• 융합정보논문지
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• 제7권3호
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• pp.111-116
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• 2017

본 연구는 관광객이 문화 관광지에서 구매한 수베니어에 가상현실 콘텐츠를 접목하여 단순한 전시용도가 아닌 새로운 상품으로서의 가능성을 제시하였다. 수베니어를 연계하여 VR Viewer를 착용한 증강현실 콘텐츠 재생 및 가상현실 기술 기반의 문화 관광지 가상체험 서비스를 구현하였으며, 사용자가 가상공간에서 몰입감을 높일 수 있는 4K급 고품질 $360^{\circ}$영상 촬영, 가상현실 공간 구현 및 IMU(Inertial Measurement Unit)센서를 이용한 사용자와의 직관적인 UI 인터랙션이 가능하게 하였으며, 가상공간에 3D 콘텐츠 및 다양한 부가기능 부여 및 비즈니스 모델에 맞춘 기술개발을 통해 상품성을 향상시키고, 향후 다양한 타 분야 접목이 가능하도록 하였다. 또한, 사용자가 구매할 수베니어와 VR viewer는 본 연구에서 제작할 콘텐츠가 반영되도록 3D 프린터 등을 활용해 별도의 제작공정을 들여 프로토타입 형태로 제작하고, 이 후 기성품 사용 등을 위한 해당 기업과의 협의 등을 통해 다양한 상품으로 확장 고려될 수 있을 것으로 판단된다.

• 한국군사과학기술학회지
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• 제21권5호
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• pp.623-629
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• 2018

The acceleration and the angular velocity that include natural frequencies of a missile detected by Inertial Measurement Unit(IMU) are transmitted to the control loop of a missile. The control loop command that is calculated using above signals can cause the resonance of the missile while it flies. Hence it is common to adapt the filter and the control loop for attenuating or eliminating the undesired signals such as natural frequencies. This paper introduces the new test technique using a floating system for performance evaluation of the designed filter and the control loop prior to a flight test. The proposed scheme can check out the degradation property of vibration in the filter and the control loop, while the conventional hardware-in-the-loop simulation(HILS) scheme cannot.

• 드라이브 ㆍ 컨트롤
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• 제12권2호
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• pp.27-33
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• 2015

Excavators are versatile earthmoving equipment that are used in civil engineering, hydraulic engineering, grading and landscaping, pipeline construction and mining. Effective operator training is essential to ensure safe and efficient operating of the machine. The virtual reality excavator based on simulation using conventional large size monitors is limited by the inability to provide a realistic real world training experience. We proposed a flexible observation method with a head tracking system to improve user feeling and sensation when operating a virtual reality excavator. First, an excavation simulator is designed by combining an excavator SimMechanics model and the virtual world. Second, a head mounted display (HMD) device is presented to replace the cumbersome large screens. Moreover, an Inertial Measurement Unit (IMU) sensor is mounted to the HMD for tracking the movement of the operator's head. These signals consequently change the virtual viewpoint of the virtual reality excavator. Simulation results were used to analyze the performance of the proposed system.

• 제어로봇시스템학회논문지
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• 제21권2호
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• pp.150-156
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• 2015

In this paper, a marionette control system using wrist and finger gestures through an IMU sensor is studied. The signals from the sensor device are conditioned and recognized, then the commands are sent to the 8 motors of the marionette via Bluetooth (5 motors control the motion of the marionette, and 3 motors control the location of the marionette). It is revealed that the degree of freedom of fingers are not independent from each other, therefore, some gestures are hardly made. Gesture mode changes for difficult postures of the fingers in cases of a lack of finger DOF are proposed. Therefore, the gesture mode change switches the assignment of gesture as required. Experimental results show that gesture mode change is successful for appropriate postures of a marionette.

• International Journal of Ocean System Engineering
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• 제2권4호
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• pp.223-232
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• 2012

For the accurate estimation of the position and orientation of a UUV (unmanned underwater vehicle), a low-cost AHRS (attitude heading reference system) was developed using a low-cost IMU (inertial measurement unit) sensor which provides information on the 3D acceleration, 3D turning rate and 3D earth-magnetic field data in the object coordinate system. The main hardware system is composed of an IMU sensor (ADIS16405) and TMS320F28335, which is coded with an extended kalman filter algorithm with a 50-Hz sampling frequency. Through an experimental gimbal device, good estimation performance for the pitch, roll, and yaw angles of the developed AHRS was verified by comparing to those of a commercial AHRS called the MTi system. The experimental results are here presented and analyzed.

