• Current Research on Agriculture and Life Sciences
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• v.32 no.2
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• pp.79-84
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• 2014

The precision aerial application of agricultural unmanned helicopters has become a new paradigm for small farms with orchards, paddy, and upland fields. The needs of agricultural applications require easy and affordable control systems. Recent developments of MEMS technology based on inertial sensors and high speed DSP have enabled the fabrication of low-cost attitude system. Therefore, this study evaluates inertial MEMS sensors for estimating the attitude of an agricultural unmanned helicopter. The accuracies and errors of gyro and acceleration sensors were verified using a pendulum system. The true motion values were calculated using a theoretical estimation and absolute encoder measurement of the pendulum, and then the sensor output was compared with reference values. When comparing the sensor measurements and true values, the errors were determined to be 4.32~5.72%, 3.53~6.74%, and 3.91~4.16% for the gyro rate and x-, z- accelerations, respectively. Thus, the measurement results confirmed that the inertial sensors are effective for establishing an attitude and heading reference system (AHRES). The sensors would be constructed in gimbals for the estimating and proving attitude measurements in the following paper.

• Geophysics and Geophysical Exploration
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• v.12 no.2
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• pp.208-214
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• 2009

Using the GNSS data and tilt-meter data of Boeun (BOEN) and Goesan (GSAN) GNSS stations, we have calculated the differential distance vector variation with the calculation time span set to 1 hour and 3 hour and differential tilt vector variation along time and derived an indicator of similarity between the two variations along time. The similarity such calculated is rather lower than high. But as the existence of a circular type movement of the antenna's phase center's location due to the tilt's variation of the antenna tower because of the sunlight's diurnal change is certain, we recommend to take such diurnal variation of antenna's location into consideration when the correction error in DGNSS or the measured data at reference stations in VRS (Virtual Reference System) is broadcast.

• Proceedings of the Korea Water Resources Association Conference
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• 2015.05a
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• pp.387-387
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• 2015

최근 기후변화에 따른 국지성 집중호우 및 돌발홍수 증가로 도심지역에 많은 침수 피해가 발생하고 있다. 본 연구는 이러한 내외수에 영향을 받는 도시 중소하천의 침수 저감을 위하여 침수 예측모형에 적용 가능한 수리학적 계산모형을 개발하는 것이다. 일반적으로 자연하천은 수지형 수계가 대부분이며, 도시 우수관로와 관계배수 시스템 등은 폐합형 수계에 포함되어 수지형 계산모형으로는 도시 중소하천의 유출 모의를 할 수 없다. 폐합형 수계의 계산모형은 수지형에 비해 복잡하지만, 적용대상 수계가 폐합형이 아닌 경우에도 합류점의 유입량을 처리하기가 편리하고, 역방향의 월류 흐름이 존재하는 감조하천에서의 월류 흐름 모의가 가능한 장점을 갖고 있어 도시 내배수 시스템은 물론 자연하천에도 적용 할 수 있다. 본 모형은 절점, 수로 및 계산점으로 구성되는데 동력학적 방법인 1차원 Saint-Venant의 연속 방정식과 운동량 방정식에 수치해법을 이용하여 구하고자 하는 시간과 지점의 수위와 유량을 계산할 수 있게 구성하였다. 수치해법으로는 가장 보편적으로 사용되는 유한차분법 중 안정성과 정확성이 우수한 것으로 평가된 Preissmann의 4점 음해법으로 차분방정식에 Newton-Raphson 방법을 사용하여 유량과 수위 보정치에 Double Sweep 알고리즘을 적용하였다. 유한차분법은 안정성 문제를 수반할 수 있기에 시간 증분이 작을수록 Courant 조건을 만족할 수 있다. 모형 비교 검증을 위하여 동력학적 방법을 적용한 대표적인 폐합형 수계모형인 EPA SWMM을 지원하는 CHI사의 PC-SWMM 프로그램을 이용하여 가상의 폐합 수계를 구축하였다. 일반적으로 상류지점의 경계조건은 하류로 추적될 입력 자료로써, 상류지점과 합류지점은 유입되는 유량값을 그리고 하류지점은 유출되는 수위값을 경계조건으로 입력하였다. 운동량방정식의 에너지 경사와 마찰경사 항에 포함된 조도계수는 변화량에 중요한 물리적 요소이지만, 고정 상수값인 0.03을 적용하여 검증에 용의하도록 하였다. 구축된 모형과 PC-SWWM을 통해 산출된 계산점별 수위와 유량에 RMS 오차를 비교한 결과 만족할만한 결과를 얻을 수 있었다. 따라서 향후 내외수를 연계에 침수예측모형에 적용 가능할 것으로 사료된다.

