• 제어로봇시스템학회:학술대회논문집
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• 1996.10b
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• pp.1099-1102
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• 1996

In this paper, roll/yaw attitude control of spacecraft using a double gimbaled wheel is discussed with two feedback controllers designed. One is a PD controller with no phase difference between roll and yaw control input. The other is a PD controller with a phase lag compensator about the yaw control input. The phase lag compensator is designed as a first order system and a lag parameter is designed for the yaw angle control. There are two case simulations for each controller ; constant disturbance torques and initial errors of nutation at motion. We obtain the results through simulations that steady-state error and rising time of yaw angle are determined by the compensator. Simulation parameters used in this study are the values of KOREASAT F1.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2003.06a
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• pp.963-968
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• 2003

The continuous process systems usually consists of various components: driven rollers. idle rolls, load-cell and so on. Even a simple fault in a single component in the line may cause a catastrophic damage on the final products. Therefore it is absolutely necessary to diagnosis the components of the continuous systems. In this paper, an adaptive eccentricity compensation method is presented. And a new diagnosis method for transverse roll shape defects on rolling process is developed. The new method was induced from analyzing the rolling mechanism by using rolling force model, tension model, Hitchcock's equation, and measured delivery thickness of materials etc. Computer simulation results also show that the proposed diagnosis methods is very effective in the diagnosis of 3-D roll shape

• Electrical & Electronic Materials
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• v.8 no.5
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• pp.633-639
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• 1995

Dropouts in magnetic media are a primary quality deficiency which is detrimental to magnetic signal quality and thus the major impediment to error-free recording, especially in high density digital recorders. The specific form of defects and causes found to be responsible for signal dropouts occurring in magnetic tape were studied. Dropout occurred when the RF signal falls to low level due to the various types of surface defects. However, the fall in the level of the RF signal in gravure roll coated tapes was most often caused by foreign particles adhering to the magnetic tape. It was also shown from the present study that scattered particles trapped under the tape surface or put on the top can lift it as it crosses the head, creating a spherical tent shaped defect and causing a temporary signal drop. Dropout producing substances were identified through optical and microchemical analyses. The results were correlated with measured electrical signal losses combined with analytical microscopy to clarify source identification of defects.

• Journal of the Semiconductor & Display Technology
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• v.18 no.2
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• pp.87-91
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• 2019

In this paper, we have development of horizontal attitude monitoring system for agricultural robots. A two-axis gyro sensor and a two-axis accelerometer sensor are used to measure the horizontal attitude angle. The roll angle and pitch angle were measured through the fusion of the gyro sensor signal and the acceleration sensor signal for the horizontal attitude monitoring of the robot. This attitude monitoring system includes GPS and Bluetooth communication module for remote monitoring. The roll angle and pitch angle can be measured by the error of less than 1 degree and the linearity and the reproducibility of the output signal are excellent.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.3
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• pp.300-306
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• 2006

In this paper an error analysis of 3-dimensional GNSS attitude determination system is given. The attitude error covariance matrix is derived and analyzed. It implies that attitude errors are affected by the baseline length and configuration, the satellites numbers and geometry, receiver measurement noises and the nominal attitude of the vehicle. By defining Euler Angle Dilution Of Precision (EADOP) which is analogous to GDOP, roll, pitch and yaw errors can be efficiently analyzed. However the expression of the attitude error is too complex to get some intuitions. Therefore with a commonly adopted assumption, new expressions for attitude error are derived. The formulas are easy to compute and represent the attitude error as a function of the nominal attitude of a vehicle, the baseline configuration and the receiver noise. Using the formula, the accuracy of the attitude can be analytically predicted without the computer simulations. Applications to some widely used configurations reveal the effectiveness of the proposed method.

• Journal of radiological science and technology
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• v.40 no.1
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• pp.63-70
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• 2017

The purpose of this study was compare to the patient setup deviation of two different type thermoplastic immobilization masks for glottis cancer in the intensity-modulated radiation therapy (IMRT). A total of 16 glottis cancer cases were divided into two groups based on applied mask type: standard or alternative group. The mean error (M), three-dimensional setup displacement error (3D-error), systematic error (${\Sigma}$), random error (${\sigma}$) were calculated for each group, and also analyzed setup margin (mm). The 3D-errors were $5.2{\pm}1.3mm$ and $5.9{\pm}0.7mm$ for the standard and alternative groups, respectively; the alternative group was 13.6% higher than the standard group. The systematic errors in the roll angle and the x, y, z directions were $0.8^{\circ}$, 1.7 mm, 1.0 mm, and 1.5 mm in the alternative group and $0.8^{\circ}$, 1.1 mm, 1.8 mm, and 2.0 mm in the alternative group. The random errors in the x, y, z directions were 10.9%, 1.7%, and 23.1% lower in the alternative group than in the standard group. However, absolute rotational angle (i.e., roll) in the alternative group was 12.4% higher than in the standard group. For calculated setup margin, the alternative group in x direction was 31.8% lower than in standard group. In contrast, the y and z direction were 52.6% and 21.6% higher than in the standard group. Although using a modified thermoplastic immobilization mask could be affect patient setup deviation in terms of numerical results, various point of view for an immobilization masks has need to research in terms of clinic issue.

