• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1993년도 한국자동제어학술회의논문집(국내학술편); Seoul National University, Seoul; 20-22 Oct. 1993
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• pp.34-39
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• 1993

Presented in this paper is a complete error covariance analysis for strapdown inertial navigation system(SDINS). We have found that in SDINS the cross-coupling terms in gyrocompass alignment errors can significantly influence the SDINS error propagation. Initial heading error has a close correlation with the east component of gyro bias erro, while initial level tilt errors are closely related to accelerometer bias errors. In addition, pseudo-state variables are introduced in covariance analysis for SDINS utilizing the characteristics of gyrocompass alignment errors. This approach simplifies the covariance analysis because it makes the initial error covariance matrix to a diagonal form. Thus a real implementation becomes easier. The approach is conformed by comparing the results for a simplified case with the covariance analysis obtained from the conventional SDINS error model.

• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
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• pp.355-359
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• 2006

For the poor observability of azimuth misalignment angle and east gyro drift rate of the traditional initial alignment, a bran-new SINS stationary fast self-alignment approach is proposed. By means of analyzing the characteristic of the strapdown inertial navigation system (SINS) stationary alignment seriously, the new approach takes full advantage of the specific force and angular velocity information given by inertial measurement unit (IMU) instead of the mechanization of SINS. Firstly, coarse alignment algorithm is presented. Secondly, a new fine alignment model for SINS stationary self-alignment is derived, and the observability of the model is analysed. Then, a modified Sage-Husa adaptive Kalman filter is introduced to estimate the misalignment angles. Finally, some computer simulation results illustrate the efficiency of the new approach and its advantages, such as higher alignment accuracy, shorter alignment time, more self-contained and less calculation.

• 한국멀티미디어학회논문지
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• 제17권9호
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• pp.1041-1051
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• 2014

In this paper, we propose a new image alignment technique based on CUDA SURF in order to solve the initial image alignment problem that frequently occurs in machine vision applications. Machine vision systems using multi-spectral images have recently become more common for solving various decision problems that cannot be performed by the human vision system. These machine vision systems mostly use markers for the initial image alignment. However, there are some applications where the markers cannot be used and the alignment techniques have to be changed whenever their markers are changed. In order to solve these problems, we propose a new image alignment method for multi-spectral machine vision applications based on SURF extracting image features without depending on markers. In this paper, we propose an image alignment method that obtains a sufficient number of feature points from multi-spectral images using SURF and removes outlier iteratively based on a least squares method. We further propose an effective preliminary scheme for removing mismatched feature point pairs that may affect the overall performance of the alignment. In addition, we reduce the execution time by implementing the proposed method using CUDA based on GPGPU in order to guarantee real-time operation. Simulation results show that the proposed method is able to align images effectively in applications where markers cannot be used.

• 대한치과교정학회지
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• 제28권4호
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• pp.591-600
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• 1998

본 연구는 교정치료를 목적으로 발치가 예정된 치아를 대상으로 임상적으로 매우 중요한 치료과정 중의 한 부분인 초기치아배열단계에서 다양한 기간과 크기의 교정력을 가하여 치아배열기간, 교정력의 크기,치아이동방향에 따라 치근표면에 일어나는 흡수와 회복 양상에 대한 정보를 얻기 위하여 시행되었다. 치료받지 않은 13개의 치아를 대조군으로 하고 교정치료계획상 제1소구치를 발거하기로 예정된 37개의 치아를 실험군으로 하여 20-450gm의 초기교정력을 가한 후 주사전자현미경적 관찰을 통하여 다음과 같은 결과를 얻었다. 1. 실험군 37개 중 22개의 치아($59.5\%$)에서 치근흡수가 발견되었다. 치근흡수는 최소실험기간인 3주군부터 나타났으며 흡수부위의 회복은 3개월군부터 나타났다. 2. 교정력의 기간 증가에 따라 치근흡수의 발생빈도가 증가하는 경향을 보였다. 3. 교정력이 클수록 상아질을 포함하는 홉수가 증가하는 경향을 보였다. 4. 치근 흡수의 부위는 하중 받는 부위와 일치하는 경향을 보였다. 5. 치근 흡수 부위의 면적과 가장 상관성이 높은 변수는 교정력의 크기였다.

• 대한치과교정학회지
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• 제45권2호
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• pp.89-94
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• 2015

Objective: To test the null hypothesis that SmartClip self-ligating brackets are more effective than conventional brackets for initial mandibular alignment and identify influential factors. Methods: Fifty patients were randomly allocated to two equal treatment groups by using an online randomization program: self-ligating group (SmartClip brackets) and conventional group (Gemini brackets). The archwire sequence was standardized. Changes in anterior irregularity index, intercanine width, and intermolar width were assessed on plaster models at 8th and 16th weeks. Changes in incisor position and inclination were assessed on lateral cephalometric radiographs at 16 weeks. Intragroup and intergroup comparisons were performed with paired t-test and Student's t-test, respectively. Multiple linear regression was performed to identify variables affecting improvement in anterior ambiguity. Results: Data of 46 patients were analyzed; those missing an appointment (n = 2) or showing bracket breakage (n = 2) were excluded. Incisor inclination (p < 0.05), intercanine width (p < 0.05), and intermolar width (p > 0.05) increased at 8 and 16 weeks in both the groups; no significant intergroup differences were noted (p > 0.05). Initial anterior irregularity index and intercanine width change were significantly associated with improvement in anterior irregularity (p < 0.001). Conclusions: The null hypothesis was rejected. Bracket type has little effect on improvement in anterior ambiguity during initial mandibular alignment.

