• Journal of the Korea Institute of Military Science and Technology
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• v.26 no.3
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• pp.214-226
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• 2023

A transfer alignment is used to initialize, align, and calibrate a SINS(Slave INS) using a MINS(Master INS) in motion. This paper presents an airborne transfer alignment with velocity and azimuth matching to estimate inertial sensor biases under the wing flexure influence. This study also considers the lever arm, time delay and relative orientation between MINS and SINS. The traditional transfer alignment only uses velocity matching. In contrast, this paper utilizes the azimuth matching to prevent divergence of the azimuth when the aircraft is stationary or quasi-stationary since the azimuth is less affected by the wing flexibility. The performance of the proposed Kalman filter is analyzed using two factors; one is the estimation performance of gyroscope and accelerometer bias and the other is comparing aircraft dynamics and attitude covariance. The performance of the proposed filter is verified using a long term flight test. The test results show that the proposed scheme can be effectively applied to various platforms that require airborne transfer alignment.

• Archives of Reconstructive Microsurgery
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• v.10 no.2
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• pp.111-117
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• 2001

Introduction : The Functional muscle transfer is used to reconstruct the injuried muscle and paralysis of the shoulder. Especially transfer of the trapezius has been the treatment of choice but it has disadvantages of inadequate function and deformed contour, and instability of humeral head in case of acromion resection. We report an operation for shoulder reconstruction after wide resection of malignant fibrous histiocytoma, using rotational latissimus dorsi flap and review the operation method and clinical outcome. Materials and Methods : A patient, 53 year old, with malignant fibrous histiocytoma in the acromioclavicular joint area had been underwent wide excision, including the deltoid, clavicular head of pectoralis major, part of trapezius, lateral 1/3 of clavicle and acromion including scapular spine. The rotational latissimus dorsi flap with its neurovascular pedicle was dissected and then placed over the resected area and transfer of muscle attached at coracoid process was done to achieve stability of the humeral head. The range of motion of the shoulder and test of muscle power were evaluated for functional outcome. Total follow-up period is 2 years 11 months. Results : At last follow-up, the range of motion of the shoulder is abduction $90^{\circ}$, flexion $90^{\circ}$, internal rotation $40^{\circ}$, external rotation $50^{\circ}$ and the muscle power is 4 grade in all direction and then we obtained good functional results. There are no complications such as instability or subluxation of the humeral head and deformed contour and he is a disease-free survival state. Conclusions : The transfered latissimus dorsi flap provides adequate lever arm and stabilization and covering of the humeral head by sufficient muscle volume and width. This procedure can be useful not only for the paralysed deltoid reconstruction but also for use in reconstructive surgery after wide resection of the shoulder for malignant tumor.

• Journal of Positioning, Navigation, and Timing
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• v.6 no.4
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• pp.167-179
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• 2017

In this paper, a simplified Cubature Kalman Filter (SCKF) is proposed to reduce the computation load of CKF, which is then used as a filter for transfer alignment of shipboard INS. CKF is an approximate Bayesian filter that can be applied to non-linear systems. When an initial estimation error is large, convergence characteristic of the CKF is more stable than that of the Extended Kalman Filter (EKF), and the reliability of the filter operation is more ensured than that of the Unscented Kalman Filter (UKF). However, when a system degree is large, the computation amount of CKF is also increased significantly, becoming a burden on real-time implementation in embedded systems. A simplified CKF is proposed to address this problem. This filter is applied to shipboard inertial navigation system (INS) transfer alignment. In the filter design for transfer alignment, measurement type and measurement update rate should be determined first, and if an application target is a ship, lever-arm problem, flexure of the hull, and asynchronous time problem between Master Inertial Navigation System (MINS) and Slave Inertial Navigation System (SINS) should be taken into consideration. In this paper, a transfer alignment filter based on SCKF is designed by considering these problems, and its performance is validated based on simulations.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.41 no.2
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• pp.134-141
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• 2013

This paper explores a real-time system implementation to couple tightly StrapDown Inertial Navigation System(SDINS) and Global Positioning System(GPS) mounted on the aircraft. When implementing the SDINS/GPS coupled system in real-time processor, we have to deliberate SDINS's unique characteristics based on the ring laser gyro, and besides, lever-arm, measurements, and error compensation method. The novel modeling method is applied to system the misalignment error term of gyro to estimate the cumulative heading attitude errors while the aircraft banking to turn repeatedly. Captive Flight Test results show that the proposed modeling strategy has good performance.

