• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2005년도 ICCAS
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• pp.894-900
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• 2005

A new approach to the straightforward implementation of the unscented filter in a unit quaternion space is proposed for spacecraft attitude estimation. Since the unscented filter is formulated in a vector space and the unit quaternions do not belong to a vector space but lie on a nonlinear manifold, the weighted sum of quaternion samples does not produce a unit quaternion estimate. To overcome this difficulty, a method of weighted mean computation for quaternions is derived in rotational space, leading to a quaternion with unit norm. A quaternion multiplication is used for predicted covariance computation and quaternion update, which makes a quaternion in a filter lie in the unit quaternion space. Since the quaternion process noise increases the uncertainty in attitude orientation, modeling it either as the vector part of a quaternion or as a rotation vector is considered. Simulation results illustrate that the proposed approach successfully estimates spacecraft attitude for large initial errors and high tip-off rates, and modeling the quaternion process noise as a rotation vector is more optimal than handling it as the vector part of a quaternion.

• 대한전자공학회논문지SP
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• 제45권5호
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• pp.118-125
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• 2008

이 논문에서 OFDM(Orthogonal Frequency Division Multiplexing) 시스템의 주파수 옵셋 동기화 블록의 효율적인 구조를 제안한다. 기존의 CORDIC(Coordinate Rotation Digital Computer)을 이용한 주파수 옵셋 동기화 블록들은 위상 추정을 위하여 CORDIC Vector 모드를 사용하고, 보상을 위하여 CORDIC Rotation 모드를 사용하고 있다. 이와 비교하여 제안구조는 Vector 모드만을 사용하고 Rotation 모드는 Divider로 대치하는 알고리즘이다. 제안된 방식을 사용함으로써 Rotation 모드를 사용해야 했던 기존의 방식보다 하드웨어 구현복잡도가 감소함을 구현을 통하여 검증하였다. 검증 Tool로 Design Compiler를 사용하였고 각 비교 구조 마다 동일한 Constraint를 적용하여 검증을 진행하였다. 제안구조에 대한 Front-End 칩 구현을 통하여 기존 구조에 비하여 22.1%의 gate count 감소를 보임으로써 저전력 통신용 칩에서 사용할 수 있음을 보였다.

• 한국전산구조공학회:학술대회논문집
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• 한국전산구조공학회 1994년도 가을 학술발표회 논문집
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• pp.145-151
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• 1994

Welded connections have been designed on basis of allowable stresses, wherein the response to loading is assumed to be totally elastic. This is the vector analysis method, which resolves the stresses determined from the direct stress formula and the torsion formula into a vector combination to obtain a solution. It has been known that this method gives conservative answers and typically a very high factor of safety. An analytical method based on the Instantaneous Center of Rotation has been developed which predicts the ultimate strength of an eccentically loaded fillet welded connection. The method of Instantaneous Center of Rotation results in weld resistance capacities greater than the vector analysis method, by recognizing the variation in fillet weld strength with respect to the direction of the applied loading and actual load-deformation response of elemental fillet welds. The procedure of numerical analysis is iterative and complex. The relations between vector analysis method and the method of Instantaneous Center of Rotation on eccentrical distance subjected to variation of load direction are presented in this paper. Considering of the effects on configuration of weld groups, the method of Instantaneous Center of Rotation are provided a more exact results of the numerical analysis.

• 제어로봇시스템학회논문지
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• 제9권7호
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• pp.556-562
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• 2003

This paper presents new attitude error differential equations to define attitude errors as the rotation vector for inertial navigation systems. Attitude errors are defined with the rotation vector between the reference coordinate frame and the platform coordinate frame, and Platform dynamics to the reference coordinate frame due to platform torque command errors are defined. Using these concepts for attitude error definition and platform dynamics, we have derived attitude error differential equations expressed in original nonlinear form for GINS and SDINS and showed that these are equivalent to attitude error differential equations expressed in known linear form. The relation between attitude errors defined by the rotation vector and attitude errors defined by quaternion is clearly presented as well.

