• 한국전자통신학회논문지
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• 제10권4호
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• pp.469-475
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• 2015

본 논문은 반도체 센서를 이용하여 공간상 시스템의 자세를 정확히 측정할 수 있도록 확장 칼만 필터를 설계하는 방법에 관한 연구이다. 공간상 자세는 관성좌표계(고정 좌표계)로부터 몸체에 부착된 회전좌표계의 상호 관계로 표현한다. 자세를 표현하는데 있어서 간결한 방법인 쿼터니언을 상태변수로 이용하며, 속도 센서로부터 계측된 값을 입력으로 가정하고, 상태 변화를 추정하였다. 그리고 가속도 센서로부터 획득된 값을 관측 데이터로 하여 추정한 값과의 정합과정을 통해 최적의 추정치를 얻어낸다. 이때 추정의 정밀도를 높이기 위해 추정 주기를 센서특성에 맞춰 조절하도록 확장 칼만 필터를 설계하였다. 그 결과, 3축 속도 센서와 3축 가속도 센서를 이용하여 설계된 추정기의 RMS(: Root Mean Square) 추정오차가 시뮬레이션에서 약 1.7 [$^{\circ}$] 이하로 유지되었고, 실험에서 100 [ms] 의 주기로 상태추정을 함으로 추정기가 유용함을 입증하였다.

• 대한전자공학회논문지TE
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• 제42권1호
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• pp.21-28
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• 2005

본 논문은 토모그라픽 영상시스템에 적합한 FBP 토모그라픽 영상복원 알고리즘의 분해능에 관하여 연구하였다. 고정좌표계를 이용하는 개선된 FBP 토모그라픽 영상복원 알고리즘으로부터 분해능을 분석할 수 있는 모호함수를 유도하였고, 이를 이용한 모의실험을 통하여 얻은 진폭분포로부터 측방향 및 축방향 분해능을 정량적으로 결정하였다. 개선된 FBP 토모그라픽 영상복원 알고리즘을 통해 기존의 SAM(Scanning Acoustic Microscope)시스템으로부터 얻을 수 있는 3dB와 6dB 축방향 분해능에 대해서도 각각 0.70 파장과 0.96 파장으로 SAM 영상의 3dB 축방향 분해능인 7 파장에 비하여 매우 개선된 분해능을 얻을 수 있음을 확인하였다. 평면 입사파의 회절 토모그라픽 영상복원을 위한 개선된 FBP 토모그라픽 영상복원 알고리즘은 미세하고 복잡한 다층 박막구조를 갖는 시료에 대하여 좋은 분해능을 갖는 토모그라픽 영상시스템을 개발하는데 유용하게 활용할 수 있도록 하였다.

• Coupled systems mechanics
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• 제8권3호
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• pp.199-218
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• 2019

This paper studies the forced vibration of the hydro-elastic system consisting of the anisotropic (orthotropic) plate, compressible viscous fluid and rigid wall within the scope of the exact equations and relations of elastodynamics for anisotropic bodies for describing of the plate motion, and with utilizing the linearized exact Navier-Stokes equations for describing of the fluid flow. For solution of the corresponding boundary value problem it is employed time-harmonic presentation of the sought values with respect to time and the Fourier transform with respect to the space coordinate on the coordinate axis directed along the plate length. Numerical results on the pressure acting on the interface plane between the plate and fluid are presented and discussed. The main aim in this discussion is focused on the study of the influence of the plate material anisotropy on the frequency response of the mentioned pressure. In particular, it is established that under fixed values of the shear modulus of the plate material a decrease in the values of the modulus of elasticity of the plate material in the direction of plate length causes to increase of the absolute values of the interface pressure. The numerical results are presented not only for the viscous fluid case but also for the inviscid fluid case.

• Advances in nano research
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• 제5권1호
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• pp.13-25
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• 2017

We examine the total optical dielectric function (TODF) of impurity doped GaAs quantum dot (QD) from the viewpoint of anisotropy, position-dependent effective mass (PDEM) and position dependent dielectric screening function (PDDSF), both in presence and absence of noise. The dopant impurity potential is Gaussian in nature and noise employed is Gaussian white noise that has been applied to the doped system via two different modes; additive and multiplicative. A change from fixed effective mass and fixed dielectric constant to those which depend on the dopant coordinate manifestly affects TODF. Presence of noise and also its mode of application bring about more rich subtlety in the observed TODF profiles. The findings indicate promising scope of harnessing the TODF of doped QD systems through expedient control of site of dopant incorporation and application of noise in desired mode.

