• Proceedings of the Korea Information Processing Society Conference
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• 2019.10a
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• pp.645-648
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• 2019

본 논문은 벽면 이동 로봇의 진공흡착 방법 개선에 관한 연구로서, 로봇의 무게에 따른 중력을 견딜고 벽면에 흡착 및 이동할 수 있는 동작 환경을 시뮬레이션을 통해 효율적으로 설계한다. 이동로봇에 미치는 다양한 힘의 조건들을 판단하며 특히 벽의 수직방향으로 미는 힘과 챔버 내의 저압조건 등과의 상관관계를 고려하여 흡착 능력을 개선하기 위한 방법을 제시하고 실험을 통해 성능을 검증하였다 또 한 본 연구에서는 압력센서를 이용하여 실시간으로 압력을 체크 하면서 모터의 속도인 PWM의 한계치를 설정하여 압력에 따라 필요한 임펠러의 속도를 PWM으로 적절히 조절해줌으로써 흡착에 관련된 제어 능력을 개선하고 흡착에 필요한 일정 압력 값에 도달하지 못할 때 작업이 종료되는 기술을 개발하였다.

• Proceedings of the Korea Information Processing Society Conference
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• 2015.04a
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• pp.1071-1074
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• 2015

본 논문은 진공을 이용한 흡착방식과 바퀴형 이동방식을 이용하고 환경 탐지용 센서를 부착한 벽면 이동형 로봇의 물리적 해석을 통한 이동 성능 개선에 관한 연구로서, 대형 구조물의 안전 검사 및 위험한 시설물의 보수 작업등을 보조하기 위한 목적이 있다. 로봇의 무게에 따른 중력을 견딜 수 있는 강력한 진공흡착방식과 고성능 모터 제어에 의한 바퀴 이동방식을 혼합하고 효율적으로 평형을 유지 또는 제어하기 위하여 로봇에 미치는 다양한 힘과 모멘트를 분석하고 수식화 하였으며 기존의 수직이동 속도를 개선하기 위한 로봇의 물리적 변수를 추출하여 변수와 이동력간의 관계를 고찰하였다.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2022.05a
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• pp.516-518
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• 2022

In this paper, we introduce a dependence of number of nodes of hidden-layer in fall detection system using Long Short-Term Memory that can detect falls. Its training is carried out using the parameter theta(θ), which indicates the angle formed by the x, y, and z-axis data for the direction of gravity using a 3-axis acceleration sensor. In its learning, validation is performed and divided into training data and test data in a ratio of 8:2, and training is performed by changing the number of nodes in the hidden layer to increase efficiency. When the number of nodes is 128, the best accuracy is shown with Accuracy = 99.82%, Specificity = 99.58%, and Sensitivity = 100%.

• Journal of the Institute of Convergence Signal Processing
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• v.23 no.2
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• pp.76-83
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• 2022

With the recent development of IT technology, research and interest in various biosignal measuring devices is increasing. As an aging society is in full swing, research on the elderly population using IT-related technologies is continuously developing. This study is about the development of life pattern detection and fall detection algorithm, which is one of the medical service areas for the elderly, who are rapidly developing as they enter a super-aged society. This study consisted of a system using a 3-axis accelerometer and an electrocardiogram sensor, collected data, and then analyzed the data. It was confirmed that behavioral patterns could be classified from the actual research results. In order to evaluate the usefulness of the human activity monitoring system implemented in this study, experiments were performed under various conditions, such as changes in posture and walking speed, and signal magnitude range and signal vector magnitude parameters reflecting the acceleration of gravity of the human body and the degree of human activity. was extracted. And the possibility of discrimination according to the condition of the subject was examined by these parameter values.

• Journal of the Korean Association of Geographic Information Studies
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• v.6 no.3
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• pp.61-72
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• 2003

Recently, demands with practical applications using high resolution imagery are increasing, according to addressing new sensor data. Since late 1990s, attempts for application to transportation problems of satellite imagery data have been intensively carried out in US, and these kinds of studies are being categorized into the name of RS-T(remote sensing in transportation). Further, this study is also linked with GIS-T(GIS for transportation), being in the matured stage, and then it contributes to wide uses of remotely sensed imagery. In this study, RS-T is briefly summarized. Later, in order to apply urban transportation analysis with satellite imagery as ancillary data, implementation, as prototyped extension program, for extraction of gravity-typed accessibility indices of transportation geography is performed in the ArcView-GIS environment. It is thought that applied results by two models among implemented models in this study can be utilized to characterize transportation accessibility in a region and to apply as useful statistics related to urban transportation status for regional transportation planning, if time series data are used.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.43 no.12
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• pp.1124-1131
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• 2015

This paper describes a 5-dof ground testbed which emulates micro-gravity environment for developing Rendezvous/docking algorithm of a nano-satellite. The testbed consists of two parts, the low part which eliminates friction force with ground and the upper part which has 3-dof rotational motion with respect to the low part. For Vison-based autonomous navigation algorithm, we use camera, LIDAR and AHRS as sensors and eight cold gas thrusters and three axis directional reaction wheels as actuators. All system software are implemented with C++ based on on-board computer and Linux OS.

