• Journal of the Korea Society of Computer and Information
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• v.19 no.5
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• pp.43-52
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• 2014

In this paper, we propose Gravity Removal and Vector Rotation algorithm for counting steps of wearable device, and we evaluated the proposed GRVR algorithm with Micro-Electro-Mechanical (MEMS) 3-axis accelerometer equipped in low-power wearable device while the device is mounted on various positions of a walking or running person. By applying low-pass filter, the gravity elements are canceled from acceleration on each axis of yaw, pitch and roll. In addition to DC-bias removal and the low-pass filtering, the proposed GRVR calculates acceleration only on the yaw-axis while a person is walking or running thus we count the step even if the wearable device's axis are rotated during walking or running. The experimental result shows 99.4% accuracies for the cases where the wearable device is mounted in the middle and on the right of the belt, and 91.1% accuracy which is more accurate than 83% of commercial 3-axis pedometer when worn on wrist for the case of axis-rotation.

• Journal of Music and Human Behavior
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• v.16 no.1
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• pp.47-72
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• 2019

This study reviewed and analyzed English-written studies using a rhythmic tapping task for motor control of children with autism spectrum disorder (ASD). Inclusion criteria for the participants were children with ASD and typically developing (TD) children. The keywords used for the outcome variables included rhythmic tapping, timed movement, and synchronization. Ten studies were included in the final analysis. The included studies were analyzed in terms of target variables, auditory stimuli, and measurements. A meta-analysis was also conducted to examine how children with ASD performed rhythmic tapping tasks compared to children with TD. In the identified studies, five variables were used: timed movement control, timing reproduction, bimanual coordination, synchronization, and interpersonal synchronization. It was found that rhythmic tapping performance was analyzed in terms of accuracy and precision of the movement and reported as significantly correlated to social skills measures. The meta-analysis results showed that there were no significant differences between the ASD and TD groups in continuing rhythmic movements when the presented auditory stimuli ended, whereas there were significant group differences in their ability to maintain their motor performance consistently and to synchronize with auditory cue or with others. These results support the rhythmic tapping task as an effective measure for not only motor control but also social skills development in children with ASD.

• Journal of the Korean Society of Radiology
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• v.12 no.1
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• pp.107-114
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• 2018

Long-term complications such as loosening, wear, osteolytic lesion and granulomatous reaction by foreign bodies can occur, after total hip arthroplasty. The implantation alignment effects dislocation and wear, according to its amount and direction. Wear particles in total hip arthroplasty brings about biochemical complications such as osteolysis or send wear. In this sense, it is important to regularly check wear and alignment of total hip replacement. Because the wear in followup of 10 years may remain in a small amount, like a 1 or 2 mm generally, somewhat precise measurement tool has to be established. The wear and alignment measurement softwares commercially available currently lack in project saving or reproducibility. This study suggests a reliable method for the measurement using an X-ray image and a CAD software. The proposed method can be executed only if having a CAD software under most of current general clinical radiographical environment. The proposed was revealed through tests for the method to have accuracy of 0.06 mm with precision of 0.05 mm for wear measurement, and precision of 0.27 degrees for tilt measurement.

• Proceedings of the KIEE Conference
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• 2015.07a
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• pp.1231-1232
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• 2015

본 연구는 정확한 혈압과 맥박을 측정하기 위해 L-C 공진을 이용한 압력센서 및 이를 측정하기 위한 측정시스템의 개발에 대한 연구로 기존의 인위적인 압력을 가하거나 침습형태가 아닌 인체 요골동맥에 패치형태로 센서를 부착하여 심장운동에 따른 요골동맥의 기계적 변화를 센서 내부의 커패시턴스 및 인덕턴스의 변화로 인한 공진주파수의 변화로 검출하였으며, 센서의 코일은 휴대용 무선 측정 시스템의 안테나와 Inductive Coupling을 이루어 무선전력전송이 이루어지며 센서를 통해 측정된 혈압 및 맥박은 LCD 디스플레이 및 오실로스코프를 통해 수치화 및 영상화 하였다.

• 한국항공운항학회:학술대회논문집
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• 2016.05a
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• pp.30-34
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• 2016

TR-60 틸트로터 무인기는 전장 3m, 최대이륙중량 200kg로서 2013년 2월 자동천이비행에 성공한 비행체로서 현재 해상운용을 위한 함상이착륙기술을 개발 중에 있다. 무인기 해상운용은 육상보다 심한 염무와 바람과 선박의 운동에 의한 착륙대의 이동 등의 열악한 환경에서 이루어져야 한다. 이동이 있는 착륙대와 착륙장 주변의 장애물을 고려하면 정확한 착륙을 위한 정밀한 항법유도가 요구된다. TR-60의 정밀항법유도를 위해서 수cm 단위의 정확도를 갖는 RTK GPS 기반의 정밀상대항법과 이동 착륙장 대한 자동착륙유도를 설계하고 구현함으로 함상자동 이착륙 기술을 개발하였다. 본 논문에서는 RTK GPS 기반의 정밀상대항법과 자동착륙유도에 대한 연구와 함상접근착륙절차에 따른 자동착륙정확도 측정 비행시험 결과를 기술하였다.

