• The Journal of Korean Institute of Electromagnetic Engineering and Science
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• v.22 no.1
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• pp.16-23
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• 2011

This paper suggests a motion compensation technique using GPS/IMU data in order to compensate for phase error caused by undesired motion of radar platform. An actual flight trajectory would be deviate from an ideal straight-constant trajectory with a constant velocity for SAR imaging, due to pitch, roll and yaw motion of aircraft caused by turbulence. This leads to blurred SAR images due to inter-pulse phase errors as well as along-track velocity errors. If the motion compensation is carried out to reduce those errors, SAR image quality can be significantly improved. Simulation results show that the motion compensation technique introduced in this paper is an effective tool to improve SAR image quality against severe motion of radar platform.

• The Journal of Korean Society for Radiation Therapy
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• v.33
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• pp.99-108
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• 2021

Purpose: The goal of this study is to evaluate usefulness of noninvasive method instead of previous inserting Fiducial Marker Method when performing Stereotactic Partial Breast Irradiation in CyberKnife. Material and methods: For consistency of Imaging Center, we evaluated both oblique images at angle 45 and 315 acquired from 2D Simulator and CyberKnife quantitatively through dice similarity coefficient. Also, location reproducibility of Surface Fiducial Marker was analyzed from 2D Simulator, treatment plans and CyberKinfe images by using 8 Fiducial Markers made of gold attached to ATOM Phantom based on our institution's protocols. Results: The results of the estimated consistency were 0.87 and 0.9 at the oblique angle 45 and 315, respectively. For location consistency of Surface Fiducial Markers, values of horizontal vertical direction of left breast were Superior/Inferior 0.3 mm, Left/Right -0.3 mm, Anterior/Posterior 0.4 mm, and the values of rotational direction were Roll 0.3 °, Pitch 0.2 °, Yaw 0.4 °. The values of horizontal vertical direction of right breast were Superior/Inferior -0.1 mm, Left/Right -0.1 mm, Anterior/Posterior -0.1 mm, and the values of rotational direction were Roll 0.2°, Pitch 0.1°, Yaw 0.1°. Conclusions: We expect that the protocols used by Surface Fiducial Markers when performing Stereotactic Partial Breast Irradiation in CyberKnife will provide protection from pain and cut expenses for treatment and reduce treatment errors and make treatment more accurate by suggesting treatment protocols based on high consistency of Imaging Center and reproducibility of Fiducial Markers.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.11
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• pp.888-894
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• 2016

This paper presents the kinematic and dynamic analysis of the robot arm for inspection and rescue operations. The inspection robot arm has Pitch-Pitch-Pitch-Yaw motion for an optimal and stable view of the camera installed at the end of the manipulator. The rescue operation robot arm has Yaw-Pitch-Pitch-Roll motion to handle heavy tools. Additionally, both robot arms are waterproof, as they use the triple-layer O-ring. Furthermore, the dynamic equation including the damping force due to the mechanical seal for waterproofness was derived by using the Newton-Euler method. A control system using the ARM processor was developed and introduced in this paper, and its performance was verified through experiments.

• KSII Transactions on Internet and Information Systems (TIIS)
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• v.12 no.8
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• pp.3820-3841
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• 2018

Most of the accidents occur due to drowsiness while driving, avoiding road signs and due to driver's distraction. Driver's distraction depends on various factors which include talking with passengers while driving, mood disorder, nervousness, anger, over-excitement, anxiety, loud music, illness, fatigue and different driver's head rotations due to change in yaw, pitch and roll angle. The contribution of this paper is two-fold. Firstly, a data set is generated for conducting different experiments on driver's distraction. Secondly, novel approaches are presented that use features based on facial points; especially the features computed using motion vectors and interpolation to detect a special type of driver's distraction, i.e., driver's head rotation due to change in yaw angle. These facial points are detected by Active Shape Model (ASM) and Boosted Regression with Markov Networks (BoRMaN). Various types of classifiers are trained and tested on different frames to decide about a driver's distraction. These approaches are also scale invariant. The results show that the approach that uses the novel ideas of motion vectors and interpolation outperforms other approaches in detection of driver's head rotation. We are able to achieve a percentage accuracy of 98.45 using Neural Network.

• Journal of Astronomy and Space Sciences
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• v.26 no.1
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• pp.47-58
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• 2009

In this study, a Hardware-In-the-Loop (HIL) simulator using thrusters is developed to validate the spacecraft attitude system. To control the attitude of the simulator, eight cold gas thrusters are aligned with roll, pitch and yaw axis. Also linear actuators are applied to the HIL simulator for automatic mass balancing to compensate the center of mass offset from the center of rotation. The HIL simulator consists of an embedded computer (Onboard PC) for simulator system control, a wireless adapter for wireless network, a rate gyro sensor to measure 3-axis attitude of the simulator, an inclinometer to measure horizontal attitude, and a battery set to supply power for the simulator independently. For the performance test of the HIL simulator, a bang-bang controller and Pulse-Width Pulse-Frequency (PWPF) modulator are evaluated successfully. The maneuver of 68 deg. in yaw axis is tested for the comparison of the both controllers. The settling time of the bang -bang controller is faster than that of the PWPF modulator by six seconds in the experiment. The required fuel of the PWPF modulator is used as much as 51% of bang-bang controller in the experiment. Overall, the HIL simulator is appropriately developed to validate the control algorithms using thrusters.

