• Journal of the Korea Institute of Information and Communication Engineering
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• v.23 no.12
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• pp.1624-1630
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• 2019

With the increase in there are smart devices penetration around the world, services related to exercise checks are attracting attention. However, there is existing exercise amount measurement service does not use the altitude information, or because the use of an algorithm that does not corrected the GPS altitude error is not accurate movement distance provided have a problem. Therefore, in this paper, to improve the existing problems, Kalman-filter-based user movement distance measurement algorithm is designed and implementation of improved by using the Kalman-filter based GPS and barometric altimeter sensor fusion algorithm to improve the altitude value the accuracy and of calculate the coordinate plane distance. As a result of comparing the designed and implementation of algorithm with the existing algorithms, it is confirmed that the proposed algorithm improves the accuracy by about 2.17%.

• Journal of the Korean Society for Precision Engineering
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• v.26 no.2
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• pp.109-117
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• 2009

This paper presents a linear air bearing stage with compensated motion errors by active control of preloads generated by magnetic actuators with combination of permanent and electromagnets. A 1-axis linear stage motorized with a linear motor with 240mm of travel range is built for verifying this design concept and tested its performances. The three motions of the table are controlled with four magnetic actuators driven by current amplifiers and a DSP based digital controller. Three motion errors were measured combined method with laser interferometer and two-probe method with $0.085{\mu}m$ of repeatability for straightness error. The measured motion errors were modeled as functions of the stage position, and compensation were carried out with feedforward control because the characteristics of the motion control with magnetic actuators are linear and independent for each degree-of-freedoms. As the results, the errors were reduced from $1.09{\mu}m$ to $0.11{\mu}m$ for the vertical motion, from 9.42 sec to 0.18 sec for the pitch motion and from 2.42 sec to 0.18 sec for roll motion.

• 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.

• Proceedings of the Korean Institute of Information and Commucation Sciences Conference
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• 2017.10a
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• pp.94-95
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• 2017

지정된 경로에서 6축 센서의 가속도와 각속도를 이용하여 물체의 이동거리를 계산하는 경우 가속도 센서에서 나오는 데이터는 중력을 사용하여 값을 보내주는데, 평평한 상태에서는 중력가속도만 나오므로 영향이 없지만 물체가 움직이면서 기울어지거나 흔들리는 경우 중력가속도와 운동가속도가 더해지고 이에 따라 이동거리 계산에 오차가 발생한다. 이 논문에서는 가속도와 각속도만으로 보정이 힘들다고 판단하여 적외선 센서를 사용하여 이동거리를 산출하는 방법을 제안하고 시스템을 개발한다. 제안한 시스템은 지정된 경로를 따라 이동할 때 적외선 센서를 이용하여 궤도의 구분선을 인식하여 기존 6축 센서로 계산된 이동거리를 보정한다.

• Journal of the Korean Institute of Intelligent Systems
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• v.21 no.4
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• pp.518-524
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• 2011

This paper presents a study on the calibration of accelerometer data in the gyroscope free inertial navigation system(GFINS) using fuzzy inference system(FIS). The conventional INS(inertial navigation system) which can measure yaw rate and linear velocity using inertial sensors as the gyroscope and accelerometer. However, the INS is difficult to design as small size and low power because it uses the gyroscope. To solve the problem, the GFINS which does not have the gyroscope have been studied actively. However, the GFINS has cumulative error problem still. Hence, this paper proposes Fuzzy-GFINS which can calibrate the data of an accelerometer using FIS consists of two inputs that are ratio between linear velocity of the autonomous ground vehicle(AGV) and the accelerometer and ratio between linear velocity of the encoders and the accelerometer. To evaluate the proposed Fuzzy-GFINS, we made the AGV with Mecanum wheels and applied the proposed Fuzzy-GFINS. In experimental result, we verified that the proposed method can calibrate effectively data of the accelerometer in the GFINS.