• International Journal of Aeronautical and Space Sciences
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• v.1 no.1
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• pp.70-80
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• 2000

The attitude knowledge error model is formulated for specifically KOMPSAT attitude determination system using the Lefferts/Markley/Shuster method, and the attitude determination(AD) error analysis is performed so as to investgate the on-board attitude determination capability of KOrea Multi-Purpose SATellite(KOMPSAT) using the covariance analysis method. Analysis results show there is almost no initial value effect on Attitude Determination (AD) error and the sensor noise effects on AD error are drastically decreased as is predicted because of the inherent characteristic of Kalman filter structure. However, it shows that the earth radiance effect of IR-sensor(earth sensor) and the bias effects of both IR-sensor and fine sun sensor are the dominant factors degrading AD error and gyro rate bias estimate error in AD system. Analysis results show that the attitude determination errors of roll, pitch and yaw axes are 0.056, 0.092 and 0.093 degrees, respectively. These numbers are smaller than the required values for the normal mission of KOMPSAT. Also, the selected on-orbit data of KOMPSAT is presented to demonstrate the designed AD system.

• Journal of Institute of Control, Robotics and Systems
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• v.7 no.12
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• pp.1044-1050
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• 2001

This paper presents firstly the method of Euler angle matching designing the transfer alignment using the attitude matching. In this method, the observation directly uses Euler angle difference between MINS and SINS so it needs to describe the rotation vector error to the Euler angle error. The rotation vector error related to the Euler angle error is derive from the direction cosine matrix error equation. The feasibility of the Kalman filter designed for the transfer alignment by Euler angle matching is analyzed by the alignment error results with respect to the roll angle the pitch angle, and the yaw angle matching.

• The Journal of Korean Society for Radiation Therapy
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• v.28 no.1
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• pp.27-34
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• 2016

Purpose : Retrospective evaluation of setup changes using the corrected position during helical tomotherapy Materials and Methods : Head and neck cancer patients were randomly sampled and summarized into 3 groups: Group 1(32) Brain, Group 2 2(28)Maxillar, Nasal cavity, Group 3 (35) Nasopharynx(NPX), Tongue, Tonsil, and Oropharynx(OPX). In 3 groups, the statistical tests based on repeated measurements among 30 times of the duration of treatment by applying X, Y, Z axis errors, roll, weight changes, and vectors as variables. Results : The statistical test results showed that there was no difference between x-axis (p = 0.458) and y-axis (p=0.986) and in roll (p = 0.037), weight change (p <0.001), and the vector (p <0.001). In addition, the pattern between the three groups based on the fraction revealed no difference in x-axis (p = 0.430) and roll (p = 0.299) but a difference in y-axis (.023), weight change (p = 0.001), and vector (p = 0.028). Conclusion : The results of the retrospective evaluation found the change in the group 3 with respect Y, Z, weight, and vector and a larger random error during the treatment including low neck.

• Progress in Medical Physics
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• v.26 no.1
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• pp.6-11
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• 2015

The purpose of this study was to analyze the rotational errors of roll, pitch, and yaw in the whole breast cancer treated by the three-dimensional radiation therapy (3D-CRT) using TomoDirect (TD). Twenty-patient previously treated with TD 3D-CRT was selected. We performed a retrospective clinical analysis based on 80 images of megavoltage computed tomography (MVCT) including the systematic and random variation with patient setup errors and treatment setup margin (mm). In addition, a rotational error (degree) for each patient was analyzed using the automatic image registration. The treatment margin of X, Y, and Z directions were 4.2 mm, 6.2 mm, and 6.4 mm, respectively. The mean value of the rotational error for roll, pitch, and yaw were $0.3^{\circ}$, $0.5^{\circ}$, $0.1^{\circ}$, and all of systematic and random error was within $1.0^{\circ}$. The errors of patient positioning with the Y and Z directions have generally been mainly higher than the X direction. The percentage in treatment fractions in less than $2^{\circ}$ at roll, pitch, and yaw are 95.1%, 98.8%, and 97.5%, respectively. However, the edge of upper and lower (i.e., bottom) based on the center of therapy region (point) will quite a possibility that it is expected to twist even longer as the length of treatment region. The patient-specific characters should be considered for the accuracy and reproducibility of treatment and it is necessary to confirm periodically the rotational errors, including patient repositioning and repeating MVCT scan.