• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.2
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• pp.91-96
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• 2006

Presently, cycle-slip detection is done between adjacent two points in many cycle-slip methods. Inherently, it is simple wavelet analysis. A new idea is put forward that the number of difference point can adjust by a parameter factor; we study this method to smooth raw data and detect cycle-slip with wavelet analysis. Taking CHAMP satellite data for example, we get some significant conclusions. It is showed that it is valid to detect cycle-slip in GPS phase measurement based on this wavelet function, and it is helpful to improve the precision of GPS data pre-processing and positioning.

• Journal of Positioning, Navigation, and Timing
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• v.6 no.4
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• pp.181-194
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• 2017

In recent years, research has been actively conducted on the navigation in an indoor environment where Global Navigation Satellite System signals are unavailable. Among them, a study performed indoor navigation by integrating pseudolite carrier and Inertial Measurement Unit (IMU) sensor. However, in this case, there was no solution for the cycle slip occurring in the carrier. In another study, cycle slip detection and compensation were performed by integrating Global Positioning System (GPS) and IMU in an outdoor environment. However, in an indoor environment, cycle slip occurs more easily and frequently, and thus the occurrence of half cycle slip also increases. Accordingly, cycle slip detection based on 1 cycle unit has limitations. Therefore, in the present study, the aforementioned problems were resolved by performing indoor navigation through the integration of pseudolite and ultra-low-cost IMU embedded in a smartphone and by performing half cycle slip detection and compensation based on this. In addition, it was verified through the actual implementation of real-time navigation.

• Journal of Advanced Navigation Technology
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• v.17 no.6
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• pp.593-599
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• 2013

In this paper, the GPS cycle-slip detection for carrier-phase based positioning of land vehicle is presented. For the carrier phase based positioning, cycle-slip detection is necessary to get the reliability of positioning result. There exists many cycle-slip detection algorithms, but we detect the cycle-slip by using the monitoring value which is defined as residual between the carrier phase measurement and estimated value from low-cost inertial sensor. To achieve goal of paper, low-cost cycle-slip detection system, permissible specification region of inertial sensor is derived. By using the result of permissible region, appropriate inertial sensor of cycle-slip detection can be decided, proper cost and proper specification. To verify the result of this paper, we conduct the rate table test. As a result, required cycle-slip detection performance is satisfied conservatively.

• Journal of the Ergonomics Society of Korea
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• v.10 no.2
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• pp.51-55
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• 1991

Since slipping has been identified as a major hazard, it is important to understand the mechanism of a slip. Many researches, based on biomechanical studies, had been attempted to do that. Thowever, the correlation between the mechanism of a slip and psychophysical behaviors of people had rarely been verified. For example, the existence of small slips in a forward direction, which do not normally perceived by human subjects, has been established by several experimenters. However, the term "microslips are not perceived by the walkers[4]." has not been examined precisely by any experiments. The objective of this study is, using a Signal Detection Theory (SDT), to define a microslip and slip more quqntitatively with the biomechanical measurement of slip distance. The results showed that, the slip distance around the 3 centimeters, there was a obvious change in the accident detectability of the subject. The conclusion is that it is possible to identify the boundary of a microslip and slip around the 3 centermeters of slip distance.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.8 no.3
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• pp.169-175
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• 2014

In this study, it is intended to provide a slip detector is an important function in the research on the slip control can be addressed uncontrollably path withdrawal might during driving of the power wheelchair, slip phenomenon occurs. By detecting and electric wheelchairs, the state of the motor during running, the detection of the slip, slip detection information calculated using an encoder that is connected to the left and right motor with six-axis IMU sensor for the electric wheelchair using an algorithm to calculate the slip ratio. Slip rate calculated in this way is used as control variable for improving the safety of the electric wheelchair. It was confirmed from the slip phenomenon of the path the proposed experiments slim detector proposed in this study. The maximum slip ratio detection zone during the experiment, can occur during turning of the electric wheelchair has been confirmed.

