• International Journal of Control, Automation, and Systems
• /
• v.4 no.6
• /
• pp.782-787
• /
• 2006

The role of Unmanned Aircraft Vehicles(UAVs) has been increasing significantly in both military and civilian operations. Many complex systems, such as UAVs, are difficult to model accurately because they exhibit nonlinearity and show variations with time. Therefore, the control system must address the issues of uncertainty, nonlinearity, and complexity. Hence, identification of the mathematical model is an important process in controller design. In this paper, attitude dynamics identification of UAV is investigated. Using the flight data, nonlinear state space model for attitude dynamics of UAV is derived and verified. Real time simulation results show that the model dynamics match experimental data.

• Journal of Institute of Control, Robotics and Systems
• /
• v.5 no.1
• /
• pp.62-68
• /
• 1999

The attitude of a vehicle can be precisely determined using GPS carrier phase measurements from more than two antennas attached to a vehicle and an efficient integer ambiguity resolution technique. Many methods utilizing the known baseline length as a constraint of independent elements of integer ambiguities are proposed to resolve integer ambiguity at real time. Three-dimensional search space is reduced to two-dimensional search space with this constraint. Thus the true integer ambiguity can be easily determined with less computational burden and fewer number of measurements. But there are still strong requirements for the real time integer ambiguity resolution, which uses single epoch measurement of long baseline. In this paper, a new constraint from the geometry of multiple baselines is derived. With this new constraint, two-dimensional search space is further reduced to one-dimensional search space. It makes possible to determine integer ambiguity with single epoch measurement. The proposed method is applied to real data to show its effectiveness.

• Journal of Electrical Engineering and Technology
• /
• v.12 no.6
• /
• pp.2399-2410
• /
• 2017

In this paper, a linear matrix inequality-based sampled-data fuzzy observer design method is proposed based on the exact discretization approach. In the proposed design technique, a numerically relaxed observer design condition is obtained by using the discrete-time fuzzy Lyapunov function. Unlike the existing studies, the designed observer is robust to the uncertain premise variable because the fuzzy observer is designed under the imperfect premise matching condition, in which the membership functions of the system and observer are mismatched. In addition, we apply the proposed method to the state estimation problem of the attitude and heading reference system (AHRS). To do this, we derive a Takagi-Sugeno fuzzy model for the AHRS system, and validate the proposed method through the hardware experiment.

• Journal of the Korean Dietetic Association
• /
• v.11 no.1
• /
• pp.11-20
• /
• 2005

This study was conducted to investigate preference for convenience food and dietary attitude in college students in Seoul and Kyunggi-do area. This study used a questionnaires as instrument tool. Thequestionnaire consisted of socio-demographic characteristics of the subjects, the valuation of preference for convenience, the concern of nutrition, and the dietary attitude. The subject were 199 males and 137 females. The mean age of subjects was 22.4$\pm$2.3year. The results have been summarized as follows Male students preferred more convenience food than females. Male students liked chicken, ice cream, ramyeon, pizza·hamburgerandfemalestudentslikedchicken,pizza, ice cream, ramyeon·hamburger. The kinds of convenience foods for a substitute meal were ramyeon, hamburger, bread, potato in male group and female group had frequently ramyeon, hamburger, bread, rice cake for a substitute meal. Male students were more likely to eat ramyeon (p<0.01) and purchased sabalmyeon The subjects used to purchase sabalmyeon as main convenience food at convenient store The score of preference for convenience food in male group was higher than female group. The score of attitude toward balanced diet in female group was higher than male group(p<0.01). In scores of concern for nutrition information, balanced diet, and nutrition knowledge, Female group had higher scores of concern for nutrition information, balanced diet, and nutrition knowledge than that of male group (p<0.01).There was no significant difference in the degree of preference for packing types, however, Male group tended to prefer more micro wave type than female group. The persons to affect the consumption of convenience food were friends. There was no significant difference in the time of purchase convenience food, however, Male tended to purchase convenience food at the time of snack than female group. As a results, proper nutritional education and qualitative development of convenience food are required in order to improve the consuming attitude of consumers and their preference for convenience food.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
• /
• v.23 no.2
• /
• pp.101-108
• /
• 2005

Inertial Navigation System has been used extensively to determine the position, velocity and attitude of the body. An INS is very expensive, however, heavy, power intensive, requires long setting times and the accuracy of the system is degraded as time passed due to the accumulated error. Global Positioning System(GPS) receivers can compensate for the Inertial Navigation System with the ability to provide both absolute position and attitude. This study describes a method to improve both the accuracy of a body positioning and the precision of an attitude determination using GPS antenna array. Existing attitude determination methods using low-cost GPS receivers focused on the relative vectors between the master and the slave antennas. Then the positioning of the master antenna is determined in meter-level because the single point positioning with pseudorange measurements is used. To obtain a better positioning accuracy of the body in this research, a wireless internet is used as an alternative data link for the real-time differential corrections and dual-frequency GPS receivers which is expected to be inexpensive was used. The numerical results show that this system has the centimeter level accuracy in positioning and the degree level accuracy in attitude.

