• Journal of the korean veterinary medical association
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• v.46 no.7
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• pp.645-654
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• 2010

말 전문가로써 산통에 대한 자세한 평가를 위해 말을 2차 진료기관으로 보낼지에 대한 결정은 아직까지도 매우 어렵다. 일반적으로 2개의 그룹(주인, 또는 조련사 그리고 수의사)이 수술 또는 집중 진료를 위한 2차 진료기관으로 보낼지에 대해 결정해야 한다. 보험회사(외국의 경우)와 같은 많은 다른 조직이 관련될 수 있지만, 혼란을 피하기 위해 최종결정은 수의사와의 상담 하에 말의 소유주 또는 조련사가 결정해야 한다. 이 글은 2차 진료기관 의뢰결정에 관한 주요 사항들(이력, 검사결과 등)을 알려주기 위한 목적에서 작성하였다. 산통을 가진 말을 2차 진료기관에 보내야 할지 결정을 내리는데 필요한 대부분의 정보들은 오랜 동안 바뀌지 않았지만, 결정을 내리는 것과 관련된 방식은 다르게 접근될 수 있다. 이 글의 전체적인 목표는 집중적으로 보살펴야 할(단순한 수술적 교정 사례들이 아닌) 필요성이 있는 위험한 말 개체군을 감별하고, 빠른 시간 내에 소유주에게 명확한 선택가능 사항들을 제시하는 것이다.

• Journal of rehabilitation welfare engineering & assistive technology
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• v.6 no.2
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• pp.55-62
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• 2012

In this paper we propose a control system to preserve the interior angle between back section and upper leg section to be larger than 90 degrees using a single limit switch. To design the control system we analyze the kinematics of actuation mechanisms for the back section and the upper leg section, and find out an optimal solution for the controller design. Using a prototype control system we perform experiments to test the controller performance, and show that the interior angle between the back section and the upper leg section is always preserved larger than 90 degree. From the experimental results, we show the proposed control system is feasible to keep the body posture stability.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.38 no.7
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• pp.693-701
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• 2010

In this paper, it is proposed that an attitude and position estimation algorithm based on a stereo camera system for a helmet tracker. Stereo camera system consists of two CCD camera, a helmet, infrared LEDs and a frame grabber. Fifteen infrared LEDs are feature points which are used to determine the attitude and position of the helmet. These features are arranged in triangle pattern with different distance on the helmet. Vision-based the attitude and position algorithm consists of feature segmentation, projective reconstruction, model indexing and attitude estimation. In this paper, the attitude estimation algorithm using UQ (Unit Quaternion) is proposed. The UQ guarantee that the rotation matrix is a unitary matrix. The performance of presented algorithm is verified by simulation and experiment.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.45 no.8
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• pp.619-626
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• 2017

In this work, the effect of attitude angle variation on drag coefficients of hemisphere in a Mach 6 flow has been investigated. Experiments were conducted in a shock tunnel and a free-falling technique was used to minimize flow disturbance by a sting. For attitude and drag coefficient measurements of a free-falling hemisphere, a free-falling technique based on a releasing mechanism with a stair-typed module and an electromagnet was developed. A shadowgraph technique was used for flow visualization using a high-speed camera.

• Proceedings of the Korea Water Resources Association Conference
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• 2020.06a
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• pp.52-52
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• 2020

