• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2015.05a
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• pp.548-549
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• 2015

무인 잠수정은 자율 무인잠수정(이하 'AUV' 또는 '자율무인잠수정'을 혼용)과 원격조정잠수정(이하 'ROV'로 지칭)으로 분류를 할 수 있다. ROV는 테더 게이블로 인한 작업 범위의 한계와 운동성능 효율이 떨어지는 단점을 지니고 있어, 테더 케이블이 필요 없는 AUV에 대한 필요성이 증대되고 있다. 추측 항법 시스템인 관성 항법 시스템(inertial navigation system, 이하 'INS'로 지칭)은 외부 도움없이 관성측정 장치(inertial measurement unit, 이하 'IMU'로 지칭)를 활용하여 구성된 시스템을 말한다. IMU는 자이로 스코프(gyroscope), 가속도계(accelerometer), 지자기(magnetic)센서로 구성된 측정 장치로 3개의 센서를 사용하여 상호 보정을 통한 기동 체의 위치, 속도 및 자세 정보를 제공한다. 복합항법시스템은 추측항법시스템이 가지는 누적오차와 측위 항법시스템이 가지는 외부환경에 대한 단점을 상호 보완하는 방법으로 연구가 진행 중이다. 하지만 심해서 또는 해양의 특성에 따라 측위 시스템이 사용되지 못하기 때문에 추측 항법시스템의 다양한 관성 센서를 활용한 상로 보완과 신호처리 방법을 통한 연구 개발이 진행 중이다. 다양한 센서 정보를 통합하는 목적으로 칼만 필터와 같은 최적 필터기법이 보편적으로 사용되고 있다. 칼만 필터는 확률 선형 시스템에 대하여 공정잡음 및 측정 잡음이 가우시안 확률 분포를 따를 때 최적의 추정자가 된다. 또한 가우시안 조건을 만족하지 않는 경우에도 선형 추정자 중에 추정 오차의 분산이 가장 작은 추정자이다. 칼만 필터가 최상의 성능을 발휘 하려면 공정잡음과 측정 잡음의 실제 값을 정확히 알아내는 것이 중요하다. 잡음 수준에 대한 정보가 부정확 할 경우 칼만 필터는 발산 할 수 있기 때문에 시스템에서 잡음 수준의 공산은 칼만 필터의 최적 이득을 결정하는 중요한 요소로 추정치에 큰 영향을 준다. 따라서 칼만 필터를 추측항법시스템에 적용 시킬 경우 실제 모텔의 잡음 공분산을 정확히 추정할 수 있는 기법이 요구된다. 추측항법시스템은 다양한 센서를 활용하기 때문에 움직이는 기동 표적에 적용시 잡음공분상이 변하기 때문에 항법시스템이 저하 될 수 있다. 본 연구에서는 다양한 센서를 융합하여 해양 생체 로봇의 정밀 자세 제어가 가능한 시스템을 제안하고자 한다.

• Journal of the Korea institute for structural maintenance and inspection
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• v.20 no.6
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• pp.113-119
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• 2016

In this study, the method to predict the lateral response by using strain data is presented on the steel moment frame. For this, the reliability of the proposed method by applying the example of five-story frame structure were verified. Using the strain value of columns, it predicted the lateral response of structure. It is assumed that all of four strain sensors for one column set up and the strain responses of both end of the column are utilized. The lateral response of member is calculated by using the slope deflection method. Also, using the acceleration response of the one layer, the stiffness of the rotation spring located in the supporting point is predicted. As a result, it was effective to understand the lateral displacement and acceleration responses and to predict local damage and location.

• Journal of Advanced Navigation Technology
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• v.15 no.2
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• pp.181-188
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• 2011

A small UAVs(Unmaned Aerial Vehicles) have limited by the payload capacity which requires miniaturization of a navigation system. In this paper, the performance of the lightweight and small sized AHRS(Attitude Heading Reference System), which is self-developed, is evaluated at low acceleration environment. The designed AHRS adopts the commercial low-cost MEMS sensors. A quaternion-based attitude calculation method, which eliminates singularity with relatively simple algebra, is used. In an attitude correction algorithm, the Kalman filter is used with accelerometers and magnetometers combined. The fabricated AHRS is also evaluated with reference to a COTS(Commercial Off-The-Shelf) AHRS which reports a number of successful applications to a small UAVs. The test results show that the measurements from the fabricated AHRS provide proper attitude output data with acceptable amount of differences(horizontal axis 0.5$^{\circ}$, vertical axis 1.5$^{\circ}$) in test environment.