• Archives of Plastic Surgery
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• v.41 no.5
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• pp.562-570
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• 2014

Background Knee disarticulations (KD) are most commonly employed following trauma or tumor resection but represent less than 2% of all lower extremity amputations performed in the United States annually. KDs provide enhanced proprioception, a long lever arm, preservation of adductor muscle insertion, decreased metabolic cost of ambulation, and an end weight-bearing stump. The role for KDs in the setting of arterial insufficiency or overwhelming infection is less clear. The purpose of this study is to describe technique modifications and report surgical outcomes following KDs at a high-volume Limb Salvage Center. Methods A retrospective study of medical records for all patients who underwent a through-knee amputation performed by the senior author (C.E.A.) between 2004 and 2012 was completed. Medical records were reviewed to collect demographic, operative, and postoperative information for each of the patients identified. Results Between 2004 and 2012, 46 through-knee amputations for 41 patients were performed. The mean patient age was 68 and indications for surgery included infection (56%), arterial thrombosis (35%), and trauma (9%). Postoperative complications included superficial cellulitis (13%), soft tissue infection (4%), and flap ischemia (4%) necessitating one case of surgical debridement (4%) and four transfemoral amputations (9%). 9 (22%) patients went on to ambulate. Postoperative ambulation was greatest in the traumatic cohort and for patients less than 50 years of age, P<0.05. Alternatively, diabetes mellitus and infection reduced the likelihood of postoperative ambulation, P<0.01. Conclusions Knee disarticulations are a safe and effective alternative to other lower extremity amputations when clinically feasible. For patient unlikely to ambulate, a through-knee amputation maximizes ease of transfers, promotes mobility by providing a counterbalance, and eliminates the potential for knee flexion contracture with subsequent skin breakdown.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.32 no.3
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• pp.191-204
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• 2014

In recent years, multi-camera systems have been recognized as an affordable alternative for the collection of 3D spatial data from physical surfaces. The collected data can be applied for different mapping(e.g., mobile mapping and mapping inaccessible locations)or metrology applications (e.g., industrial, biomedical, and architectural). In order to fully exploit the potential accuracy of these systems and ensure successful manipulation of the involved cameras, a careful system calibration should be performed prior to the data collection procedure. The calibration of a multi-camera system is accomplished when the individual cameras are calibrated and the geometric relationships among the different system components are defined. In this paper, a new single-step approach is introduced for the calibration of a multi-camera system (i.e., individual camera calibration and estimation of the lever-arm and boresight angles among the system components). In this approach, one of the cameras is set as the reference camera and the system mounting parameters are defined relative to that reference camera. The proposed approach is easy to implement and computationally efficient. The major advantage of this method, when compared to available multi-camera system calibration approaches, is the flexibility of being applied for either directly or indirectly geo-referenced multi-camera systems. The feasibility of the proposed approach is verified through experimental results using real data collected by a newly-developed indirectly geo-referenced multi-camera system.

• Journal of the Korea institute for structural maintenance and inspection
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• v.21 no.6
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• pp.35-43
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• 2017

The minimum reinforcement ratio is an important design factor to prevent a brittle failure in RC flexural members. A minimum reinforcement ratio is presented by assuming an effective depth of cross-section and moment arm lever in CDC and KHBDC. In this study, it suggests that a rational method for minimum reinforcement ratio is calculated by material model and force equilibrium. As results, a minimum reinforcement ratio using a p-r curve in KHBDC is evaluated about 52~80% of recent design code's value and it induces an economical design. And also, a ductility capacity in case of placing this minimum reinforcement amount is evaluated about 89% of recent design code's value, but ductility in a member is 7 or more, so it has a sufficient ductility capacity. Therefore, it is judged that a minimum reinforcement ratio using p-r curve has a theoretical rationality, safety and economy in a flexural member design.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.58 no.2
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• pp.391-398
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• 2009