• Journal of Aerospace System Engineering
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• v.12 no.3
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• pp.9-17
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• 2018

For Earth observation, a small satellite camera has relatively weak structural stability compared to medium-sized satellite, resulting in misalignment of optical components due to severe launching and space environments. These alignment errors can deteriorate the optical performance of satellite cameras. In this study, we proposed a 3-axis focus mechanism to compensate misalignment in a small satellite camera. This mechanism consists of three piezo-electric actuators to perform x-axis and y-axis tilt with de-space compensation. Design requirements for the focus mechanism were derived from the design of the Schmidt-Cassegrain target optical system. To compensate the misalignment of the secondary mirror (M2), the focus mechanism was installed just behind the M2 to control the 3-axis movement of M2. In this case, flexure design with Box-Behnken test plan was used to minimize optical degradation due to wave front error. The wave front error was analyzed using ANSYS. The fabricated focus mechanism demonstrated excellent servo performance in experiments with PID servo control.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.46 no.8
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• pp.631-638
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• 2018

In this paper, we propose a method to improve the performance by guidance technique and applying it to the precision guided ammunition. The proposed method is a technique designed to reduce the target error of ammunition by reducing the projectile error without analyzing the motion characteristics of the shot. This technique is applied to the moving average filter technique which is widely used as signal processing technique to reduce the fluctuation of the output of the inboard mounting inertial sensor caused by the rotation and the coning motion of the ammunition. In order to compare the performance of the applied technique including the simple 3D guided control technique and the proposed improvement technique. It is confirmed that the application of this technique improves the accuracy of impact of the cannon - launched ammunition with severe environmental conditions and irregular motion characteristics unlike the missile.

• Journal of Korean Society for Geospatial Information Science
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• v.18 no.1
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• pp.11-20
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• 2010

The distributed rainfall-runoff model which is developed in the country requires a lot of time and effort to generate input data. Also, it takes a lot of time to calculate discharge by numerical analysis based on kinematic wave theory in runoff process. Therefore, most river basins using the distributed model are of limited scale, such as small river basins. However, recently, the necessity of integrated watershed management has been increasing due to change of watershed management concept and discharge calculation of whole river basin, including upstream and downstream of dam. Thus, in this study, the feasibility of the GIS based physical distributed rainfall-runoff model, K-DRUM(K-water hydrologic & hydraulic Distributed RUnoff Model) which has been developed by own technology was reviewed in the flood discharge process for the Geum River basin, including Yongdam and Daecheong Dam Watersheds. GIS hydrological parameters were extracted from basic GIS data such as DEM, land cover and soil map, and used as input data of the model. Problems in running time and inaccuracy setting using the existing trial and error method were solved by applying an auto calibration method in setting initial soil moisture conditions. The accuracy of discharge analysis for application of the method was evaluated using VER, QER and Total Error in case of the typhoon 'Ewiniar' event. and the calculation results shows a good agreement with observed data.

• KSCE Journal of Civil and Environmental Engineering Research
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• v.26 no.4D
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• pp.671-678
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• 2006

In this study, to describe vehicle-structure dynamic interaction phenomena with 1/4 vehicle model, nonlinear Hertzian contact spring and nonlinear contact damper are adopted. The external loads acting on 1/4 vehicle model are selfweight of vehicle and geometry information of running surface. The constraint equation on contact surface is implemented by the Penalty method with stabilization and the reaction from constraint violation. To describe pitching motion of various vehicles two types of the displacement constraint equations are exerted to connect between car bodies and between bogie frames, i.e., the rigid body connection and the rigid body connection with pin, respectively. For the time integration of dynamic equations of vehicles and structure Newmark time integration scheme is adopted. To reduce the error caused by inadequate time step size, adaptive time-stepping technique is also adopted. Thus, it is expected that more versatile dynamic interaction phenomena can be described by this approach and it can be applied to various railway dynamic problems with low computational cost.