• 한국운동역학회지
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• 제15권3호
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• pp.143-152
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• 2005

The purpose of this study was to predict the failure or success of the Snatch-lifting trial as a consequence of the stand-up phase simulated in Kane's equation of motion that was effective for the dynamic analysis of multi-segment. This experiment was a case study in which one male athlete (age: 23yrs, height: 154.4cm, weight: 64.5kg) from K University was selected The system of a simulation included a multi-segment system that had one degree of freedom and one generalized coordinate for the shank segment angle. The reference frame was fixed by the Nonlinear Trans formation (NLT) method in order to set up a fixed Cartesian coordinate system in space. A weightlifter lifted a 90kg-barbell that was 75% of subject's maximum lifting capability (120kg). For this study, six cameras (Qualisys Proreflex MCU240s) and two force-plates (Kistler 9286AAs) were used for collecting data. The motion tracks of 11 land markers were attached on the major joints of the body and barbell. The sampling rates of cameras and force-plates were set up 100Hz and 1000Hz, respectively. Data were processed via the Qualisys Track manager (QTM) software. Landmark positions and force-plate amplitudes were simultaneously integrated by Qualisys system The coordinate data were filtered using a fourth-order Butterworth low pass filtering with an estimated optimum cut-off frequency of 9Hz calculated with Andrew & Yu's formula. The input data of the model were derived from experimental data processed in Matlab6.5 and the solution of a model made in Kane's method was solved in Matematica5.0. The conclusions were as follows; 1. The torque motor of the shank with 246Nm from this experiment could lift a maximum barbell weight (158.98kg) which was about 246 times as much as subject's body weight (64.5kg). 2. The torque motor with 166.5 Nm, simulated by angular displacement of the shank matched to the experimental result, could lift a maximum barbell weight (90kg) which was about 1.4 times as much as subject's body weight (64.5kg). 3. Comparing subject's maximum barbell weight (120kg) with a modeling maximum barbell weight (155.51kg) and with an experimental maximum barbell weight (90kg), the differences between these were about +35.7kg and -30kg. These results strongly suggest that if the maximum barbell weight is decided, coaches will be able to provide further knowledge and information to weightlifters for the performance improvement and then prevent injuries from training of weightlifters. It hopes to apply Kane's method to other sports skill as well as weightlifting to simulate its motion in the future study.

• 문화기술의 융합
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• 제9권1호
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• pp.663-668
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• 2023

현대 전투에 있어서 적의 위치나 시설 등의 정보를 수집하는 것은 매우 필수적이다. 이를 위해 멀티콥터 등의 무인기의 개발이 활발하게 이루어져 왔으며 무인기에 장착되는 임무장비 또한 다양하게 개발되었다. 좌표지향 알고리즘이란, 임무장비가 원하는 좌표나 위치에 시선을 고정할 수 있도록 시선각을 계산하는 알고리즘을 의미한다. 비행데이터와 GPS 데이터를 수집하여, 좌표지향 알고리즘에 대하여 Matlab을 이용하여 시뮬레이션을 진행하였다. 좌표 데이터만을 이용한 시뮬레이션에서는 Pan축 각도는 평균 약 0.42°가 Tilt축은 0.003°~0.43° 상대적으로 넓은 오차와 평균적으론 약 0.15°의 오차가 나타났다. 이를 NE 방향의 거리로 환산한 결과는 N방향 오차거리는 평균 약 2.23m E방향 오차 거리는 평균 약 -1.22m의 결과를 나타났다. 실제 비행데이터를 적용한 시뮬레이션에서는 약 19m@CEP의 결과가 나타났다. 따라서 EOTS의 주 임무인 감시 및 정보수집에 있어 좌표지향 알고리즘의 자체적인 오차에 대하여 연구를 진행하였고 정량적 목표였던 500m에 30m@CEP를 만족하는 것을 확인하였고, 원하는 좌표를 지향할 수 있다는 것을 보였다.

