• Title/Summary/Keyword: 위치 오차 신호

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Design of a pen-shaped input device using the low-cost inertial measurement units (저가격 관성 센서를 이용한 펜 형 입력 장치의 개발)

  • Chang, Wook;Kang, Kyoung-Ho;Choi, Eun-Seok;Bang, Won-Chul;Potanin, Alexy;Kim, Dong-Yoon
    • Journal of the Korean Institute of Intelligent Systems
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    • v.13 no.2
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    • pp.247-258
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    • 2003
  • In this paper, we present a pen-shaped input device equipped with accelerometers and gyroscopes that measure inertial movements when a user writes on 2 or 3 dimensional space with the pen. The measurements from gyroscope are integrated once to find the attitude of the system and are used to compensate gravitational effect in the accelerations. Further, the compensated accelerations are integrated twice to yield the position of the system, whose basic concept stems from the field of inertial navigation. However, the accuracy of the position measurement significantly deteriorates with time due to the integrations involved in recovering the handwriting trajectory This problem is common in the inertial navigation system and is usually solved by the periodic or aperiodic calibration of the system with external reference sources or other information in the filed of inertial navigation. In the presented paper, the calibration of the position or velocity is performed on-line and off-line. In the on-line calibration stage, the complementary filter technique is used, where a Kalman filter plays an important role. In the off-line calibration stage, the constant component of the resultant navigational error of the system is removed using the velocity information and motion detection algorithm. The effectiveness and feasibility of the presented system is shown through the experimental results.

An accuracy analysis of Cyberknife tumor tracking radiotherapy according to unpredictable change of respiration (예측 불가능한 호흡 변화에 따른 사이버나이프 종양 추적 방사선 치료의 정확도 분석)

  • Seo, jung min;Lee, chang yeol;Huh, hyun do;Kim, wan sun
    • The Journal of Korean Society for Radiation Therapy
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    • v.27 no.2
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    • pp.157-166
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    • 2015
  • Purpose : Cyber-Knife tumor tracking system, based on the correlation relationship between the position of a tumor which moves in response to the real time respiratory cycle signal and respiration was obtained by the LED marker attached to the outside of the patient, the location of the tumor to predict in advance, the movement of the tumor in synchronization with the therapeutic device to track real-time tumor, is a system for treating. The purpose of this study, in the cyber knife tumor tracking radiation therapy, trying to evaluate the accuracy of tumor tracking radiation therapy system due to the change in the form of unpredictable sudden breathing due to cough and sleep. Materials and Methods : Breathing Log files that were used in the study, based on the Respiratory gating radiotherapy and Cyber-knife tracking radiosurgery breathing Log files of patients who received herein, measured using the Log files in the form of a Sinusoidal pattern and Sudden change pattern. it has been reconstituted as possible. Enter the reconstructed respiratory Log file cyber knife dynamic chest Phantom, so that it is possible to implement a motion due to respiration, add manufacturing the driving apparatus of the existing dynamic chest Phantom, Phantom the form of respiration we have developed a program that can be applied to. Movement of the phantom inside the target (Ball cube target) was driven by the displacement of three sizes of according to the size of the respiratory vertical (Superior-Inferior) direction to the 5 mm, 10 mm, 20 mm. Insert crosses two EBT3 films in phantom inside the target in response to changes in the target movement, the End-to-End (E2E) test provided in Cyber-Knife manufacturer depending on the form of the breathing five times each. It was determined by carrying. Accuracy of tumor tracking system is indicated by the target error by analyzing the inserted film, additional E2E test is analyzed by measuring the correlation error while being advanced. Results : If the target error is a sine curve breathing form, the size of the target of the movement is in response to the 5 mm, 10 mm, 20 mm, respectively, of the average $1.14{\pm}0.13mm$, $1.05{\pm}0.20mm$, with $2.37{\pm}0.17mm$, suddenly for it is variations in breathing, respective average $1.87{\pm}0.19mm$, $2.15{\pm}0.21mm$, and analyzed with $2.44{\pm}0.26mm$. If the correlation error can be defined by the length of the displacement vector in the target track is a sinusoidal breathing mode, the size of the target of the movement in response to 5 mm, 10 mm, 20 mm, respective average $0.84{\pm}0.01mm$, $0.70{\pm}0.13mm$, with $1.63{\pm}0.10mm$, if it is a variant of sudden breathing respective average $0.97{\pm}0.06mm$, $1.44{\pm}0.11mm$, and analyzed with $1.98{\pm}0.10mm$. The larger the correlation error values in both the both the respiratory form, the target error value is large. If the motion size of the target of the sine curve breathing form is greater than or equal to 20 mm, was measured at 1.5 mm or more is a recommendation value of both cyber knife manufacturer of both error value. Conclusion : There is a tendency that the correlation error value between about target error value magnitude of the target motion is large is increased, the error value becomes large in variation of rapid respiration than breathing the form of a sine curve. The more the shape of the breathing large movements regular shape of sine curves target accuracy of the tumor tracking system can be judged to be reduced. Using the algorithm of Cyber-Knife tumor tracking system, when there is a change in the sudden unpredictable respiratory due patient coughing during treatment enforcement is to stop the treatment, it is assumed to carry out the internal target validation process again, it is necessary to readjust the form of respiration. Patients under treatment is determined to be able to improve the treatment of accuracy to induce the observed form of regular breathing and put like to see the goggles monitor capable of the respiratory form of the person.

