• The Journal of the Korea institute of electronic communication sciences
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• v.10 no.4
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• pp.469-475
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• 2015

This paper describes about the method for designing an extended Kalman filter to accurately measure the position of the spatial-phase system using a semiconductor sensor. Spatial position is expressed by the correlation of the rotated coordinate system attached to the body from the inertia coordinate system (a fixed coordinate system). To express the attitude, quaternion was adapted as a state variable, Then, the state changes were estimated from the input value which was measured in the gyro sensor. The observed data is the value obtained from the acceleration sensor. By matching between the measured value in the acceleration sensor and the predicted calculation value, the best variable was obtained. To increase the accuracy of estimation, designation of the extended Kalman filter was performed, which showed excellent ability to adjust the estimation period relative to the sensor property. As a result, when a three-axis gyro sensor and a three-axis acceleration sensor were adapted in the estimator, the RMS(Root Mean Square) estimation error in simulation was retained less than 1.7[$^{\circ}$], and the estimator displayed good property on the prediction of the state in 100 ms measurement period.

• Progress in Medical Physics
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• v.30 no.4
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• pp.128-138
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• 2019

Purpose: Segmental analysis of volumetric modulated arc therapy (VMAT) is not clinically used for compositional error source evaluation. Instead, dose verification is routinely used for plan-specific quality assurance (QA). While this approach identifies the resultant error, it does not specify which machine parameter was responsible for the error. In this research study, we adopted an approach for the segmental analysis of VMAT as a part of machine QA of linear accelerator (LINAC). Methods: Two portal dose QA plans were generated for VMAT QA: a) for full arc and b) for the arc, which was segmented in 12 subsegments. We investigated the multileaf collimator (MLC) position and dosimetric accuracy in the full and segmented arc delivery schemes. A MATLAB program was used to calculate the MLC position error from the data in the dynalog file. The Gamma passing rate (GPR) and the measured to planned dose difference (DD) in each pixel of the electronic portal imaging device was the measurement for dosimetric accuracy. The eclipse treatment planning system and a MATLAB program were used to calculate the dosimetric accuracy. Results: The maximum root-mean-square error of the MLC positions were <1 mm. The GPR was within the range of 98%-99.7% and was similar in both types of VMAT delivery. In general, the DD was <5 calibration units in both full arcs. A similar DD distribution was found for continuous arc and segmented arcs sums. Exceedingly high DD were not observed in any of the arc segment delivery schemes. The LINAC performance was acceptable regarding the execution of the VMAT QA plan. Conclusions: The segmental analysis proposed in this study is expected to be useful for the prediction of the delivery of the VMAT in relation to the gantry angle. We thus recommend the use of segmental analysis of VMAT as part of the regular QA.

• Journal of Institute of Control, Robotics and Systems
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• v.18 no.5
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• pp.426-432
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• 2012

The positions of vessels in JTIDS where each vessel broadcasts its position, can be found using the relative navigation method. Besides positioning, the relative navigation could be adopted for identification friend or foe, tracking targets, monitoring battle field and etc. In this paper, we have explained the fundamental operation and technical structure for the relative navigation and implemented the simulation platform to evaluate the basic function and performance of the system in arbitrary environment. Using platform, the availability of relative navigation within the group network and the characteristic of the algorithm for position prediction was verified. Based on the simulation result, it was verified that EKF based navigation algorithm could produce great initial error and need quite convergence time. To improve the performance, we proposed a new navigation algorithm which uses the minimum norm estimation algorithm until the EKF converges. The simulation results reveal the relative navigation can be effectively used in the formation flight and collision avoidance system.

• Spatial Information Research
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• v.19 no.3
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• pp.53-62
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• 2011

Spatial information services in indoor space are an im portant application area of GIS as in outdoor space. Unlike in outdoor space, a position in indoor space is specified by a symbolic code such as room number, rather than coordinate. Therefore tracking in indoor space is no longer a prediction of coordinates but a symbolic estimation on the current position of a moving object. In this paper, we propose a framework for tracking moving objects in indoor symbolic space with RFID sensors. First, we introduce the concepts of indoor symbolic space and tracking in indoor symbolic space, and define the accessibility graph for trackable indoor symbolic space. Second, we propose a deployment method of RFID readers and a construction algorithm of accessibility graph for trackable indoor symbolic space. Third, a tracking method is proposed for moving objects in symbolic indoor space with RFID sensors. Finally, we present an implementation exmaple and the result of experiment with real data to validate the proposed method.

