• Journal of Korean Academy of Oral and Maxillofacial Radiology
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• v.29 no.2
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• pp.417-422
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• 1999

Purpose : The aim of this study was to assess the validity of standard deviation of gray scale histogram in digital subtraction radiography as a test parameter for superimposition error. Materials and Methods : Twenty periapical radiographs were used as baseline images and they were copied to exclude the influence of exposure geomety and contrast differences. These subsequent images were linearly displaced by 0.1-0.5 mm in the x-. y- and xy-directions, rotated by 0.5-3° and distorted by angular contraction of 1-5° in x- and y-axis before subtraction. The standard deviations of gray levels in the subtraction images were obtained and paired t-tests were performed. Pearson correlation coefficients(r) were calculated between the standard deviations and the superimposition errors. Results : Linear displacement showed high correlation coefficients of 0.997, 0.997 and 0.995 in x-. y- and xy-axis respectively. Statistically significant different standard deviation existed among all linearly displaced groups(p<0.05). Distortion showed relatively low correlation coefficients of 0.982 and 0.959 in x- and y-axis. The standard deviations between the two distortion groups were statistically significant different(p<0.05). Conclusion : Standard deviation of gray level distribution in digital subtraction images is satisfactory but not perfect similarity measure to assess the superimposition errors.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2003.09a
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• pp.616-619
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• 2003

In this paper, we develop an input device equipped with accelerometers and gyroscopes. The installed sensors measure the inertial measurements i.e., accelerations and angular rates produced by the movement of the system when a user is writing on the plane surface or in the three dimensional space. The gyroscope measurement are integrated once to give the attitude of the system and consequently used to remove the gravity included in the acceleration measurements. The compensated accelerations bin doubly integrated to yield the position of the system. Due to the integration processes involved in recovering the users'motions, the accuracy of the position estimation significantly deteriorates with time. Among various error sources of the system incorrect estimation of attitude causes the largest portion of the positioning error since the gravity is not fully cancelled. In order to solve this problem, we propose a Kalman filler-based attitude estimation algorithm which fuses measurement data from accelerometers and gyroscopes by fuzzy logic approach. In addition, the online calibration of the gyroscope biases are performed in parallel with the attitude estimation to give more accurate attitude estimation. The effectiveness and the feasibility of the presented system is demonstrated through computer simulations and actual experiments.

• Journal of the Korean Society for Precision Engineering
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• v.33 no.4
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• pp.295-301
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• 2016

The out-of-squareness is one of the error sources that affect the positioning accuracy of machine tools and coordinate measuring machines. Laser interferometer is widely used to measure the position and angular errors, and can measure the squareness using an optical square. However, the squareness measurement using the laser interferometer is difficult, as compared to other errors due to complicated optics setup and Abbe's error occurrence. The effect of out-of-squareness mainly appears at the face-diagonal of the movable plane. The diagonal displacements are also affected by the position dependent geometric errors. In this study, the squareness estimation techniques via diagonal displacement measurement using the laser interferometer without an optical square were proposed. For accurate estimation and measurement time reduction, the errors selected from proposed discriminant were measured. Discrepancy between the proposed technique with the laser interferometer (with an optical square) result was $0.6{\mu}rad$.

• Journal of Advanced Research in Ocean Engineering
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• v.1 no.2
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• pp.134-147
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• 2015

This study proposes a method to determine the effective angular velocity of each motor of a specific four-rows tracked vehicle (FRTV) in order to follow a given turning radius. The configuration of the four-rows tracked vehicle is introduced, and its dynamics analysis model is built using the DAFUL commercial software. The soil has been assumed to be hard ground, and the friction force between the ground and the tracked links is calculated using the Coulomb friction model. This paper uses a simulation to show that the error in the position increased with respect to the angle of the curvatures, so a method is proposed to compensate for the error in the motion of the motors. Various simulations are then carried out to verify the proposed formulation. The effects of the soil characteristics and the driving velocity will be further investigated in future studies.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.17 no.3
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• pp.22-27
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• 2018

One problem of the Discrete Element Method is the assumption of a spherical particle shape, which reduces the computing time but significantly limits the application of the DEM to analysis. This limitation can be overcome by a recently developed rigid-rod model. However, the rigid-rod model has an essential problem related with friction: it always contains friction error because of the bumpy surface. To overcome this issue, we suggest a superposed rigid-rod model in this paper. The superposed rigid-rod model is notably consistent with the theoretical value in terms of the velocity and angular velocity after the collision. The estimated error is negligible(less than 2%). Then, the developed model is applied to hopper discharging. The developed model shows no problem in the discharging flow from the hopper.

• Journal of Biomedical Engineering Research
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• v.36 no.2
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• pp.37-42
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• 2015

In this paper, we propose a wrist rehabilitation training device using pneumatic inflation and deflation of air cells. By alternating inflation and deflation of upper and lower air cells, the device makes the flexional and extensional movement for wrist rehabilitation. With the angular displacement sensor, it measures the flexion-extension angle of the wrist during the training and the bending angle is used for the automatic control of the device. Using the sensor output, the regression equation was obtained to measure the bending angle of the wrist from a wrist rehabilitation training device. The measurement error of the device was evaluated by comparing the measurement output with the angle from the photograph. The measurement error of wrist bending angle between the sensor and photo was $3.2^{\circ}$ in average. With additional test and improvement, the pneumatic wrist rehabilitation training device might be used for rehabilitation training.