• Journal of the Korean Chemical Society
• /
• v.61 no.4
• /
• pp.218-222
• /
• 2017

Game shows are capable of grabbing students' attention in a lecture, and at the same time offers much delight to students to learn in a more interesting and entertaining way. A mind game was developed and incorporated into the teaching of basic organic chemistry course at the Universiti Malaysia Terengganu. The modified brainteaser game is comprised of a set of problems associated with vocabulary or concepts in basic organic chemistry, whereby students were required to solve within a stipulated time frame. Students' attitude changes were then evaluated with the administration of Attitude toward the Subject of Chemistry Inventory Version 2 (ASCIv2) questionnaire. The result of this study revealed that the intervention group experienced a significant change in attitude towards the course as compared to the control group. The intervention group also experienced a positive learning environment, resulting in an increased academic performance and interest.

• Journal of Korean Physical Therapy Science
• /
• v.8 no.2
• /
• pp.1059-1064
• /
• 2001

This study is aimed at diagnosing transmutation aspect with the respective of hemiplegia patient's static adaptation of posture which is influenced by anti-gravity excercise, center of gravity shifting movement and segmental movement adaption of the legs and arms by key-point control in the process of Bobatli's treatment approach. The patients for the investigation of this study were selected as a total 17 patients who were doing the physical-therapy in Tae-gu Rehabilitation Center, and diagnosed as hemiplegia patients by Rehabilitation Medicine department in Kyung-buk University hospital. And also, there investigated into temporal transition that keep the attitude with one-leg standing on the ground concerning static attitude adaption on the basis of the before of anti-gravity movement and the after of 4-weeks movement. The findings of this study were as follows: With the respective the time to keep standing pose by one-leg at static attitude transmutation, affected side showed meaningful differences as a l.86/sec, 2.62/sec at 4 weeks later considering the before and after of this experiment.(p<0.01), non-affected side at the aspect of attitude keeping time, but there didn't showed meaningful differences statistically.

• Women's Health Nursing
• /
• v.5 no.1
• /
• pp.21-35
• /
• 1999

The purpose of this study is to investigate the effect of breast-feeding education on skills, attitude, and duration of breast-feeding among primipara mothers. The educational session was offered during the period of June through September at the T medical center in T city. One hundred thirteen primiparas were selected for this study, 61 who received breast-feeding education(lecture, demonstration, and additional telephone counselling) served as the experimental group and 52 who did not as the control. Data collection was done by self-reporting method. the reliability of the instrument was from .77 to .87. Duration of breast-feeding was classified into I through V according to the WHO classification at the time point of 4 weeks of postpartum. The results were as follows : 1. The score for the experimental group on the skills of breast-feeding techniques was significantly higher than those of the control(t=9.12, p=.000). 2. The score for the experimental group in the attitude toward breast-feeding was significantly higher than those of the control(t=6.12, p=.000). 3. Duration of breast-feeding for the experimental group was significantly longer than that of the control at the time of 4 weeks of postpartum($x^2$=20.79, p=.001). In conclusion, the breast-feeding practice can be promoted effectively through the breast-feeding education.

• Journal of the Korean Society of Food Culture
• /
• v.10 no.5
• /
• pp.475-483
• /
• 1995

This study was undertaken to determine factors associated with infant feeding practices among highly educated Korean mothers living in Texas, USA and local populations. In both groups, infant's birth order, maternal age, prenatal education, husband's attitude, mother's attitude and infant's taking a bottle to bed were not associated with infant's feeding patterns significantly. However, there was a significant difference in initiating time for introduction of supplementary foods between Koreans and Americans. Thus Korean mothers introduced supplementary foods earlier than American counterparts. Furthermore the infant's feeding method among all participants affected the time for introducing supplementary foods significantly. Though attitude of Korean mothers toward breastfeeding was slightly more positive than that of American mothers, the prevalence of exclusive breastfeeding in Koreans was much lower than that in Americans. It might be suggested that effective nutrition education program for Korean subjects should be developed to practice breastfeeding from positive attitude and knowledge. It might be also suggested that participation of prenatal nutrition education involving fathers should be encouraged for promotion of rates of initiation and duration of exclusive breastfeeding of mothers.

• Journal of Institute of Control, Robotics and Systems
• /
• v.17 no.6
• /
• pp.546-551
• /
• 2011

Tilt sensor is required to control the attitude of the biped robot when it walks on an uneven terrain. Vision sensor, which is used for recognizing human or detecting obstacles, can be used as a tilt angle sensor by comparing current image and reference image. However, vision sensor alone has a lot of technological limitations to control biped robot such as low sampling frequency and estimation time delay. In order to verify limitations of vision sensor, experimental setup of an inverted pendulum, which represents pitch motion of the walking or running robot, is used and it is proved that only vision sensor cannot control an inverted pendulum mainly because of the time delay. In this paper, to overcome limitations of vision sensor, Kalman filter for the multi-rate sensor fusion algorithm is applied with low-quality gyro sensor. It solves limitations of the vision sensor as well as eliminates drift of gyro sensor. Through the experiment of an inverted pendulum control, it is found that the tilt estimation performance of fusion sensor is greatly improved enough to control the attitude of an inverted pendulum.