• Journal of the Korean Society of Marine Environment & Safety
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• v.19 no.6
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• pp.666-673
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• 2013

This paper proposes the performance evaluation test of attitude heading reference system (AHRS) suitable for small high speed autonomous underwater vehicle(AUV). Although IMU can provides the detail attitude information, it is sometime not suitable for small AUV with short operation time in view of price and the electrical power consumption. One of alternative for tactical grade IMU is the AHRS based micro-machined electro mechanical system(MEMS) which can overcome many problems that have inhibited the adoption of inertial system for small AUV such as cost and power consumption. A cost effective and small size AHRS which incorporates measurements from 3-axis MEMS gyroscopes, accelerometers, and 3-axis magnetometers has been developed to provide a complete attitude solution for AUV and the attitude calculation algorithm is derived based the coordinate transform equation and Kalman filter. The developed AHRS was validated through various performance tests as like the magnetometer calibration, operating experiments using land mobile vehicle and flight motion simulator (FMS). The test of magnetometer calibration shows the developed MEMS AHRS is robust to the external magent field change and the test with land vehicle proves the leveling error of developed MEMS AHRS is below $0.5^{\circ}/hr$. The results of FMS test shows the fact that AHRS provides the measurement with $0.5^{\circ}/hr$ error during 5 minutes operation time. These results of performance evaluation tests showed that the developed AHRS provides attitude information which error of roll and pitch are below $1^{\circ}$ and the error of yaw is below $5^{\circ}$ and satisfies the required specification. It is expected that developed AHRS can provide the precise attitude measurement under sea trial with real AUV.

• Journal of Broadcast Engineering
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• v.1 no.2
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• pp.176-187
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• 1996

This paper deals with the accurate estimation of 3- D pose (position and orientation) of a moving object with reference to the world frame (or robot base frame), based on a sequence of stereo images taken by cameras mounted on the end - effector of a robot manipulator. This work is an extension of the previous work[1]. Emphasis is given to the 3-D pose estimation relative to the world (or robot base) frame under the presence of not only the measurement noise in 2 - D images[ 1] but also the camera position errors due to the random noise involved in joint angles of a robot manipulator. To this end, a new set of discrete linear Kalman filter equations is derived, based on the following: 1) the orientation error of the object frame due to measurement noise in 2 - D images is modeled with reference to the camera frame by analyzing the noise propagation through 3- D reconstruction; 2) an extended Jacobian matrix is formulated by combining the result of 1) and the orientation error of the end-effector frame due to joint angle errors through robot differential kinematics; and 3) the rotational motion of an object, which is nonlinear in nature, is linearized based on quaternions. Motion parameters are computed from the estimated quaternions based on the iterated least-squares method. Simulation results show the significant reduction of estimation errors and also demonstrate an accurate convergence of the actual motion parameters to the true values.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.17 no.9
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• pp.2227-2232
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• 2013

To obtain the system requirement specification in the beginning of the precision guidance system development, the effectiveness and reliability analysis for the system are necessary. The main purpose of this research is to obtain the system requirement specification for the high speed unmanned underwater vehicles by carrying out the effectiveness analysis using the modeling and simulation scheme. The effectiveness is position error for target position. Reaching accuracy is expected to be affected by the navigation sensor parameter. Assume that the navigation sensors that is consist of inertial navigation system(INS) and doppler velocity log(DVL) is the parameter. To analyze the effectiveness of each parameter, Monte-Carlo numerical simulation is performed in this research. The effectiveness analysis is carried out using circular error probability(CEP) and variance analyze scheme. Considering the cost function, the specification of the navigation sensor is provided. The cost function is consist of the INS and DVL specification and the price of those sensors.

• Proceedings of the KIEE Conference
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• 1999.11c
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• pp.683-686
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• 1999

이동로봇은 주행성을 가지며 설정된 이동 경로에 따라 목적지까지 자율적으로 이동하기 위해서는 이동로봇의 실제 위치에 대한 정확한 정보가 확보되어야 한다. 정보확보를 위해서 보통 엔코더, 자이로센서, 비젼센서, 레이저 거리등의 센서를 주로 사용한다. 본 연구에서 주행중인 이동로봇의 위치는 상대센서인 엔코더를 통해 측정된 운동변화량과 출발점에서 이동로봇의 위치로부터 자기유도 주행방법에 의해 계산된다. 이들 상대센서는 이동로봇의 실제 이동에 따라 주행거리 및 주행 방향 변화를 항상 측정할 수 있으므로, 전체 주행구간에 걸쳐 이동로봇의 위치를 연속적으로 측정할 수 있다는 장점이 있으나, 상대센서 측정값에 발생된 오차가 위치 평가값이 연속적으로 누적되므로 실제 위치에 대한 오차가 발생하는 단점이 있다. 즉, 바닥의 미끄럼, 요철, 로봇의 요동(Vibration)등 큰 오차의 요인이 된다. 본 연구에서는 위치를 직접 추정하지 않고 엔코드에서 나온 위치오차, Heading 오차, 자체 엔코드오차 그리고, 자이로 오차와 지자기 센서 오차를 Extended Kalman Filter를 통해 추정하여 이 오차를 다시 위치 계산과 Heading에 되돌려 줌으로서 오차를 보정하는 방법을 제시한다.

• Proceedings of the Korea Air Pollution Research Association Conference
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• 1999.10a
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• pp.103-107
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• 1999

가속기 질량분광분석법(Accelerator Mass Spectrometry; AMS)은 동위원소 분석에 있어 초정밀 질량 분석 기술에 속한다. 시료(Samples)의 원자를 이온화 시켜 가속시키고, 에너지, 운동량 그리고 전하 상태를 분석하여 최종 얻고자 하는 원자핵의 동위원소, 예를 들어 탄소-14$^{14)C$),의 수를 정확하게 측정하는 분광분석 기술이다. 본 논문을 통하여 AMS를 소개하고 대기 환경 연구에 AMS가 어떻게 응용될 수 있는지 살펴 보기로 한다.(중략)