• Journal of Communications and Networks
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• v.7 no.4
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• pp.450-461
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• 2005

In this paper, we derive analytical expressions for the exact pairwise error probability (PEP) of a space-time coded system operating over spatially correlated fast (constant over the duration of a symbol) and slow (constant over the length of a code word) fad­ing channels using a moment-generating function-based approach. We discuss two analytical techniques that can be used to evaluate the exact-PEPs (and therefore, approximate the average bit error probability (BEP)) in closed form. These analytical expressions are more realistic than previously published PEP expressions as they fully account for antenna spacing, antenna geometries (uniform linear array, uniform grid array, uniform circular array, etc.) and scattering models (uniform, Gaussian, Laplacian, Von-mises, etc.). Inclusion of spatial information in these expressions provides valuable insights into the physical factors determining the performance of a space-time code. Using these new PEP expressions, we investigate the effect of antenna spacing, antenna geometries and azimuth power distribution parameters (angle of arrival/departure and angular spread) on the performance of a four-state QPSK space-time trellis code proposed by Tarokh et al. for two transmit antennas.

• KIEE International Transaction on Electrical Machinery and Energy Conversion Systems
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• v.2B no.3
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• pp.125-132
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• 2002

PMSMS (permanent magnet synchronous motors) are widely used in industrial applications and home appliances because of their high torque to inertia ratio, superior power density, and high efficiency. For high performance control, accurate informations about the rotor position is essential. Sensorless algorithms have lately been studied extensively due to the high cost of position sensors and their low reliability in harsh environments. A novel position sensorless speed control for PMSMs uses indirect flux estimation and is presented in this paper. Rotor position and angular velocity are estimated by the proposed indirect flux estimation. Linkage flux and magnetic field flux are calculated by the voltage equations and the measured phase current without any integration. Instead of linkage flux calculation with integral operation, indirect flux and differential magnetic field are used for the estimation of rotor position. A proper rejection technique fur current noise effect in the calculation of differential linkage flux is introduced. The proposed indirect flux detecting method is free from the integral rounding error and linkage flux drift problem, because differential linkage flux can be calculated without any integral operation. Furthermore, electrical parameters of the PMSM can be measured by the proposed TCM (time compression method) for soft starting and precise estimation of rotor position. The position estimator uses accurate electrical parameters that are obtained from the proposed TCM at starting strategy. In the operating region, a proper compensation method fur temperature effect can compensate fir the estimation error from the variation of electrical parameters. The proposed novel position sensorless speed control scheme is verified by the experimental results.

• Journal of Biosystems Engineering
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• v.25 no.2
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• pp.131-140
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• 2000

Spraying operation is one of the most essential in an orchard management and it is also hazardous to human body. for automatic and unmanned spraying , an autonomous travelling vehicle is demanded. In this study, a telemeter was developed using infrared beam which could detect trunks and obstacles measure distance and direction from the vehicle travelling in the orchard. The telemeter system was composed of two infrared LED transmitters and receivers, a beam scanning device for continuous object detection , two rotary encoders for angle detector, and a beam level controller for uneven soil surface. The detected distance and direction signal s were sent to personal computer which made for the system display the angular and distance measurements through I/O board. According to a field test in an apple farm, the system detected up to 10m distance under 12 V of transmitted beam intensity, however, it was recommended that the proper beam transmit intensity be 7 v at the 10 m distance, because of the negative effect to human body at 12 V. The error rate of this system was 0.92 % when the actual distance was compared to measured one. The system was feasible at the small error rate. The developed telemeter system was an important part for autonomous travelling vehicle provided the real time object recognition . A direction control system could be constructed suing the system. It is expected that the system could greatly contribute to the development of autonomous farm vehicle.

• Korean Journal of Applied Biomechanics
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• v.24 no.3
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• pp.309-315
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• 2014

The aim of the present study was to investigate the effects of 6-week wrist resistance training on wrist torque control. Nineteen subjects were randomly assigned to either the wrist training group (n=9) or the control group (n=10). The training group performed wrist exercises for six directions (flexion, extension, pronation, supination, radial deviation, and ulnar deviation) while the control group did not. Testing for the isometric torque control error, one-repetition maximum (1-RM) strength, and isokinetic maximum torque (angular velocity of $60^{\circ}/s$ wrist movements) were conducted before and after six weeks of resistance training and after every two-week interval of training. The wrist training group showed significant decreases in isometric torque control error in all six directions after the 2-week resistance training, while the control group did not show significant increase or decrease. The training group showed significant increases in the maximum strength in all six directions assessed by 1-RM strength and isokinetic strength tests after the 4-week resistance training, while the control group did not show any statistically significant changes. This study shows that motor control ability significantly improves within the first two weeks of resistance training, while the wrist strength significantly improves within the first four weeks of resistance training in wrist training group compared to the control.