• Journal of the Korean Society of Manufacturing Process Engineers
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• v.17 no.4
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• pp.70-75
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• 2018

This paper describes an Integrate Dynamic Control system with Brake System (IDCB) for SUV vehicles. The system was developed to stabilize the lateral dynamics, maintain the steerability and improve the ride comfort on various roads. A fuzzy logic control method is used to design the IDCB. The performance of the IDCB is validated under different road and driving conditions. The results show that the IDCB tracks the reference yaw rate under all tested conditions; in addition, it reduces the body slip angle and roll angle. When a vehicle runs on a split-${\mu}$ road and a brake input is applied, the IDCB virtually eliminates the lateral dynamics. Thus, the IDCB improves the lateral stability, preserves the steerability and enhances the ride comfort of vehicles.

• Transactions of the Korean Society of Automotive Engineers
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• v.14 no.1
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• pp.167-175
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• 2006

Directional stability is important performance in vehicle and tire design. The current methods to analyze this is generally based on linear concept. Using the existing concept, it cannot realistically explain the subjective assessment at all because it is hard to practically represent the nonlinear behaviour of a complex vehicle system in reality. In this paper, new method to analyze directional stability is introduced. At first, directional stability of vehicle is categorized into yaw, rear axle, and roll stability. In order to objectify these items, driver perceptual parameters based on subjective assessment are used. Using the perceptual parameters, it can successfully explain the transient maneuver of vehicle and extract objective parameters for directional stability. Finally, these objective parameters are successfully validated through two handling tests, lane change and severe lane change. The correlation results show that there exists a good correlation between subjective assessment and the proposed objective parameters.

• Journal of the Ergonomics Society of Korea
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• v.24 no.1
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• pp.1-7
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• 2005

This paper investigates the effects of scene movements on cybersickness to develop the guidelines of scene movements in virtual environments. The types of scene movements were made for both scene navigations(through the axes of X: lateral, Y: fore & after, and Z: vertical) and scene rotations(by pitch, roll and yaw). And there were each three levels of speed; 2.7, 4.5 and 6.3 /s(for navigation), and 10, 20 and 30 /s(for rotation) were conducted. Twelve participants were exposed to each scene for 15 minutes, and three tests were performed to measure the degree of sickness. Before and after subjects were exposed to virtual environments, they were requested to describe their sickness symptoms by means of answering the Simulator Sickness Questionnaire(SSQ). And the postural stability tests, in which the Center of Pressure(COP) of subjects were traced and recorded by a 'force platform', were conducted. During the exposure on virtual environments, the subjects were requested to rate the degree of nausea. For both navigation and rotation, the effects of speeds and axes were significant in the SSQ scores and the nausea ratings, while it was not in the COP. The correlation between the SSQ scores and the COP data was not found. Therefore, it was inappropriate to use COP as a measure of cybersickness. The degree of sickness increased, except for the case of the yaw, as the speed increased. The sickness was most severe in the scene navigation through the axis X and in the scene rotation by the yaw.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 2005.06a
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• pp.769-772
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• 2005

Five DOF motion errors of a hydrostatic bearing table driven by the coreless type linear motor were compensated utilizing the active controlled capillaries in this study. Horizontal linear motion and yaw error were simultaneously compensated using two active controlled capillaries and vertical linear motion, pitch and yaw error were also simultaneously compensated using three active controlled capillaries. By the compensation, horizontal linear motion accuracy and yaw were improved from 0.16 ${\mu}m$ and 1.96 arcsec to 0.02 ${\mu}m$ and 0.03 arcsec. Vertical linear motion accuracy, pitch and roll were also largely improved from 0.18 ${\mu}m$, 2.26 arcsec and 0.14 arcsec upto 0.03 ${\mu}m$, 0.07 arcsec and 0.02 arcsec. The compensated motion errors were within the range of measuring repeatability which was ${\pm}0.02\;{\mu}m$ in the linear motion and ${\pm}0.05$ arcsec in the angular motion. From these results, it is found that the motion error compensation method utilizing the active controlled capillaries are very effective to improve the five motion accuracies of the hydrostatic bearing tables.

• Journal of the Korean Society of Fisheries and Ocean Technology
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• v.53 no.4
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• pp.337-348
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• 2017

The tension of warp from trawler and sea-floor contact can generate tilt and wake turbulence around otter boards. Preliminary measurements of otter board tilt and 3-D flow velocity during bottom trawl operations were taken using a vector instrument to investigate the effects of wake turbulence at the trailing edge of the otter board. Tilt data (i.e., yaw, pitch, and roll) at 1 Hz and flow data (velocities in the towing, lateral, and vertical directions) at 16 Hz were analyzed to determine their periods and amplitudes using global wavelet and peak event analyses. The mean period (${\pm}standard$ deviation) of the tilt from the peak event analysis ($5{\pm}2s$) was longer or double than that of flow velocity ($3{\pm}2s$). The two periods also had a significant linear relationship. The turbulence rate of flow was 30-50% at the trailing edge and was closely related to roll deviation. The frequency of phase difference ratios (i.e., peak time differences between tilts and flow periods) was significantly different from random occurrence in two trials, possibly due to side tidal effects. However, in the other trials, flow peaks were random, as shown by the even peak times between tilts and flows. Future studies should focus on reducing tilt variation, wake turbulence, and bottom contact to stabilize otter board motion.