• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2015.07a
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• pp.222-224
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• 2015

수조실험을 통하여 계류된 플로팅 구조물의 거동을 확인하고자 하였으며, 플로팅 폰툰에 상부골조의 고유주기를 변화시키면서 상부구조물과 함체의 상호작용에 대한 영향을 확인하였다. 입사 파랑의 주기에 대하여 플로팅 폰툰의 피치가속도와 상부구조물의 수평가속도를 구하였으며, 동-수역학 해석을 통하여 실험가속도와 비교하고자 하였다. 입사 파랑의 주기가 커질수록 피치 및 상부구조물의 가속도 응답이 작아지는 양상을 보였다.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2014.10a
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• pp.216-218
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• 2014

계류된 플로팅 구조물의 거동을 확인하기 위하여 플로팅 폰툰에 상부골조의 고유주기를 변화시키면서 수조실험을 수행하였다. 입사 파랑의 주기에 대하여 플로팅 폰툰의 피치가속도와 상부구조물의 수평가속도를 구하였으며, 동-수역학 해석을 통하여 실험가속도와 비교하고자 하였다. 회전의 영향을 받은 플로팅 구조물의 해석방법이 가장 근사한 해석임을 확인하였다.

• Journal of the Institute of Electronics and Information Engineers
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• v.54 no.7
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• pp.127-132
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• 2017

In this paper, we propose a controller gain based on model based design and implement the two-wheel inverted pendulum type robot using NXT Lego and RobotC language. Two-wheel inverted pendulum robot consists of NXT mindstorm, servo DC motor with encoder, gyro sensor, and accelerometer sensor. We measurement wheel angle using bulit-in encoder and calculate wheel angle speed using moving average method. Gyro measures body angular velocity and accelerometer measures body pitch angle. We calculate body angle with complementary filter using gyro and accelerometer sensor. The control gain is a weighted value for wheel angle, wheel angular velocity, body pitch angle, and body pich angular velocity, respectively. We experiment and observe the effect of two-wheel inverted pendulum with respect to change of control gains.

• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• 2013.10a
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• pp.264-266
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• 2013

프리스트레싱으로 연결된 반강접 함체의 응답을 확인하기 위하여 일체형 함체를 기준으로한 실험을 수행하였다. 또한, 실험값과의 비교를 위하여 동-수역학 해석을 수행하였다. 그 결과, 실험에서 나온 피치 가속도는 상부 구조물의 유무와 상관없이 반강접 함체와 일체형 함체가 비슷하게 나타났으며, 해석값과는 1.2초의 주기를 제외하고 다른 주기에서는 비슷한 결과를 나타내었다.

• The Journal of Korea Institute of Information, Electronics, and Communication Technology
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• v.9 no.2
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• pp.155-161
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• 2016

This paper proposes a novel fabrication method for a capacitive type micro-accelerometer with uniform nano-gap using photo-assisted electro-chemical etching. The sensitivity of the accelerometer should be improved while the electrodes between the inertial mass and the sensing comb should be narrowed. In this paper the nano-gap trench structure is fabricated using the photo-assisted electrochemical etching method. The sensor was designed and analysed using ANSYS simulator. The characteristics of the etching were observed according to the dc bias, the light intensity, the composition of the solution, the temperature of the solution, and the pattern pitch variation. The optimum etching conditions were dc bias of 2V, Blue LED of 20mA, 49wt% HF:DMF:D.I.Water=1:20:10, the pattern pitch of $20{\mu}m$. Uniform trench structure with width of 344nm and depth of $11.627{\mu}m$ are formed using the optimum condition.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.1794-1795
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• 2011