• 한국운동역학회지
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• 제14권3호
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• pp.1-15
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• 2004

The purpose of this study was to investigate the kinematic variables of the upper part of the body for 8 elderly men during walking. For this study, kinematic data were collected using a six-camera (240Hz) Qualisys ProReflex system. The room coordinate system was right-handed and fixed in space, with righted orthogonal segment coordinate systems defined for the head, trunk, and pelvis. Based on a rigid body model, reflective marker triads were attached on the 3 segments. Three-dimensional Cartesian coordinates for each marker were determined at the time of recording using a nonlinear transformation(NLT) technique with ProReflex software (Qualisys, Inc.). Coordinate data were low-pass filtered using a fourth-order Butterworth with cutoff frequency of 6Hz. Three-dimensional angles of the head, trunk, and pelvis segment were determined using a Cardan method. On the basis of each segment angle, angle-angle plot used to estimated the movement coordinations between segments. The conclusions were as follows; (1) During the support phase of walking, the elderly people generally kept their, head the flexional and abductional posture. Particularly, the elderly displayed little internal/external rotation. (2) The elderly people showed extensional and external rotation postures in the trunk movement. Particularly, It showed the change from adduction into abduction at the heel contact event of the stance phase. (3) The elderly people showed almost same pelvis movement from the flexion into extension, from the abduction into adduction, and from internal rotation into external rotation at the mid stance and toe off of the stance phase.

• 대한산업공학회지
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• 제13권1호
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• pp.11-24
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• 1987

Automatic Guided Vehicle Systems feature battery powered driverless vehicles with programming capabilities for path selection and positoning. Vehicles serve the machines in shop, following a guide path system installed on the shop floor. The basic problem in the system is to determine a fixed set of vehicle routes of minimal total distance(time) while keeping capacity and distance(time) constraints. In this paper, a heuristic algorithm is presented for scheduling the automatic guided vehicles. The algorithm routes the machines based on their distances and polor coordinate angles, taking into account the structural feature of the system. Computational experiments are performed on several test problems in order to evaluate the proposed algorithm. Finally, a framework for dealing with the case where supplies from the machines are probabilistic is described.

• Journal of Mechanical Science and Technology
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• 제16권5호
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• pp.720-731
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• 2002

Flow with moving free surfaces is analyzed with an the Eulerian coordinate system. This study proposes a semi-implicit filling algorithm using VOF in which the PLIC (Piecewise Linear Interface Calculation) -type interface reconstruction method and the donor-acceptor-type front advancing scheme are adopted. Also, a new scheme using extrapolation of the stream function is proposed to find the velocity of the node that newly enters the computational domain. The effect of wall boundary conditions on the flow field and temperature field is examined by numerically solving a two-dimensional casting process.

• Journal of Advanced Marine Engineering and Technology
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• 제37권2호
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• pp.220-226
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• 2013

최근 공장자동화 및 물류시스템의 발전은 대형선박이나 물류창고 등과 같은 넓은 작업현장을 소수의 작업자가 관리할 수 있게 되었다. 기존의 무선 실내 위치인식 시스템에서 이러한 작업자들의 정확한 위치를 추정하기 위해서 일반적으로 셋 또는 그 이상의 고정노드가 하나의 노드로 이루어진 이동노드의 위치를 인식하는 방식이 주로 사용되고 있다. 하지만 이러한 방법은 작업자(이동노드)에 비하여 넓은 작업현장에 많은 고정노드가 필요하므로 노드 배치 측면에서는 비효율적이다. 따라서 소수의 작업자를 요구하는 이러한 작업환경에서 효율적으로 노드를 배치하기 위하여 본 논문에서는 세 개의 노드로 구성된 이동노드가 고정노드 두 개의 상대좌표를 효율적으로 인식함으로써 고정노드의 개수를 저감하는 새로운 추정 알고리즘과 이동노드와 고정노드 사이의 거리오차를 최소화하기 위하여 Rounding estimation(RE) 기법을 제안한다. 실험 결과 제안한 RE기법은 자유공간에서 기존의 삼변측량법의 오차율 대비 90.9% 개선된 위치인식 결과를 나타냈다. 또한 실내 자유공간에서 고정노드 수를 최대 50%까지 감소시킬 수 있음에도 불구하고 제안한 추정 알고리즘은 평균 오차 0.15m의 정밀한 위치인식이 가능하였다.