• 전자공학회논문지 IE
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• v.45 no.4
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• pp.11-18
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• 2008

This study is implementation of attitude control system(ACS - Attitude Control System). for a multi legs robot. This study designs H/W of Inertial Measurement Unit (IMU) and attitude control algorithm S/W. Compare performance with Mtx and MTx in order to verify action performance of this system after implementation, and will verify a system integrated IMU of a multi-legs robot. ACS uses Gyro and an accelerometer and an earth magnetism sensor, and it is a system controlling a roll, pitch angle attitude of an object. Generally, low price MEMS is difficult to calculate a correct situation of an object as an error occurs severely the Inertial sensor. This study implements IMU in order to develop ACS as use MEMS, accelerometer, Gyro sensor and earth magnetism sensor. Design algorithm each a roll, pitch, yaw attitude guaranteeing regular performance, and do poling in a system as include an attitude calculation program in an IMU system implemented. Mixed output of Gyro and an accelerometer, and recompensed a roll, pitch angle, and loaded in this study on a target platform in order to implement the ACS which guaranteed performance more than a continuously regular level, and operated by real time, and did porting, and verified.

• Journal of the Korean GEO-environmental Society
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• v.12 no.11
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• pp.71-77
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• 2011

Recently, non-destructive stress measurement method using magnetic anisotropy sensor has been applied to the construction site such as steel bridges and steel pipes. In addition, steel rib used in the tunnel construction site was found to be possible to measure the stress by non-destructive method. In this study, steel loading experiments using magnetic anisotropy sensor developed in Japan and strain gauges were conducted to derive stress sensitivity curve for domestic steel SS400. Also, additional steel loading experiments and numerical analysis were performed for evaluation of applicability for non-destructive stress measurement method using magnetic anisotropy sensor. As a result of this study, stress sensitivity curves for domestic steel SS400 were derived using output voltage measured by magnetic anisotropy sensor and average of stress measured by strain gauges depending on the measurement location. And as a result of comparing additional steel loading experiments with the numerical analysis, error level of magnetic anisotropy sensor is around 20MPa. When considering the level of the yield stress(245MPa) of steel, in case of using magnetic anisotropy sensor in order to determine the stress status of steel, it has sufficient accuracy in engineering. Especially, magnetic anisotropy sensor can easily identify the current state of stress which considers residual stress at steel structure that stress measurement sensor is not installed, so we found that magnetic anisotropy sensor can be applied at maintenance of steel structure conveniently.

• Journal of Aerospace System Engineering
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• v.16 no.1
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• pp.104-109
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• 2022

The bomb rack unit (BRU) installed inside the pylon serves to fix external attachments such as external fuel tank or external weapon, and also serves to separate external attachments in case of emergency. In particular, the load generated when the external attachment is separated from the BRU is called the punching load. In this study, we present the results of a structural static test performed to verify the structural integrity of the pylon under the BRU punching condition acting on it. In the structural static test report, we present the implementation method for the separation load of the external attachment and the test profile for the BRU punching load condition, and compared the error between the load input signal and the feed-back signal to determine the appropriateness of load control in each test. Furthermore, we compared the strain results obtained in the numerical analysis and structural test at the main positions of the specimen. As a result, it was shown that the load of the actuators were properly controlled within the allowable error range in each test, and the numerical analysis effectively predicted the test result. Finally, through structural static tests conducted by design limit load and design ultimate load, we verified that the aircraft pylon dealt with in this study has sufficient structural strength for external attachment separation condition.

• Progress in Medical Physics
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• v.21 no.1
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• pp.113-119
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• 2010

Software for GafChromic EBT2 film dosimetry was developed in this study. The software provides film calibration functions based on color channels, which are categorized depending on the colors red, green, blue, and gray. Evaluations of the correction effects for light scattering of a flat-bed scanner and thickness differences of the active layer are available. Dosimetric results from EBT2 films can be compared with those from the treatment planning system ECLIPSE or the two-dimensional ionization chamber array MatriXX. Dose verification using EBT2 films is implemented by carrying out the following procedures: file import, noise filtering, background correction and active layer correction, dose calculation, and evaluation. The relative and absolute background corrections are selectively applied. The calibration results and fitting equation for the sensitometric curve are exported to files. After two different types of dose matrixes are aligned through the interpolation of spatial pixel spacing, interactive translation, and rotation, profiles and isodose curves are compared. In addition, the gamma index and gamma histogram are analyzed according to the determined criteria of distance-to-agreement and dose difference. The performance evaluations were achieved by dose verification in the $60^{\circ}$-enhanced dynamic wedged field and intensity-modulated (IM) beams for prostate cancer. All pass ratios for the two types of tests showed more than 99% in the evaluation, and a gamma histogram with 3 mm and 3% criteria was used. The software was developed for use in routine periodic quality assurance and complex IM beam verification. It can also be used as a dedicated radiochromic film software tool for analyzing dose distribution.

• 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.