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Indoor Positioning Algorithm Combining Bluetooth Low Energy Plate with Pedestrian Dead Reckoning (BLE Beacon Plate 기법과 Pedestrian Dead Reckoning을 융합한 실내 측위 알고리즘)

  • Lee, Ji-Na;Kang, Hee-Yong;Shin, Yongtae;Kim, Jong-Bae
    • Journal of the Korea Institute of Information and Communication Engineering
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    • v.22 no.2
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    • pp.302-313
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    • 2018
  • As the demand for indoor location recognition system has been rapidly increased in accordance with the increasing use of smart devices and the increasing use of augmented reality, indoor positioning systems(IPS) using BLE (Bluetooth Lower Energy) beacons and UWB (Ultra Wide Band) have been developed. In this paper, a positioning plate is generated by using trilateration technique based on BLE Beacon and using RSSI (Received Signal Strength Indicator). The resultant value is used to calculate the PDR-based coordinates using the positioning element of the Inertial Measurement Unit sensor, We propose a precise indoor positioning algorithm that combines RSSI and PDR technique. Based on the plate algorithm proposed in this paper, the experiment have done at large scale indoor sports arena and airport, and the results were successfully verified by 65% accuracy improvement with average 2.2m error.

A Study on the Fracture Behavior of Composite Laminated T-Joints Using AE (AE를 이용한 복합재료 T 조인트부의 파괴거동에 관한 연구)

  • Kim, J.H.;Ahn, B.W.;Sa, J.W.;Park, B.J.
    • Journal of the Korean Society for Nondestructive Testing
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    • v.19 no.4
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    • pp.277-287
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    • 1999
  • Quasi-static tests such as monotonic tension and loading/unloading tension were performed to investigate the bond characteristics and the failure processes for the T-joint specimens made from fiber/epoxy composite material. Two types of specimens, each consists of two components, e. g. skin and frame. were manufactured by co-curing and secondary bonding. During the monotonic tension test, AE instrument was used to predict AE signal at the initial and middle stage of the damage propagation. The damage initiation and progression were monitored optically using m (Charge Coupled Device) camera. And the internal crack front profile was examined using ultrasonic C-scan. The results indicate that the loads representing the abrupt increase of the AE signal are within the error range of 5 percent comparing to the loads shown in the load-time curve. Also it is shown that the initiation of crack occurred in the noodle region for both co-cured and secondarily bonded specimen. The final failure occurred in the noodle region for the co-cured specimen. but at the skin/frame termination point for the secondarily bonded specimen. Based on the results, it was found that two kinds of specimen show different failure modes depending on the manufacturing methods.

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3D Electromagnetic Analysis of Magnetic Sensor for Improvement of Motor (모터의 성능향상을 위한 마그네틱 센서의 3차원 전자장 해석)

  • Shim, Sang-Oh;Kim, Ki-Chan
    • Journal of the Korea Academia-Industrial cooperation Society
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    • v.14 no.5
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    • pp.2381-2387
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    • 2013
  • This paper deals with an optimal angle error reduction method of magnetic hall sensor using hall effect elements with yoke. The magnetic position sensor is required to generate ideal sine and cosine waveforms from its hall effect elements according to rotation angle for precise angle information. However, the output signals are easy to include harmonics due to uneven magnetic field distribution from disturbance in the vicinity of hall effect elements. Thus, The paper studies a way which makes sine and cosine waveforms robust in disturbance and reduces harmonics by installing a yoke around Hall effect elements. The angle detection simulation for the magnetic hall sensor is performed by 3 dimensional finite element method and Taguchi method, one of the design of experiments. For the Taguchi method, three design parameters related to position of hall effect elements and shape of hall effect element yoke are selected.

Enhanced VLC-TDoA Algorithm for Indoor Positioning Without LED-ID (LED-ID 없이 실내 위치 추정이 가능한 개선된 VLC-TDoA 알고리즘)

  • Do, Trong-Hop;Hwang, Junho;Yoo, Myungsik
    • The Journal of Korean Institute of Communications and Information Sciences
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    • v.38B no.8
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    • pp.672-678
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    • 2013
  • In the recent year, along with the rapid development of LED technology, many applications using LEDs have been researched and indoor positioning is one of them. In particular, previous indoor positioning systems based on visible light communication combine triangulation manner such as AoA, ToA TDoA. But most of them needs transmitting unique ID of each LED panel. In this paper, we propose an non LED-ID based indoor positioning system in which the visible light radiated from LEDs is used to locate the position of receiver. Compared to current indoor positioning systems using LED light, our system has the advantages of simple implementation, low cost and high accuracy. Through the computer simulation, our system can achieve a high estimation accuracy of 3.6cm in average in the $5{\times}5{\times}3m^3$ room.

