific strengths and specific stiffnesses. T-type stainless steel frames are inserted to minimize the deformation of the sphere curvature. Finite element analysis is carried out to evaluate structural safety of the simulator composed of the sandwich sphere and steel frames. The analysis considers the weights of the equipment and trainee and it is assumed to be 200 kg. Gravity acceleration is also considered. The stresses and displacement acting on the simulator are calculated and the safety is assessed under two different situations.

• Journal of Biomedical Engineering Research
• /
• v.24 no.2
• /
• pp.133-140
• /
• 2003

In this study, muscle activity was measured using surface EMG (sEMG) during a voluntary maneuver (ankle dorsiflexion) in the supine position was compared pre and post gait training. Nine patients with incomplete spinal cord injury participated in a supported treadmill ambulation training (STAT), twenty minutes a day, five days a week for three months. Two tests, a gait speed test and a voluntary maneuver test, were made the same day, or at least the same week, pre and post gait training. Ten healthy subjects' data recorded using the same voluntary maneuvers were used for the reference. sEMG measured from ten lower limb muscles was used to observe the two features of amplitude and motor control distribution pattern, named response vector. The result showed that the average gait speed of patients increased significantly (p〈0.1) from 0.47$\pm$0.35 m/s to 0.68$\pm$0.52 m/s. In sEMG analysis, six out of nine patients showed a tendency to increase the right tibialis anterior activity during right ankle dorsiflexion from 109.7$\pm$148.5 $mutextrm{V}$ to 145.9$\pm$180.7 $mutextrm{V}$ but it was not significant (p〈0.055). In addition, only two patients showed increase of correlation coefficient and total muscle activity in the left fide during left dorsiflexion. Patients' muscle activity changes after gait training varied individually and generally depended on their muscle control abilities of the pre-STAT status. Response vector being introduced for quantitative analysis showed good Possibility to anticipate. evaluate, and/or guide patients with SCI, before and after gait training.

• Journal of the Korean Society of Radiology
• /
• v.13 no.7
• /
• pp.901-907
• /
• 2019

The aim of this study is to evaluate the ability of target localizations of Leksell GammaPlan(LGP) in Gamma Knife Subthalamotomy(or Pallidotomy, Thalamotomy) of functional diseases. To evaluate the accuracy of LGP's location settings, the difference Δr of the target coordinates calculated by LGP (or LSP) and author's algorithm was reviewed for 10 patients who underwent Deep Brain Stimulation(DBS) surgery. Δr ranged from 0.0244663 mm to 0.107961 mm. The average of Δr was 0.054398 mm. Transformation matrix between stereotactic space and brain atlas space was calculated using PseudoInverse or Singular Value Decomposition of Mathematica to determine the positional relationship between two coordinate systems. Despite the precise frame positioning, the misalignment of yaw from -3.44739 degree to 1.82243 degree, pitch from -4.57212 degree to 0.692063 degree, and rolls from -6.38239 degree to 7.21426 degree appeared. In conclusion, a simple in-house algorithm was used to test the accuracy for location settings of LGP(or LSP) in Gamma Knife platform and the possibility for Gamma Knife Subthalamotomy. The functional diseases can be treated with Gamma Knife Radiosurgery with safety and efficacy. In the future, the proposed algorithm for target localizations' QA will be a great contributor to movement disorders' treatment of several Gamma Knife Centers.

• Journal of the Korean Institute of Telematics and Electronics
• /
• v.26 no.1
• /
• pp.29-37
• /
• 1989

This paper presents an application of the extended DP matching method to the on-line recognition of cursive Hangeul (Korean characters). We decrease the number of matching's objects by performing rough classification matching which makes the best use of features in the first and the last segment of Hangeul. By adding the extraction function of the basic character patterns to DP matching method, we try to calculate precisely the difference among Hangeul. The extraction of the basic character patterns is done by examining the features of segments in character. Applying the extended DP matching method to the on-line recognition of cursive Hangeul, absorption of writing motion and stable separation of strokes can be performed with flexibility.