• 대한수학회지
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• 제41권2호
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• pp.379-396
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• 2004

In this article, we study rotation surfaces in the 4-dimensional pseudo-Euclidean space E$_2$$^4$. Also, we obtain the complete classification theorems for the flat rotation surfaces with finite type Gauss map, pointwise 1-type Gauss map and an equation in terms of the mean curvature vector. In fact, we characterize the flat rotation surfaces of finite type immersion with the Gauss map and the mean curvature vector field, namely the Gauss map of finite type, pointwise 1-type Gauss map and some algebraic equations in terms of the Gauss map and the mean curvature vector field related to the Laplacian of the surfaces with respect to the induced metric.

• 대한전자공학회논문지TC
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• 제46권2호
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• pp.66-72
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• 2009

이 논문에서 OFDM(Orthogonal Frequency Division Multiplexing) 시스템의 주파수 옵셋 동기화 블록의 효율적인 구조를 제안한다. 기존의 CORDIC(Coordinate Rotation Digital Computer)을 이용한 주파수 옵셋 동기화 블록들은 위상 추정을 위하여 CORDIC Vector 모드를 사용하고, 보상을 위하여 CORDIC Rotation 모드를 사용하고 있다. 이와 비교하여 제안구조는 Vector 모드만을 사용하고 Relation모드는 Divider로 대치하는 알고리즘이다. 제안된 방식을 사용함으로써 Rotation 모드를 사용해야 했던 기존의 방식보다 하드웨어 구현복잡도가 감소함을 구현을 통하여 검증하였다. 검증 Tool로 Design Compiler를 사용하였고 각 비교 구조마다 동일한 Constraint를 적용하여 검증을 진행하였다. 제안구조에 대한 Front-End 칩 구현을 통하여 기존 구조에 비하여 22.1%의 gate count 감소를 보임으로써 저전력 통신용 칩에서 사용할 수 있음을 보였다.

• 대한수학회논문집
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• 제31권2호
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• pp.379-388
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• 2016

In this study, by using Laplace and normal Laplace operators, we give some characterizations for the Darboux instantaneous rotation vector field of the curves in the Euclidean 3-space $E^3$. Further, we give necessary and sufficient conditions for unit speed space curves to have 1-type Darboux vectors. Moreover, we obtain some characterizations of helices according to Darboux vector.

• Fisheries and Aquatic Sciences
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• 제4권1호
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• pp.1-9
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• 2001

This paper describes a procedure extracting feature vector of a target cell more precisely in the case of identifying specified cell. The classification of object type is based on feature vector such as area, complexity, centroid, rotation angle, effective diameter, perimeter, width and height of the object So, the feature vector plays very important role in classifying objects. Because the feature vectors is affected by noises and holes, it is necessary to remove noises contaminated in original image to get feature vector extraction exactly. In this paper, we propose the following method to do to get feature vector extraction exactly. First, by Otsu's optimal threshold selection method and morphological filters such as cleaning, filling and opening filters, we separate objects from background an get rid of isolated particles. After the labeling step by 4-adjacent neighborhood, the labeled image is filtered by the area filter. From this area-filtered image, feature vector such as area, complexity, centroid, rotation angle, effective diameter, the perimeter based on chain code and the width and height based on rotation matrix are extracted. To prove the effectiveness, the proposed method is applied for yeast Zygosaccharomyces rouxn. It is also shown that the experimental results from the proposed method is more efficient in measuring feature vectors than from only Otsu's optimal threshold detection method.

• 한국인터넷방송통신학회논문지
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• 제8권3호
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• pp.1-7
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• 2008

본 논문은 계산량이 O(N)인 새로운 형태의 QRD-LS 적응 알고리즘을 제안한다. 제안한 알고리즘의 주요 사항은 입력벡터의 단위벡터 계산이 Given Rotation 과정에서 이루어짐에 근거하고 있다. 알고리즘의 성능 평가는 FIR 시스템 식별 문제를 컴퓨터 시뮬레이션을 통하여 수행하였다. 이 알고리즘은 시뮬레이션의 결과 좋은 성능을 나타내었다. 그리고 이론적으로 평균 측면에서 알고리즘이 최적 계수 벡터에 수렴함을 보였다.

• 제어로봇시스템학회논문지
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• 제7권12호
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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.