본 연구에서는 가속도 센서의 값을 디지털 신호 처리 과정을 통하여 저역통과 필터(low pass filter), 벡터의 크기(vector magnitude), 롤(roll) 그리고 피치(pitch)를 계산하는 알고리즘을 적용하였다. 필터의 경우 IIR(Infinite Impulse Response)을 이용하였으며 차수는 9차로 하였다. 피험자의 연령은 $25{\pm}5$세의 10명을 기준으로 실험하였으며 앞, 뒤, 좌, 우 방향으로 직각 낙하하도록 하였고 센서 모듈은 오른쪽 허리의 정중앙에 착용하도록 하여 피험자간의 오차가 발생하지 않도록 하였다. 환자의 낙상을 검출하기 위해서 벡터의 크기를 사용하였고 롤과 피치를 이용하여 환자의 낙상 방향을 검출하였다. 결과적으로 피험자 10명의 경우 낙상의 검출률은 100% 였으며 낙상 방향에 따른 앞, 뒤, 좌, 우 판별 정확도는 95% 정도이다. 낙상 방향의 판별은 사고 후 환자를 다룰 때의 주의할 신체부위를 참고하며 재활 운동 시 하체의 어느 쪽이 낙상의 주요인인지 분석하는 보조 자료가 될 수 있다.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.35 no.8
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• pp.905-912
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• 2011

In order to protect equipment such as controllers, it is important to improve the driving stability of $6{\times}6$ skidsteering vehicles driven on rough roads. The estimation and improvement of the driving stability should be based on the vertical acceleration, roll acceleration, and pitch acceleration. These variables will be used to achieve multivariable control and increase the vehicle driving stability. In this study, to improve vehicle stability by reducing the vertical acceleration, roll angular acceleration, and pitch angular acceleration, the skyhook control method is employed to control MR(Magnetorheological) dampers equipped with the vehicle. The proposed control system is tested in multibody dynamic simulation.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.39 no.2
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• pp.162-169
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• 2011

The flight control system utilize RSS(Relaxed Static Stability) criteria in both longitudinal axes to achieve performance enhancements and improve stability. The aircraft using digital flight-by-wire flight control system receives aircraft flight conditions such as pitch, roll and yaw rate, normal acceleration from RSA(Rate Sensor Assembly) and ASA(Acceleration Sensor Assembly). These sensors has permissible measurement error related to system safety of an aircraft but, unexpected flight motions are happened by sensing errors such as offset, noise and etc. The unexpected pitch down tendency occurred by ASA sensor bias in 1g level flight with pilot hands-off. This paper addresses the design and verification of flight control law to improve of pitch down or up tendency caused by ASA sensor bias. The result of analysis and flight test reveals that pitch down tendency can be improved by pitch attitude feedback system.

• The Journal of the Korea institute of electronic communication sciences
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• v.14 no.1
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• pp.265-274
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• 2019

The paper describes an application of unscented Kalman filter(UKF) for attitude estimation of an unmanned vehicle(UV), which is equipped with a low-cost attitude heading reference system (AHRS). The roll, pitch and yaw required at the correction stage of the UKF are calculated from the measurements of acceleration and geomagnetic field. The roll and pitch are attributed to the measurement of acceleration, while yaw is calculated from the geomagnetic field measurement. Since the measurement of geomagnetic field is vulnerable to distortion by hard-iron and soft-iron effects, the calculated yaw has more uncertainty than the calculated roll and pitch. To reduce the uncertainty of geomagnetic field measurement, the proposed method estimates bias in the geomagnetic field measurement and compensates for the bias for more accurate calculation of yaw. The proposed method is verified through navigation experiments of a UV in a test pool. The results show that the proposed method yields more accurate attitude estimation; thus, it results more accurate location estimation.

• Journal of the Korean Institute of Intelligent Systems
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• v.24 no.5
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• pp.462-469
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• 2014

As a basic study on both engineering applications and representation methods of synesthesia, this paper aims at building basic system which converts a muscular sense into both visual and auditory elements. As for the building method, data of the muscular sense can be acquired through roll and pitch signals which are calculated from both three-axis acceleration sensor and the two-axis gyro sensor. The roll and pitch signals are then converted into both visual and auditory information as outputs. The roll signals are converted into both intensity elements of the HSI color model and octaves as one of auditory elements. In addition, the pitch signals are converted into both hue elements of the HSI color model and scales as another one of auditory elements. Each of the extracted elements of the HSI color model is converted into each of the three elements of the RGB color model respectively, so that the real-time output color signals can be obtained. Octaves and scales are also converted and synthesized into MIDI signals, so that the real-time sound signals can be obtained as anther one of output signals. In experiments, the results revealed that normal color and sound output signals were successfully obtained from roll and pitch values that represent muscular senses or physical movements, depending on the conversion relationship based on the similarity between color and sound.