Basic Experiment on Rehabilitation of Upper-Limb Motor Function Using Haptic-Device System (햅틱 장치를 이용한 상지 운동기능 장애인의 재활치료에 관한 기초 실험)

  • Lee, Ho-Kyoo;Kim, Young-Tark;Takahashi, Yoshiyuki;Miyoshi, Tasuku;Suzuki, Keisuke;Komeda, Takashi
    • Transactions of the Korean Society of Mechanical Engineers A
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    • v.35 no.5
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    • pp.459-467
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    • 2011
  • Rehabilitation exercises must maintain a patient's interest and permit a quantitative evaluation of the rehabilitation. We have developed a haptic-device system. When users move a grip, the haptic device provides a virtual force that either assists the movement of their arm or working against it. To investigate the functional effect of this system in a rehabilitation program, we used for five subjects with motor-function disorders and measured the grip position, velocity, force exerted on the grip, and EMG activities during a reaching task of one subject. The accuracy of the grip position, velocity and trajectories patterns were similar for all the subjects. The results suggested that the EMG activities were improved by applying the virtual force to the grip. These results can be used for the development of rehabilitation programs and evaluation methods.

A Study on the Interframe Image Coding Using Motion Compensated and Classified Vector Quantizer (Ⅰ: Theory and Computer Simulation) (이동 보상과 분류 벡터 양자화기를 이용한 영상 부호화에 관한 연구 (Ⅰ: 이론및 모의실험))

  • Kim, Joong-Nam;Choi, Sung-Nam;Park, Kyu-Tae
    • Journal of the Korean Institute of Telematics and Electronics
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    • v.27 no.3
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    • pp.13-20
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    • 1990
  • This paper describes an interframe image coding using motion compensated and classified vector quantizer (MC-CVQ). It is essential to carefully encode blocks with significant pels in motion compensated vector quantizers (MCVQ). In this respect, we propose a new CVQ algorithm which is appropriate to the coding of interframe prediction error after motion compensation. In order to encode an image efficiently at a low bit rate, we partition each block, which is the processing element in MC, into equally sized 4 vectors, and classify vectors into 15 classes according to the position of significant pels. Vectors in each class are then encoded by the vector quantizer with the codebook independently designed for the class. The computer simulation shows that the signal-to-noise ratio and the average bit rate of MC-CVQ are 35-37dB and 0.2-0.25bit/pel, respectively, for the videophone or video conference type image.

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Modeling and Simulation of Aircraft Motion for Performance Assessment of Airborne AESA Radar Considering Wind and Vibration (바람과 진동을 고려한 항공기 탑재 AESA 레이다 성능 평가용 운동 모델링 및 시뮬레이션)

  • Lee, Donguk;Im, Jaehan;Lee, Haemin;Jung, Youngkwang;Jeong, Jaehyeon;Shin, Jong-Hwan;Lee, Sungwon;Park, June Hyune;Ahn, Jaemyung
    • Journal of the Korean Society for Aeronautical & Space Sciences
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    • v.48 no.11
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    • pp.903-910
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    • 2020
  • This paper introduces a simulator to assess the impacts of the wind and the airframe vibration on the performance of the Active Electronically Scanned Array (AESA) radar mounted in an aircraft. The AESA radar is mounted on the nose cone of an aircraft, and vibration occurs due to the drag force. This vibration affects the behavior of the AESA radar and can cause phase errors in signal. The simulator adopts the geometric model for nose cone, the mathematical models on the rigid-body dynamics of the aircraft, the average/turbulent winds, and the mode/ambient vibrations to compute the position and the attitude of the radar accurately. Numerical studies reflecting a set of test scenarios were conducted to demonstrate the effectiveness of the developed simulator.

Interference Mitigation Technique for OFDMA-based Mesh Networks in Doubly Selective Channels (시간/주파수 선택적 채널환경에서 OFDMA 기반의 메쉬 네트워크를 위한 간섭 완화 기법)

  • Park, Chang-Hwan;Kong, Mi-Kyung;Cho, Yong-Soo
    • The Journal of Korean Institute of Communications and Information Sciences
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    • v.37 no.1A
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    • pp.17-24
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    • 2012
  • In this paper, we described a received signal model in terms of the starting point of FFT window and derive a post-detection SINR for the receiver with MMSE filter and the corresponding filter coefficients in order to mitigate the effects of interferences caused by time and frequency selective fading channels and time difference of arrival (TDoA) in OFDMA-based Mesh Networks. In addition, we proposed an MMSE Bidirectional Successive Detection (BSD) technique which can suppress the effects of interferences among multi-nodes without any redundant FFT operations. It was shown by simulation that the proposed interference suppression technique has not an error floor at higher average SNR than 30dB in terms of 64QAM uncoded BER contrary to the conventional techniques.