• Journal of the Korean Society of Radiology
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• v.18 no.1
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• pp.45-52
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• 2024

In this study, an AI-based algorithm was developed to prevent image quality deterioration and reading errors due to patient movement in PET/CT examinations that use radioisotopes in medical institutions to test cancer and other diseases. Using the Mothion Free software developed using, we checked the degree of correction of movement due to breathing, evaluated its usefulness, and conducted a study for clinical application. The experimental method was to use an RPM Phantom to inject the radioisotope 18F-FDG into a vacuum vial and a sphere of a NEMA IEC body Phantom of different sizes, and to produce images by directing the movement of the radioisotope into a moving lesion during respiration. The vacuum vial had different degrees of movement at different positions, and the spheres of the NEMA IEC body Phantom of different sizes produced different sizes of lesions. Through the acquired images, the lesion volume, maximum SUV, and average SUV were each measured to quantitatively evaluate the degree of motion correction by Motion Free. The average SUV of vacuum vial A, with a large degree of movement, was reduced by 23.36 %, and the error rate of vacuum vial B, with a small degree of movement, was reduced by 29.3 %. The average SUV error rate at the sphere 37mm and 22mm of the NEMA IEC body Phantom was reduced by 29.3 % and 26.51 %, respectively. The average error rate of the four measurements from which the error rate was calculated decreased by 30.03 %, indicating a more accurate average SUV value. In this study, only two-dimensional movements could be produced, so in order to obtain more accurate data, a Phantom that can embody the actual breathing movement of the human body was used, and if the diversity of the range of movement was configured, a more accurate evaluation of usability could be made.

• Journal of the Korea Academia-Industrial cooperation Society
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• v.21 no.11
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• pp.554-560
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• 2020

In the manufacturing process of flat panel displays, a high-precision planar motion stage is used to position a specimen. Stages of this type typically use frictionless linear motors and air bearings, and laser interferometers. Real-time dynamic correction of the yaw motion error is very important because the inevitable yaw motion error of the stage means a change in the specimen orientation. Gantry control is generally used to compensate for yaw motion errors. Flexure units that allow rotational motion are applied to the stage to apply this method to a stage using an air-bearing guide. This paper proposes a method to improve the constant speed motion performance of a H-type XY stage equipped with air bearing and flexure units. When applying the gantry control to the stage, including the flexure units, the cause of the mutual ripple generated from the linear motors is analyzed, and adaptive learning control is proposed to compensate for the mutual ripple. A simulation was performed to verify the proposed method. The speed ripple was reduced to approximately the 22 % level. The ripple reduction was verified by simulating the stage state where yaw motion error occurs.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.27 no.2
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• pp.139-147
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• 2009

The gravity data collected and reserved in Korea is seriously biased in its distribution. That is, only the west-southern part of the peninsula including Chungcheong and Jeonla area has dense distribution while only a part is covered in Gyoungsang area. Especially, the low density of the gravity data in mountainous area basically limits the accuracy of the gravimetric geoid in Korea. As one of the solution to overcome the problem, an airborne gravity survey were conducted from Dec. 2008 $\sim$ Jan. 2009. In this study, free-air gravity anomaly derived from the airborne gravity data which has consistent quality are presented. The data processing for the airborne gravity is composed of several corrections of errors such as errors from gravity measurement, errors from flight dynamics, errors from GPS, and errors from time synchronization. We presented detailed explanations on the data processing with the final cross-over results. The free-air anomaly from airborne gravity finally shows the cross-over accuracy of 2.21mGal which reflects the precision of each track is 1.56mGal. It is expected that the result from this study will play a role as input data in precision geoid determination with ground and ship-borne gravity data after appropriate fusion process.

• Journal of Biomedical Engineering Research
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• v.22 no.5
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• pp.459-468
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• 2001

The Average Coordinate Referenee System (ACRS) method is developed to reduce experimental errors in human locomotion analysis. Experimentally measured kinematic data is used to conduct analysis in human modeling, and the model accuracy is directly related to the accuracy of the data. However. the accuracy is questionable due to skin movement. deformation of skeletal structure while in motion and limitations of commercial motion analysis system . In this study. the ACRS method is applied to an optically-tracked segment marker system. although it can be applied to many of the others as well. In the ACRS method, each marker can be treated independently. as the origin of a local coordinate system for its body segment. Errors, inherent in the experimental process. result in different values for the recovered Euler angles at each origin. By employing knowledge of an initial, calibrated segment reference frame, the Euler angles at each marker location can be averaged. minimizing the effect of the skin extension and rotation. Using the developed ACRS methodology the error is reduced when compared to the general Euler angle method commonly applied in motion analysis. If there is no error exist in the experimental gait data. the separation and Penetration distance of the femoraltibial joint using absolute coordinate system is supposed to be zero during one gait cycle. The separation and Penetration distance was ranged up to 18 mm using general Euler angle method and 12 mm using the developed ACRS.