• Journal of the Korean Society for Precision Engineering
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• v.18 no.3
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• pp.68-74
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• 2001

A lane detection based on a road model or feature all needs correct acquirement of information on the lane in an image. It is inefficient to implement a lane detection algorithm through the full range of an image when it is applied to a real road in real time because of the calculating time. This paper defines two (other proper terms including"modes") for detecting lanes on a road. First is searching mode that is searching the lane without any prior information of a road. Second is recognition mode, which is able to reduce the size and change the position of a searching range by predicting the position of a lane through the acquired information in a previous frame. It allows to extract accurately and efficiently the edge candidate points of a lane without any unnecessary searching. By means of inverse perspective transform which removes the perspective effect on the edge candidate points, we transform the edge candidate information in the Image Coordinate System(ICS) into the plan-view image in the World Coordinate System(WCS). We define a linear approximation filter and remove faulty edge candidate points by using it. This paper aims at approximating more correctly the lane of an actual road by applying the least-mean square method with the fault-removed edge information for curve fitting.e fitting.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.3 no.4
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• pp.73-80
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• 2004

A dual purpose robot automation system is developed for both arc welding and spot welding by one robot within a cell. The need for automation of both arc welding and spot welding processes is urgent while the production volume is not so big as to accommodate separate station for the two processes. Also, space is too narrow for separate station to be settled down in the factory. A spot welding robot is chosen and the function for arc welding are implemented in-house at cost of advanced functions. For the spot welding, a single pole type gun is used and the robot has to push down the plate to be welded, which causes the robot positioning error. Therefore, position error compensation algorithm is developed. The basic functions for the arc welding processes are implemented using the digital I/O board of robot controller, PLC, and A/D conversion PCB. The weaving pattern is taught in meticulously by manual teach. A fixture unit is also developed for dual purpose. The main aspects of the system is presented in this paper especially in the design and implementation procedure. The signal diagrams and sequence logic diagrams are also included. The outcome of the dual purpose welding cell is the increased productivity and good production stability which is indispensable for production volume prediction. Also, it leads to reduction of manufacturing lead time.

• Journal of Power System Engineering
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• v.3 no.3
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• pp.60-69
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• 1999

The noise and vibration sources of rotary compressor for room air-conditioner are pressure pulsation of compression process, cavity resonance of inner space, structural radiation noise of shell and impact noise of discharge valve. Among them, pressure pulsation is very important noise and vibration source. Because it transferred various kinds of noise and vibration like as mentioned above. In this reason, muffler and resonator are used in order to absorb and remove these noises. But an analytical prediction using acoustic analysis does not coincident with the experimental result. The difference between analysis and actual state is due to the assumption of analysis. This paper covered with new concept of muffler design based on the turbulence kinetic energy of flow by using CFD. From this analysis, it is possible to decide the best position of discharge port of muffler. Therefore $2{\sim}3dB$ noise reduction effect is acquired in rotary compressor of 5000 BTU grade. Also new approach of resonator design is suggested. From this study, the characteristics of resonator and surge hole (a kind of resonator without pipe length) are identified. The former is useful for pure tone noise (narrow frequency band), and the latter is effective for broad frequency band. This paper shows that it is very available to use 3 dimensional analysis of resonator in order to predict more exact tuning frequency. The result is proved by a lot of experiments. From combination of fluid analysis and acoustic analysis, up stream position is effective location of resonator concerning turbulence motion of fluid.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2843-2845
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• 2000

A lane detection based on a road model or feature all need correct acquirement of information on the lane in a image, It is inefficient to implement a lane detection algorithm through the full range of a image when being applied to a real road in real time because of the calculating time. This paper defines two searching range of detecting lane in a road, First is searching mode that is searching the lane without any prior information of a road, Second is recognition mode, which is able to reduce the size and change the position of a searching range by predicting the position of a lane through the acquired information in a previous frame. It is allow to extract accurately and efficiently the edge candidates points of a lane as not conducting an unnecessary searching. By means of removing the perspective effect of the edge candidate points which are acquired by using the inverse perspective transformation, we transform the edge candidate information in the Image Coordinate System(ICS) into the plane-view image in the World Coordinate System(WCS). We define linear approximation filter and remove the fault edge candidate points by using it This paper aims to approximate more correctly the lane of an actual road by applying the least-mean square method with the fault-removed edge information for curve fitting.

• Journal of the Korean Magnetics Society
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• v.23 no.4
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• pp.130-134
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• 2013

The clip-type pulsimeter equipped with a magnetic sensing Hall device and the most popular body sign of the electrocardiogram (ECG) were investigated in order to analyze the pulse wave velocity (PWV). The PWV simultaneously calculated by means of time difference between the maximum peak of ECG pulse wave and the starting point of radial artery pulse wave, and distance difference between the heart position and the radial wrist position. The PWV analyzed from the clinical data was a wider scope of 5~7 m/s with an average value of 6 m/s. By the prediction of blood vessel's elasticity from the analysis of PWV, it may be useful for developing an oriental-western diagnostic medical signal device for a U-health-care system in the future.

• Journal of Navigation and Port Research
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• v.26 no.2
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• pp.221-226
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• 2002

To provide reliable data for drift prediction models, field experiments were carried out in the coastal region off Busan port. Four different size of vessels(10, 30, 50, 90G/T ton) were deployed for the experiment. Among them G/T 50ton class vessel was equipped with instruments measuring the currents, winds, headings and trajectory data. In the rest of vessels only the position data were recorded for the purpose of target divergence study. The trajectories of each vessel were measured by DGPS(Differential Global Positioning System) and collected by APRS(Automatic Position Reporting System). The experiment was done in wind of 2~10m/s and current of 0.5~1.5m/s. The leeway was derived by subtracting surface current velocity from target drifting velocity. The leeway rate of G/T 50ton vessel was found to be about 3.6% and the computed leeway speed equation was $U_L$=0.042 W - 0.034. The processed leeway angle data were deflected by $-30^{\circ}$~$40^{\circ}$ from the direction of ship drift.