• 한국정밀공학회지
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• 제4권4호
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• pp.56-71
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• 1987

Determination of navigation variables (latitude, longitude, and altitude) near the earth's surface is termed 'Terrestrial Navigation'. The quantities that are measured inertially are the total acceleration (or the integral fo this acceleration over a fixed time interval) and the total angular rate (or the integral of this angular rate over the same time interval). These measurements when suitably compensated can be manipulated to yield the navigation variables. Hence, it is essential that the initial values of position, orientation and velocity are accurately set up during the initial alignment process. Initial alignment of gimballed inertial navigation system ( GINS) is accomplished by gyrocompassing techniques. These cannot be used, in the case of strapdown inertial navigation system(SDINS), where the inertial instruments are directly strapped down to a vehicle frame. The basic objective of this paper is the development of digital method for the determination of the initial axes erection of a SDINS from vibration and sway currupted data on the launch pad.

• 대한전기학회논문지:시스템및제어부문D
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• 제54권1호
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• pp.26-32
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• 2005

Rotor position information is essential in the operation of the switched reluctance motor(SRM) drive for generation the phase current switching signals. When an incremental encoder is used as a rotor position sensor, the initial rotor position can not be detected. Some sensorless rotor position estimation methods also have the same problem. In these systems, to initially align the rotor, the forced alignment method has a delay and reverse rotation before the motor can start. Therefore it can not be acceptable for unidirectional drive systems. So the forced alignment method is not desirable in all drive systems and the research on the SRM drives should be directed to a system without rotor alignment. In this paper, a new detection method of initial rotor position using the rate of change of current is suggested. Firstly, di/dt versus θ/sub R/ reference table, which is the relation between the rate of change of current and rotor position, is generated and then the squared Euclidean distance method is used to estimate the rotor position based on the table. The simulated and experimental results are presented demonstrating the feasibility and accuracy of this method.

• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 1991년도 한국자동제어학술회의논문집(국내학술편); KOEX, Seoul; 22-24 Oct. 1991
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• pp.136-141
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• 1991

An Overlapping Decomposed Filter(ODF) accomplishing an initial alignment of an INS is proposed in this paper. The proposed filter improves the observable condition and reduces the filtering computation time. Its good performance has been verified by simulation. Completely observable and controllable conditions of INS error model derived from psi-angle approach are introduced under varying sensor characteristics vary. The east components of gyro and accelerometer have to be the first order markov process and the rest of them are the characteristics of the random walk or first order markov process.

• 한국항행학회논문지
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• 제26권4호
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• pp.235-243
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• 2022

본 논문에서는 관성 항법 시스템 (INS)의 경우, 수직편향 (DOV)으로 인한 초기정렬에서의 자세 추정 오차를 분석한다. INS의 속도 및 자세 오차를 기반으로 DOV로 인한 자세 추정 오차를 이론적으로 분석하였다. 이론적 분석을 검증하기 위한 시뮬레이션을 수행했으며 결과는 이론적 분석과 잘 일치했다. 일례로 η=20"일 경우 정렬오차는 ϕ_N=0.00287°, ϕ_U=0.00196°가발생하며, 𝜉=20"일 경우에는 ϕ_E= -0.00286°의 오차가 발생하였다. 이를 통해 INS 자세오차의 결합특성으로 DOV에 기인한 수직 자세오차가 발생함을 확인하였다. 기존의 INS 정렬에서는 고려하지 않았던 DOV로 인해 추가로 자세오차가 발생할 수 있음을 보여 주었으며 이는 고정밀 INS 적용시에 DOV에 대한 보정을 반드시 고려해야 함을 의미한다.

• 말소리와 음성과학
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• 제7권4호
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• pp.139-145
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• 2015

The present study investigates the effects of syllable structure and prosodic prominence on the patterns of tonal alignment and scaling of the phrase-initial rise in Seoul Korean. Two syllable structures (Onset (/#CVC.../ as in minsa) vs. No-onset (/#VC.../ as in insa)) and two prominence conditions (Focus vs. Neutral) were considered. Results showed that the alignment of the L and the H tones in the phrase-initial rise was affected by syllable structure but not by prominence. The time of L was before the vowel onset of the first syllable in the Onset condition (i.e., within the onset consonant) and it was after the vowel onset in the No-onset condition. The difference was attributable to the fact that the initial L was anchored at a fixed distance from the phrase boundary, which was about 30ms after the onset of the syllable in both cases. The time of H was also consistently observed about 20ms after the second vowel onset (i.e., /a/ in minsa/insa). Moreover, the rise time (the duration from the L to the H tones) was longer as the local syllable duration became longer due to different syllable structure and prominence conditions. Taken together, the results provide a support for the segmental anchoring hypothesis, which claims that both the beginning and the end of F0 movement are consistently aligned with segmental 'anchor' points with relatively high stability (Ladd et al., 1999). Results also showed that the scaling of the early rise was slightly influenced by syllable structure but not by prominence. The differences between the results of the current study and a previous study (Cho, 2011) are further discussed.