• The Korean Journal of Nuclear Medicine
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• v.39 no.3
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• pp.174-181
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• 2005

Purpose: Reduction of respiratory motion artifacts in PET images was studied using respiratory-gated PET (RGPET) with moving phantom. Especially a method of generating simulated helical CT images from 4D-CT datasets was developed and applied to a respiratory specific RGPET images for more accurate attenuation correction. Materials and Methods: Using a motion phantom with periodicity of 6 seconds and linear motion amplitude of 26 mm, PET/CT (Discovery ST: GEMS) scans with and without respiratory gating were obtained for one syringe and two vials with each volume of 3, 10, and 30 ml respectively. RPM (Real-Time Position Management, Varian) was used for tracking motion during PET/CT scanning. Ten datasets of RGPET and 4D-CT corresponding to every 10% phase intervals were acquired. from the positions, sizes, and uptake values of each subject on the resultant phase specific PET and CT datasets, the correlations between motion artifacts in PET and CT images and the size of motion relative to the size of subject were analyzed. Results: The center positions of three vials in RGPET and 4D-CT agree well with the actual position within the estimated error. However, volumes of subjects in non-gated PET images increase proportional to relative motion size and were overestimated as much as 250% when the motion amplitude was increased two times larger than the size of the subject. On the contrary, the corresponding maximal uptake value was reduced to about 50%. Conclusion: RGPET is demonstrated to remove respiratory motion artifacts in PET imaging, and moreover, more precise image fusion and more accurate attenuation correction is possible by combining with 4D-CT.

• Progress in Medical Physics
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• v.23 no.2
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• pp.91-98
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• 2012

Verification of internal organ motion during treatment and its feedback is essential to accurate dose delivery to the moving target. We developed an offline based internal organ motion verification system (IMVS) using cine EPID images and evaluated its accuracy and availability through phantom study. For verification of organ motion using live cine EPID images, a pattern matching algorithm using an internal surrogate, which is very distinguishable and represents organ motion in the treatment field, like diaphragm, was employed in the self-developed analysis software. For the system performance test, we developed a linear motion phantom, which consists of a human body shaped phantom with a fake tumor in the lung, linear motion cart, and control software. The phantom was operated with a motion of 2 cm at 4 sec per cycle and cine EPID images were obtained at a rate of 3.3 and 6.6 frames per sec (2 MU/frame) with $1,024{\times}768$ pixel counts in a linear accelerator (10 MVX). Organ motion of the target was tracked using self-developed analysis software. Results were compared with planned data of the motion phantom and data from the video image based tracking system (RPM, Varian, USA) using an external surrogate in order to evaluate its accuracy. For quantitative analysis, we analyzed correlation between two data sets in terms of average cycle (peak to peak), amplitude, and pattern (RMS, root mean square) of motion. Averages for the cycle of motion from IMVS and RPM system were $3.98{\pm}0.11$ (IMVS 3.3 fps), $4.005{\pm}0.001$ (IMVS 6.6 fps), and $3.95{\pm}0.02$ (RPM), respectively, and showed good agreement on real value (4 sec/cycle). Average of the amplitude of motion tracked by our system showed $1.85{\pm}0.02$ cm (3.3 fps) and $1.94{\pm}0.02$ cm (6.6 fps) as showed a slightly different value, 0.15 (7.5% error) and 0.06 (3% error) cm, respectively, compared with the actual value (2 cm), due to time resolution for image acquisition. In analysis of pattern of motion, the value of the RMS from the cine EPID image in 3.3 fps (0.1044) grew slightly compared with data from 6.6 fps (0.0480). The organ motion verification system using sequential cine EPID images with an internal surrogate showed good representation of its motion within 3% error in a preliminary phantom study. The system can be implemented for clinical purposes, which include organ motion verification during treatment, compared with 4D treatment planning data, and its feedback for accurate dose delivery to the moving target.

• 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.