• Tunnel and Underground Space
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• v.9 no.2
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• pp.114-130
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• 1999

It is very important to study on the structural behaviors of structurally damaged tunnel linings. A series of centrifuge model tests were performed in order to investigate different behaviors of tunnel linings. A 1/100-scaled aluminum horseshoe tunnel linings with a radius 5 cm, height 8 cm were buried in a depth with dry Joomunjin standard sand, the relative density of which was 86%. Such sectional forces as bending moments and thrusts along the tunnel circumference were measured by twelve strain gages. Earth pressures in soil mass and on the outside of lining model were estimated by pressure transducers, ground surface settlements at a center and edges by using LVDTs.

• Journal of the Korean Society for Precision Engineering
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• v.31 no.12
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• pp.1141-1146
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• 2014

As life expectancy becomes longer, reduction of human muscular strength threatens quality of human life. Many robotic devices have thus been developed to support and help human daily life. This paper deals with a new type of in-wheel actuator that can be effectively used for the robotic devices. BLDC motor, drive board, brake, ARS (Attribute Reference System), and torque sensor are combined in the single actuator module. The torque sensor is used to recognize human intention and the in-wheel actuator drives walking aids in our system. Its feasibility was tested with the active walking aid device equipped with the in-wheel actuator. Based on it, we designed an admittance filter algorithm to react on uphill and downhill drive. By adjusting mass, damping, and spring parameters in accordance with the ARS output, it provided convenient drive to the old on uphill and downhill walks.

• Journal of the Korean Magnetics Society
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• v.16 no.3
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• pp.182-185
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• 2006

In this work, we have constructed 3-axis flux-gate magnetometer for the attitude control of satellite. The constructed magnetometer shows uncertainty of ${\pm}1%$, noise level of $0.2nT/\sqrt{Hz}$ at 1 Hz under 1W power consumption. Environment test for satellite component, acceleration test and thermal cycle test were carried out. For the acceleration test, magnetometer was vibrated frequency ranging from 10 Hz to 1 kHz at 15 g (g : gravitational acceleration at earth), and for thermal cycle test, 4 times of thermal cycle were carried out temperature ranging from $-55^{\circ}C\;to\;+80^{\circ}C$ under vacuum of $1x10^{-6}Torr$.

• Korean Journal of Remote Sensing
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• v.33 no.5_3
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• pp.855-866
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• 2017

Several research cases using remote sensing methods to analyze changes of storage and dynamics of groundwater aquifer were reviewed in this paper. The status of groundwater storage, in an area with regional scale, could be qualitatively inferred from geological feature, surface water altimetry and topography, distribution of vegetation, and difference between precipitation and evapotranspiration. These qualitative indicators could be measured by geological lineament analysis, airborne magnetic survey, DEM analysis, LAI and NDVI calculation, and surface energy balance modeling. It is certain that GRACE and InSAR have received remarkable attentions as direct utilization from satellite data for quantification of groundwater storage and dynamics. GRACE, composed of twin satellites having acceleration sensors, could detect global or regional microgravity changes and transform them into mass changes of water on surface and inside of the Earth. Numerous studies in terms of groundwater storage using GRACE sensor data were performed with several merits such that (1) there is no requirement of sensor data, (2) auxiliary data for quantification of groundwater can be entirely obtained from another satellite sensors, and (3) algorithms for processing measured data have continuously progressed from designated data management center. The limitations of GRACE for groundwater storage measurement could be defined as follows: (1) In an area with small scale, mass change quantification of groundwater might be inaccurate due to detection limit of the acceleration sensor, and (2) the results would be overestimated in case of combination between sensor and field survey data. InSAR can quantify the dynamic characteristics of aquifer by measuring vertical micro displacement, using linear proportional relation between groundwater head and vertical surface movement. However, InSAR data might now constrain their application to arid or semi-arid area whose land cover appear to be simple, and are hard to apply to the area with the anticipation of loss of coherence with surface. Development of GRACE and InSAR sensor data preprocessing algorithms optimized to topography, geology, and natural conditions of Korea should be prioritized to regionally quantify the mass change and dynamics of the groundwater resources of Korea.