• KIPS Transactions on Computer and Communication Systems
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• v.6 no.11
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• pp.445-452
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• 2017

Electric pole is a supporting beam used for power transmission/distribution which accelerometer are used for measuring a external force. The meteorological condition has various effects on the external forces of electric pole. One of them is the elasticity change of the aerial wire. It is very important to perform modelling. The acceleration sensor is converted into a pitch and a roll angle. The meteorological condition has a high correlation between variables, and selecting significant explanatory variables for modeling may result in the problem of over-fitting. We constructed high deviance explained model considering multicollinearity using the Generalized Additive Model which is one of the machine learning methods. As a result of the Variation Inflation Factor Test, we selected and fitted the significant variable as temperature, precipitation, wind speed, wind direction, air pressure, dewpoint, hours of daylight and cloud cover. It was noted that the Hours of daylight, cloud cover and air pressure has high explained value in explonatory variable. The average coefficient of determination (R-Squared) of the Generalized Additive Model was 0.69. The constructed model can help to predict the influence on the external forces of electric pole, and contribute to the purpose of securing safety on utility pole.

• Geophysics and Geophysical Exploration
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• v.25 no.4
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• pp.167-176
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• 2022

We designed a borehole deviation survey tool applicable for steel-cased holes, K-DEV, and developed a prototype for a depth of 500 m aiming to development of own equipment required to secure deep subsurface characterization technologies. K-DEV is equipped with sensors that provide digital output with verified high performance; moreover, it is also compatible with logging winch systems used in Korea. The K-DEV prototype has a nonmagnetic stainless steel housing with an outer diameter of 48.3 mm, which has been tested in the laboratory for water resistance up to 20 MPa and for durability by running into a 1-km deep borehole. We confirmed the operational stability and data repeatability of the prototype by constantly logging up and down to the depth of 600 m. A high-precision micro-electro-mechanical system (MEMS) gyroscope was used for the K-DEV prototype as the gyro sensor, which is crucial for azimuth determination in cased holes. Additionally, we devised an accurate trajectory survey algorithm by employing Unscented Kalman filtering and data fusion for optimization. The borehole test with K-DEV and a commercial logging tool produced sufficiently similar results. Furthermore, the issue of error accumulation due to drift over time of the MEMS gyro was successfully overcome by compensating with stationary measurements for the same attitude at the wellhead before and after logging, as demonstrated by the nearly identical result to the open hole. We believe that the methodology of K-DEV development and operational stability, as well as the data reliability of the prototype, were confirmed through these test applications.

• 한국방재학회:학술대회논문집
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• 2011.02a
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• pp.89-89
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• 2011

도로의 가드레일 지주 근입깊이의 부족에 의한 자동차의 전락사고 이 후, 일본의 국토교통성 등의 관계자들이 그 대책 세우기에 부심해 왔으나, 기설 지주의 근입깊이를 측정할 수 있는 방법은 아직까지 알려져 있지 않으며, 현재로서는 작업의 전 과정을 비디오로 촬영하여 그 기록을 남기도록 되어있다. 그러나 그것은 상당히 비효율적인 작업으로 엄밀한 감시기능을 다하지 못하고 있으며, 감독자와 시공자의 양자로부터 계측 도구의 개발이 절실히 요구되고 있다. 일부의 초음파 측정기 업자가 가드레일 지주의 근입깊이를 측정할 수 있다고 주장하고 있으나, 시장에는 아직 나타나지 않고 있으며, 그 측정시스템의 측정여부와 성능의 검증이 이루어지지 않고 있는 상황이다. 지금까지 충격탄성파법 또는 초음파법을 이용하여, 매설된 가드레일 지주의 근입깊이를 측정한 성공사례가 정식으로 보고된 바는 없으며, 같은 강관주인 눈사태 방지책의 지주 파이프에 대한 근입깊이의 측정은 본 연구그룹의 의해 행하여진 바가 있다. 검사봉이나 해머 등으로 대상물을 두드려서 탄성파를 발생시키고, 그것을 가속도계 또는 속도계의 진동센서로 감지하여 그 파형을 분석함으로써 대상물의 치수 등을 측정하는 충격탄성파법은, 특히 콘크리트를 대상으로 공동 및 매설물 등의 탐사, 균열깊이의 측정 등에 폭 넓게 사용되고 있다. 하지만 이 측정방법을 가드레일의 지주의 근입깊이 측정에 적용할 경우, 일반적으로 행하여지는 방법, 즉 진동센서를 대상물의 상단부(캡)에 설치하는 방법으로는 접합부에 의한 탄성파의 손실과 캡의 휨 진동에 의한 노이즈 등을 해결하기가 곤란해진다. 또한 지반의 존재로 인한 진동 모드의 변화와 진동에너지의 감소 등의 문제점을 해결하지 않으면 안 된다. 본 연구는 충격탄성파법을 이용하여 지반에 설치된 눈사태 방지책이나 가드레일의 지주와 같은 강관 구조물의 근입깊이를 측정하고자 하는 연구이다. 이를 위해 진동센서를 캡이 아닌 측면부에 취부장치를 이용하여 설치함으로써 길이방향의 탄성파를 측정할 수 있도록 하고, 실제 구조물에 대해 측정을 실시하여 그 측정시스템의 성능과 유용성을 검토하고자 한다. 또한 다양한 길이의 실험용 강관 파이프를 매설하고 측정실험을 실시하여 측정시스템의 적용성에 대해서도 검토하였다. 본 연구를 통하여, 수신센서를 파이프의 측면에 선접촉하게 함으로서 종파를 감지하여 근입깊이를 포함한 파이프의 전 길이를 측정하는 본 측정시스템은 매설된 강관 구조물의 길이 측정에 기본적으로 적용 가능함을 확인할 수 있었다. 특히 오거 굴착으로 시공된 경우에는 높은 정도의 측정성능을 보여주었다. 또한 항타관입 파이프에 대해서는 지반의 영향을 고려함으로써 길이의 측정이 가능하다는 것을 확인할 수 있었다. 즉, 오거 굴착 또는 항타 관입 등 시공방법에 따라 측정결과에 대한 지반의 영향 정도가 달라지며 파형 분석 및 길이 산정시 그 영향을 고려하여야 함을 확인하였다.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.49 no.1
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• pp.64-73
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• 2012