• Proceedings of the Korean Society of Precision Engineering Conference
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• 1997.04a
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• pp.283-287
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• 1997

공작기계의 가공정도는 공작기계의 운동기구가 가지고 있는 기하오차와 절작작업시 발생하는 진동, 열,절삭력에 의해서 공작기계의 구조계,주축계,이송계의 변형에 의해서 직접적인 영향을 받는다. 또 가공정도는 제품의 정밀도 및 품질에 직접적인 영향을 미치기 때문에 가공정도를 향상시키기 위한 방법으로 공작기계의 오차를 측정/해석하는 방법이 연구되고 있다. 일반적으로,공작기계의 오차는 Quasi-static 오차와 Dynamic오차로 구분할수 있다. Dynamic 오차는 기계의 진동,채터 및 스핀들의 진동에 의해서만 발생하는 오차이며,Quasi-static 오차는 공작기계 구성요소인 안내면,칼럼,볼스크류등의 기하오차와 온도변화에 의한 열변형오차에 의해서 발생한다. 특히,공작기계 및 절삭가공중에 발생하는 열원에 의한 열변형 오차는 공작기계의 기하오차에 비해서 가공정도에 큰 영향을 미치며[1,2],발생오차의 약 40~70% 정도가열변형 오차에 기인한 것으로 알려져 있다[1]. 실제 많은 실험결과를 볼 때 CNC공작기계이 경우는 열변형에 의한 오차는 기하오차에 비해서 매우 크게 나타났다. 이러한 열변형 오차는 공작기계 주위 온도와 공작기계 구성요소(칼럼,이송유니크,스핀들유니트)의 비선형적인 온도 특성에 의해서 주로 발생하고, Time-variant특성을 가지고 있기 때문에 작업중에 발생하는 온도특성에 따른 열변형 오차를 최소화 할 수 있는 방법이 필요하다. 스핀들유니트는 냉각방식을 사용하여 온도변화를 줄이고 있으나 반복적인 작업과 스핀들의 고속회전으로 인해서 복합 적인 온도변화를 발생시킨다. 또, 볼스크류의 지지방식이 양쪽 고정단 형태이기 때문에 조립시 예압(pre-load)을 주어서 열팽창을 보상하고 있으나 공작기계의 반복적인 이송으로 인해서 발생하는 온도변화에 의한 열오차를 보상하는데는 어려움이 있다.됩니다. 생리적 저항력이 없는 어린이들은 이러한 공해와 생활조건의 제일희생자가 되는 것입니다. 엄마들이 "얘는 감기, 비염, 편도선을 달고 삽니다...." "얘는 코감기, 목감기 번갈아 가면서 하도 앓고 있어서 양약율 중지하고 현재 한약을 먹고 있습니다." 이러한 역경은 극복할 수 있는가\ulcorner 질병의 메카니즘은 어떻게 작용되는가\ulcorner 등등을 육미회 센타에서 체험한 사례를 가지고 말씀드리고자 합니다..ell layer (PCL)와 glia에 SOD-1이 강하게 염색되었다. APT 병용 투여로 상당수의 경련이 일어나지 않은 흰쥐는 해마의 DG에 FRA가 경미하게 염색되었고, PCL에 SOD-1도 경미하게 나타났으나, 경련이 나타난 쥐에서는 KA만을 투여한 흰쥐와 구별되지 않았다. 이상의 APT의 항산화 효과는 KA로 인한 뇌세포 변성 개선에 중요한 인자로 작용할 것으로 사료되나, 보다 명확한 APT의 기전을 검색하고 직접 임상에 응응하기 위하여는 보다 다양한 실험 조건이 보완되어야 찰 것으로 생각된다. 항우울약들의 항혈소판작용은 PKC-기질인 41-43 kD와 20 kD의 인산화를 억제함에 기인되는 것으로 사료된다.다. 것으로 사료된다.다.바와 같이 MCl에서 작은 Dv 값을 갖는데, 이것은 CdCl$_{4}$$^{2-}$ 착이온을 형성하거나 ZnCl$_{4}$$^{2-}$ , ZnCl$_{3}$$^{-}$같은 이온과 MgCl$^{+}$, MgCl$_{2}$같은 이온종을 형성하기 때문인것 같다. 한편 어떠한 용리액에서던지 NH$_{4}$$^{+}$의 경우 Dv값이 제일 작았다. 바. 본 연구