• Proceedings of the Optical Society of Korea Conference
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• 2009.10a
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• pp.161-162
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• 2009

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2011.10a
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• pp.396-397
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• 2011

• Journal of the Korean Institute of Navigation
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• v.7 no.2
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• pp.1-45
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• 1983

This paper concerns the applications of the Kalman filter to navigation and the develment of computer programs of the navigational calculations. Methods to apply the Kalman filter to celestial fix, fix by cross bearing and cocked hat are proposed, and numerical simulations under various noise conditiions are conducted. The accuracy of the optimal positions obtained by the Kalman filter is compared with that of the fixed positiions by radial error method. In the case of celestial fix, an algorithm to estimate the optimal positions by using the linear Kalman filter is presented. The optimal positions by the Kalman filter are compared with the running fixes and with the most probable positions obtained from a single line of position. It is confirmed that the resutls of the proposed method are more accurate than the others. In practical piloting, bearings are generally measured intermittently and the measurement process is nonlinear. It is, therefore, difficult for us to apply the Kalman filter to fix by cross bearing. In order to be used in such an unfavorable case, the extended Kalman filter is revised and the aplicability of the revised extended Kalman filter is checked by numerical simulation under various noise conditions. In a cocked hat, an inside or outside fix is dependent only upon azimuth spread, if the error of each line of position is assumed to be equal both in magnitude and sign. A new technique of selecting a ship's position between an inside fix and an outside fix in a cocked hat by using fix determinant derived from the equation of three lines of position is also presented. The relations among the optimal position by Kalman filter, incentre (or excentre) and random error centtre of the cocked hat are discussed theoretically and the accuracy of the optimal position is compared with that of the others by numerical simulation.

• Transactions on Control, Automation and Systems Engineering
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• v.2 no.1
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• pp.24-30
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• 2000

The aim of this paper is to describe an advanced method of the fault diagnosis using Control Theory with reference to a crack detection, a new way to localize the crack position under influence of the plant disturbance and white measurement noise on a rotating shaft. As the first step, the shaft is physically modelled with a finite element method as usual and the dynamic mathematical model is derived from it using the Hamilton-principle and in this way the system is modelled by various subsystems. The equations of motions with a crack are established by the adaption of the local stiffness change through breathing and gaping[1] from the crack to the equation of motion with an undamaged shaft. This is supposed to be regarded as a reference system for the given system. Based on the fictitious model of the time behaviour induced from vibration phenomena measured at the bearings, a nonlinear state observer is designed in order to detect the crack on the shaft. This is the elementary NL-observer(EOB). Using the elementary observer, an Estimator(Observer Bank) is established and arranged at the certain position on the shaft. In case, a crack is found and its position is known, the procedure, fro the estimation of the depth is going to begin.

• Proceedings of the KSME Conference
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• 2001.06d
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• pp.945-949
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• 2001

This study is an experimental study on the characteristics of emission by changing catalytic converter position for cold-start. The measurements are done a changing of the distance between exhaust manifold and catalytic converter. It measured temperature of exhaust manifold, before and after catalytic converter at each position of experimental condition. and measured the characteristics of emission which is HC, CO, $CO_{2}$ and lambda at each position of experimental condition. The results show a few advantage about reduction of HC and CO as catalytic converter's temperature is raised quickly as closed exhaust manifold. but $CO_{2}$ has not the same trend of HC and CO. From measurement value of lambda, reduction effects of $NO_{x}$ are known a few advantage as increase of the distance between exhaust manifold and catalytic converter.