• Journal of the Korean Society for Precision Engineering
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• v.31 no.2
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• pp.157-164
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• 2014

In this paper, we design a gripping force control system using tactile sensor to prevent slip when gripper tries to grasp and lift an object. We use a flexible tactile sensor for measuring uniplanar pressure on gripper's finger and develop an algorithm to detect the onset of slip using the sensor output. We also use a flexible pressure sensor to measure the normal force. In addition, various signal processing techniques are used to reduce noise included in the sensor output. A 3-finger gripper is used to grasp and lift up a cylindrical object. The tactile sensor is attached on one of fingers, and sends output signals to detect slip. Whenever the sensor signal is similar to the slip pattern, gripper force is increased. In conclusion, this research shows that slip can be detected using the tactile sensor and we can control gripping force to eliminate slip between gripper and object.

• Journal of IKEEE
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• v.22 no.3
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• pp.539-547
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• 2018

Grid-connected inverter is required to cut off the power supplied to the grid at the islanding condition, immediately. For this reason, an islanding detection is an indispensable function for grid-connected distributed generation system. Slip-Mode frequency Shift (SMS) islanding detection method is very popular method to determine the grid state. SMS method supplies the reactive power to the load according to the grid frequency. In the islanding condition of grid, this injected reactive power pulls out the grid frequency from the allowable range, then the inverter system can detect the islanding condition of the grid. The SMS method can detect the islanding state well and does not generate any harmonics of the grid current. However, the reactive power would be generated and the power quality is reduced even though the grid is not islanding condition, but normal condition. In this paper, a modified SMS method is proposed to remove the reactive power in the normal condition. The performance of the proposed method is evaluated by 600W single phase inverter experimental results.

• Proceedings of the KIEE Conference
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• 2000.11b
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• pp.405-407
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• 2000

The most generally implemented method to detect the ground speed of the railway vehicles is to use the rotary type speed sensor attached to wheel axle. The Slip or sliding phenomenon on the railway vehicles occurs frequently caused by the weak viscosity of the wheel. Thus, precisely to control the car, the slip/sliding detection system is required. In this paper we proposed for the speed data management system, which uses rotary type speed sensor. Proposed speed management system can detect the slip/sliding with wheel axle as well as correct the generated speed error during in error time, to provide accurate speed and precise location data. The effectiveness for adapting to the railway system is clarified by the computer simulation.

• Transactions of the Korean Society of Mechanical Engineers
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• v.19 no.7
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• pp.1581-1589
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• 1995

The feasibility of using AE for detecting contact and slip between a workpiece and an end effector has been tested. Specifically, the relationship between the contact and slip motion and the characteristics of the AE signal is theoretically and experimentally investigated. The experimental results manifest that the high sensitivity of AE signal to the contact and slip makes it a good alternative as a robot tactile sensor.

• Annals of Rehabilitation Medicine
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• v.39 no.6
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• pp.897-904
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• 2015

Objective To investigate differences in plantar pressure distribution between a normal gait and unpredictable slip events to predict the initiation of the slipping process. Methods Eleven male participants were enrolled. Subjects walked onto a wooden tile, and two layers of oily vinyl sheet were placed on the expected spot of the 4th step to induce a slip. An insole pressure-measuring system was used to monitor plantar pressure distribution. This system measured plantar pressure in four regions (the toes, metatarsal head, arch, and heel) for three events: the step during normal gait; the recovered step, when the subject recovered from a slip; and the uncorrected, harmful slipped step. Four variables were analyzed: peak pressure (PP), contact time (CT), the pressure-time integral (PTI), and the instant of peak pressure (IPP). Results The plantar pressure pattern in the heel was unique, as compared with other parts of the sole. In the heel, PP, CT, and PTI values were high in slipped and recovered steps compared with normal steps. The IPP differed markedly among the three steps. The IPPs in the heel for the three events were, in descending order (from latest to earliest), slipped, recovered, and normal steps, whereas in the other regions the order was normal, recovered, and slipped steps. Finally, the metatarsal head-to-heel IPP ratios for the normal, recovered, and slipped steps were $6.1{\pm}2.9$, $3.1{\pm}3.0$, and $2.2{\pm}2.5$, respectively. Conclusion A distinctive plantar pressure pattern in the heel might be useful for early detection of a slip event to prevent slip-related injuries.