• 한국지능시스템학회논문지
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• 제14권2호
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• pp.239-246
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• 2004

In this paper, we develop and implement a high integrity GNC(Guidance, Navigation, and Control) system, based on the combined use of the Global Positioning System (GPS) and an Inertial Measurement Unit (IMU), for autonomous land vehicle applications. This paper highlights guidance for the predetermined trajectory and navigation with detection of possible faults during the fusion process in order to enhance the integrity of the navigation loop. The implementation of the GNC system to the autonomous land vehicle presented with fault detection methodology considers high frequency faults from the GPS receiver caused by shadowing and multipath error The implementation, based on a low-cost, strapdown INS aided by standard GPS technology, is described. The results of the field test in the urban environment are presented and showed effectiveness of the GNC system.

• 한국방송∙미디어공학회:학술대회논문집
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• 한국방송∙미디어공학회 2017년도 추계학술대회
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• pp.142-143
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• 2017

증강 현실에 대한 관심이 높아지면서, 물체를 자연스럽게 증강시키는 기술이 주목받고 있다. 그 방법 중 하나는 실제 물체처럼 수평면 위에 증강시키는 것이다. 본 논문에서는 카메라 영상과 관성 측정 장치(IMU: inertial measurement unit)를 사용해 물체를 증강시키기 위한 수평면을 찾는 방법을 제안한다. 우선, 수평면을 결정하는 데 기준이 될 3 차원 공간 좌표를 계산하기 위한 방법을 설명한다. 그리고 계산된 좌표들을 바탕으로 수평면을 찾는 방법을 제시한다. 제안한 방법을 사용하면 지면 방향을 이용하기 때문에 증강된 물체가 실제 물체처럼 서있게 할 수 있다.

• 한국GIS학회:학술대회논문집
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• 한국GIS학회 2004년도 GIS/RS 공동 춘계학술대회 논문집
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• pp.167-172
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• 2004

모바일 매핑시스템은 차량에 GPS(Global Positioning System), IMU(Inertial Measurement Unit), CCD 카메라 등을 탑재하고 공간 및 속성 정보를 취득하는 효율적인 방법이다. 모바일 매핑시스템은 도로 시설물 관리, 지도 갱신 등 다양한 분야에 이용되고 있다. 국외에서 개발된 모바일 매핑 시스템을 업그레이드하거나 새로운 센서를 추가 하고자 할 때 기존 시스템의 센서 통합 및 동기화 방안을 알 수 없으므로 시스템의 개선 및 향상이 어렵다. 본 연구에서는 모바일 매핑시스템의 개선 및 센서추가를 위해서 모바일 매핑시스템에 기본적으로 필요한 GPS, IMU, 그리고 CCD 카메라 등의 효율적인 통합 및 동기화 구현 방안을 제시하고, 동기화에 필요한 각 센서의 요구사항을 파악한 후 동기화 장비를 설계 및 제작하였다. 또한, 향후 추가될 센서인 레이져, 오도미터(Odometer) 등을 센서가 추가될 경우를 고려하여 통합장비를 설계하였다.

• 제어로봇시스템학회논문지
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• 제22권1호
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• pp.66-73
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• 2016

An Inertial Measurement Unit (IMU)-based Attitude and Heading Reference System (AHRS) can calculate attitude and heading information with long-term accuracy and stability by combining gyro, accelerometer, and magnetic compass signals. Motivated by this characteristic of the AHRS, this paper presents a Motion-Tracking and Localization (MTL) method for a person or walking robot using multi-AHRSs. Five AHRSs are attached to the two calves, two thighs, and waist of a person/walking robot. Joints, links, and coordinate frames are defined on the body. The outputs of the AHRSs are integrated with link data. In addition, a supporting foot is distinguished from a moving foot. With this information, the locations of the joints on the local coordinate frame are calculated. The experimental results show that the presented MTL method can track the motion of and localize a person/walking robot with long-term accuracy in an infra-less environment.

• 대한원격탐사학회:학술대회논문집
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• 대한원격탐사학회 2003년도 Proceedings of ACRS 2003 ISRS
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• pp.859-861
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• 2003

In order to present a space in details, it is indispensable to acquire 3D shape and texture simultaneously from the same platform. 3D shape is acquired by Laser Scanner as point cloud data, and texture is acquired by CCD sensor. Positioning data is acquired by IMU (Inertial Measurement Unit). All the sensors and equipments are assembled on a hand-trolley. In this research, a method of integrating the 3D shape and texture for automated construction of Digital Surface Model is developed. This Digital Surface Model is applied for efficient feature extraction. More detailed extraction is possible , because 3D Digital Surface Model has both 3D shape and texture information.