In this study, we introduce the design methodology of an optimized fuzzy cascade controller with the aid of hierarchical fair competition-based genetic algorithm(HFCGA) for ball & beam system. The ball & beam system consists of servo motor, beam and ball, and remains mutually connected in line in itself. The ball & beam system determines the position of ball through the control of a servo motor. The displacement change the position of ball leads to the change of the angle of the beam which determines the position angle of a servo motor. Consequently the displacement change of the position of the moving ball and its ensuing change of the angle of the beam results in the change of the position angle of a servo motor. We introduce the fuzzy cascade controller scheme which consists of the outer(1st) controller and the inner(2nd) controller as two cascaded fuzzy controllers, and auto-tune the control parameters(scaling factors) of each fuzzy controller using HFCGA. The inner controller controls the position of lever arm which corresponds to the position angle of a servo motor and the outer controller decides the set-point value of the inner controller. HFCGA is a kind of parallel genetic algorithms(PGAs), and helps alleviate the premature convergence being generated in conventional genetic algorithms (GAs). For a detailed comparative analysis from the viewpoint of the performance results and the design methodology, the proposed method for the ball & beam system which is realized by the fuzzy cascade controller based on HFCGA, is presented in comparison with the conventional PD cascade controller based on serial genetic algorithms.

• Korean Journal of Applied Biomechanics
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• v.17 no.3
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• pp.189-195
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• 2007

The purpose of this study was to analyze the effects of shoes with curved out-sole on the pressure, reaction force(sum of pressure) on foot and relations between the rolling speeds and pronation of foot. The foot pressure, reaction force and pressure center on the foot surface of shoe were measured with NOVEL padar system, and 3 type shoes were used to compare the position and speed of pressure center and the foot reaction force, which were s(target) shoe with soft cushions in middle part of out-sole and curved out-sole, m shoes with two type- soft, hard, hardness out-sole and curved out-sole and n shoes with flat out-sole. The subjects were 13 female university students, had weared the 3 type shoes for 6 weeks on two-weeks shifts for adaptation before experiment and put on 3-type shoes repeatedly and randomly and walked on treadmill with 3.5km/h and 80 steps/min. The data were captured with 30Hz and readjusted with 5kgf threshold reaction force. The results can be summarized as follow. 1. There were no difference in maximum reaction force on initial contact period and total foot impact, but statistical difference in maximum reaction force on takeoff period : s, m, n in ascending order. 2. There were some difference in rolling speeds for support periods. At initial contact, the rolling speed of s shoes was fastest but at periods between first and second maximum reaction force, that of m shoes fastest. 3. There was a negative relation between rolling speeds and the length of lever arm on initial reaction force related to pronation. It seems shoes with various curved shapes and hardness could make effects on the rolling features and the rolling speed also have some relationships with walking efficiency, absortion of impact and pronation.

• The korean journal of orthodontics
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• v.40 no.4
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• pp.276-287
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• 2010

This case report describes the treatment of a 23-year, 8-month-old female patient with a Class II malocclusion who showed severe bidentoalveolar protrusion and anterior crowding. The treatment plan consisted of extracting all the first premolars, decrowding and en masse retraction of the upper six anterior teeth and lower anteriors. The upper C-plate placed in the midpalatal area combined with lingual sheath fixtures were used as substitutes for posterior anchorage teeth during upper anterior retraction. Preadjusted brackets (0.022-inch) were used for upper anterior decrowding. A 0.9 mm diameter stainless steel lever-arm soldered to the main arch wire facilitated controlled retraction of upper anteriors. The upper and lower dentition was detailed using a tooth positioner during the finishing stage. Correct overbite and overjet were obtained by decrowding and retraction of the upper six anterior teeth into their proper positions. Use of the C-plate and lingual appliances provided ideal anchorage to enhance the improvement in facial balance. The active treatment period was 19 months. The treatment result was stable 13 months after debonding.