In this paper, a new land preview system using laser range finder based on heave estimation algorithm is proposed. The proposed land preview system is an equipment which measures the shape of forward topography for autonomous vehicle. To implement this land preview system, the laser range finder is generally used because of its wide measuring range and robustness under various environmental condition. Then the current location of the vehicle has to be known to generate the shape of forward topography and sensors based on acceleration such as IMU and accelerometer are generally utilized to measure heave motion in the conventional land preview system. However the drawback to these sensors is that they are too expensive for low-cost vehicle such as mobile robot and their measurement error is increased for mobile robot with abrupt acceleration. In order to overcome this drawback, an algorithm that estimates heave motion using the information of odometer and previously measured topography is proposed in this paper. The proposed land preview system based on the heave estimation algorithm is verified through simulation and experiments for various terrain using a simulator and a real system.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.45 no.1
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• pp.30-35
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• 2017

In this study, we measured the natural frequencies of aluminum honeycomb sandwich beams using digital image correlation technique. The vibration images were captured using two high speed digital cameras and the images were converted to displacements by the digital image correlation technique. Displacement data in time domain were tranformed to frequency domain data by fast Fourier transform software. To reduce noise invoked by random exitation, a spectrum averaging technique and Savitsky-Golay digital filter were adopted. A conventional vibration measurement using an accelerometer and a finite element analysis were performed to compare the results by high speed digital camera measurement method. In conclusion, new method using high speed digital cameras and digital image correlation technique can measure the vibration of beam structures and can be applied to bio-structures where sensors cannot be attached.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.19 no.5
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• pp.1055-1062
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• 2015

A GPS based wave height meter system is proposed in this paper. The proposed system uses a dual-frequency measurements, a precise GPS satellite information and a PPP-based navigation algorithm to estimate the position with high accuracy. This method does not need to receive corrections from the reference stations. Therefore, unlike RTK based wave meter, regardless of the distance to the reference stations, it is possible to estimate position with high accuracy. This system is very simple and accurate system, but accelerometer-based system requires the other sensors such as GPS. Because position error is accumulated in the accelerometer system and must be removed periodically for high accuracy. In order to get the measurements and test the proposed wave height meter system, a buoy equipped with the test platform is installed on the sea near by Jukbyeon habor in Uljin, Korea. Then, to evaluate the performance, compares built-in commercial wave height meter with proposed system.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.8
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• pp.783-789
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• 2017

In terms of 3D orientation estimation based on nine-axis IMMU(inertial and magnetic measurement unit), there are two disturbance components decreasing estimation accuracy: one is external acceleration disturbing accelerometer's signals and the other is magnetic disturbance related to magnetometer's signals. In order to minimize effects by these two disturbances, two approaches including switching approach and model-based approach have been suggested and further research comparing these two has also been conducted. Nevertheless, effect of disturbance modeling differences on orientation estimation accuracy in model-based approach has not been studied before. This paper compares the recently reported two orientation estimation algorithms that have difference in disturbance models, in order to investigate the effect of disturbance models on accuracy of IMMU-based orientation estimation under various operating conditions. This research shows that the difference in disturbance models leads to difference in process noise covariance matrix. Consequently, this affected the orientation estimation, i.e., the estimation differences between the algorithms were root mean square errors of $1.35^{\circ}$ in average and $3.63^{\circ}$ in yaw estimation.