• Proceedings of the Korean Society of Surveying, Geodesy, Photogrammetry, and Cartography Conference
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• 2006.04a
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• pp.77-81
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• 2006

GPS cannot determine random errors such as multipath and signal cutoff caused by surrounding environment that determines the visibility of satellites and the speed of data creation and transmission is lower than the speed of vehicles, it is difficult to determine accurate dynamic positions. Thus this study purposed to implement a method of deciding the accurate dynamic position of vehicles by combining AHRS (Attitude Heading Reference System) IMU (Initial Measurement Unit) based on low-priced MEMS (Micro Electro Mechanical System) in order to provide the information of attitude, position and speed at a high transmission rate without external help. This study conducted an initialization test to decide dynamic position using AHRS IMU sensor, and derived attitude correction angles of vehicles against time through regression analysis. The roll angle was $y=(A{\times}10^{-6})x^2 -(B{\times}10^{-5})x+Cr{\times}10^{-2}$ and the pitch angle was $y=(A{\times}10^{-6})x^2-(B{\times}10^{-7})x+C{\times}10^{-2}$, each of which was derived from second-degree polynomial regression analysis. It was also found that the heading angle was stabilized with variation less than $1^{\circ}$ after 60 seconds.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.6
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• pp.93-101
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• 2001

This paper presents modeling of an inductive micro position sensing system and its analysis. The parameters affected the system response are excitation frequency, turn ratio, input position, air-gap size, load resistance, and geometric dimensions. To analyze the system, we try to establish a modeling based on an equivalent magnetic circuit with permeances. The model is verified by the experimental results from 1 kHz to 20 kHz. The magnetic circuit model is well fitted to the experimental data except a little error due to LC resonance in the large turn-ratio system. Modeling enables us to theoretically approach the response characteristics. Based on the magnetic circuit model, system parameters can be selected in such a way to obtain the required characteristics such as high sensitivity, good linearity, or small size.

• Journal of the Korean Society of Physical Medicine
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• v.5 no.3
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• pp.445-453
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• 2010

Purpose : The purpose of this study was to investigate the effect of pelvic tilt exercise with changing the body position on foot contact pattern in the hemiplegic patients. Methods : Thirty seven hemiplegic patients were randomly divided 3 groups; control group (CG), sitting exercise group (SIEG) and standing exercise group (STEG). F-mat system and F-scan system were used for the measurement of foot contact pattern of hemiplegic side in walking. Data were analyzed statistically using paired t-test and one-way ANOVA. Results : The results were as follows : 1) Contact area of CG and SIEG were not significant difference in walking. Contact area of STEG was significant increased in walking. 2) Anteroposterior distance of COP of SIEG and STEG were significant increased in walking. Conclusion : These results suggest that pelvic tilt exercise in sitting and standing position are effective in the improvement of Anteroposterior distance of COP and gait stability are increased in only standing position.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.11
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• pp.1139-1145
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• 2008

A robust position sensing system is proposed in this paper for a ubiquitous mobile robot which moves indoors as well as outdoors. The Differential GPS (DGPS) which has a position estimation error of less than 5 m is a general solution when the mobile robot is moving outdoor, while an active beacon system (ABS) with embedded ultrasonic sensors is reliable as an indoor positioning system. The switching from the outdoor to indoor or vice versa causes unstable measurements on account of the reference coordinates and algorithm changes. To minimize the switching time in the position estimation and to stabilize the measurement, a robust position sensing system is proposed. In the system, to minimize the switching delay, the door positions are stored and updated in a database. Using the database, the approaching status of the mobile robot from indoor to outdoor or vice versa has been checked and the switching conditions are prepared before the mobile robot actually moves out or moves into the door. The reliability and accuracy of the robust positioning system based on DGPS and ABS are verified and demonstrated through the real experiments using a mobile robot prepared for this research.

• Proceedings of the Korean Society of Medical Physics Conference
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• 2002.09a
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• pp.195-198
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• 2002

A positron camera, consisting of a pair of Anger-type scintillation detectors, has been developed for verifying the ranges of irradiation beams in heavy-ion radiotherapy. Images obtained by a centroid calculation of photomultiplier outputs exhibit a distortion near the edge of the crystal plane in an Anger-type scintillation detector. The images of a $\^$68/Ge line source were detected and look-up tables were prepared for the position correction parameters. Asymmetry of the position distribution detected by the positron camera was prevented with this correction. As a result, a linear position response and a position resolution of 8.6 mm were obtained over a wide measurement field.