영상을 이용하여 하천유속과 유량을 측정하는 방법은 신속하고 간결하게 유속을 측정할 수 있는 방법으로 주목을 받고 있다. 또한 새로운 기술인 드론을 활용하여 하천의 유속과 유량을 측정하는 방법도 다양하게 시도되고 있다. 본 연구는 드론을 정지영상과 동영상을 이용하여 별도의 측량이나 복잡한 과정없이도 하천의 유속분포를 추정할 수 있는 방안을 제시하였다. 이 때, 중소하천의 유속 측정에 보다 쉽게 활용할 수 있도록 카메라 보정을 통한 카메라 내부변수 획득과 정지영상에 수록된 드론의 위치와 자세에 대한 EXIF 자료를 이용하는 방안, 약간의 흔들림이 있는 영상에서도 유속을 추정하는 방안을 제안하였다. 먼저, 드론의 카메라 보정을 위한 프로그램을 작성하고, 카메라의 내부 변수를 추정하였다. 드론의 위치와 자세에 대한 정보는 정지영상(JPG 파일)에 수록된 EXIF 정보를 이용하여 드론의 위치(GPS)와 자세(자이로스코프)를 알아내었다. 이를 이용하여 현장의 참조점에 대한 위치 정보를 확인하고, 또 수면촬영을 위한 정지비행시의 카메라의 대략의 위치와 자세 정보를 확인하였다. 이 자료들은 실제 유속측정에 이용하는 동영상에서 나타나는 참조점의 위치 정보를 결정하기 위한 것이다. 그리고 연이어 촬영된 동영상에서 시공간영상분석법으로 측정 단면의 유속분포를 분석하였다. 이 때, 동영상 내에 있는 약간의 흔들림은 FFT 분석으로 적절히 보완할 수 있다. 개발된 방법을 밀양강의 단장천 대리 수위표 지점 인근에서 시험한 결과 기존의 유속계로 측정한 방법과 상당히 근사한 결과를 얻을 수 있었다.

• Journal of the Institute of Electronics Engineers of Korea SC
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• v.49 no.4
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• pp.23-35
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• 2012

This paper presents a 3-D pose (position and orientation) estimation method for an elliptic object in 3-D space. It is difficult to resolve the problem of determining 3-D pose parameters with respect to an elliptic feature in 3-D space by interpretation of its projected feature onto an image plane. As an alternative, we propose a two points-based pose estimation algorithm to seek the 3-D information of an elliptic feature. The proposed algorithm determines a homogeneous transformation uniquely for a given correspondence set of an ellipse and two coplanar points that are defined on model and image plane, respectively. For each plane, two triangular features are extracted from an ellipse and two points based on the polarity in 2-D projection space. A planar homography is first estimated by the triangular feature correspondences, then decomposed into 3-D pose parameters. The proposed method is evaluated through a series of experiments for analyzing the errors of 3-D pose estimation and the sensitivity with respect to point locations.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.28 no.5
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• pp.531-537
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• 2010

Real-time Aerial Monitoring System performs the rapid mapping in an emergency situation so that the geoinformation could be constructed in near real time. In this system, the position and attitude information from GPS/INS integration algorithm is used to perform the aerial triangulation(AT) without GCPs. Therefore, if we obtain Exterior Orientation(EO) estimates from AT sequentially, EO are used as the measurements in the Kalman filter. In this study, we simulate the GPS/IMS/Image data for an UAV-based aerial monitoring system and compare the GPS/INS/AT with and without from AT. Comparative analysis showed that result from the GPS/INS/AT with EO update is more accurate than without the update. However, when the vehicle turns, the position error significantly increases which need more analysis in the future.

• Asia-pacific Journal of Multimedia Services Convergent with Art, Humanities, and Sociology
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• v.7 no.1
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• pp.177-186
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• 2017

Recently, Autonomous vehicles are getting hot attention. Amazon, the biggest online shopping service provider is developing a delivery system that uses drones. This kinds of platforms are need accurate attitude information for navigation. In this paper, a structure design of AHRS using low-cost inertia sensor is proposed. To estimate attitudes a Kalman filter which uses a quaternion based dynamic model, bias-removed measurements from MEMS Gyro, raw measurements from MEMS accelerometer and magnetometer, is designed. To remove bias from MEMS Gyro, an additional Kalman filter which uses raw Gyro measurements and attitude estimates, is designed. The performance of implemented AHRS is compared with high price off-the-shelf 3DM-GX3-25 AHRS from Microstrain. The Gyro bias was estimated within 0.0001[deg/s]. And from the estimated attitude, roll and pitch angle error is smaller than 0.2 and 0.3 degree. Yaw angle error is smaller than 6 degree.

• Journal of the Korean Society of Surveying, Geodesy, Photogrammetry and Cartography
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• v.32 no.2
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• pp.163-171
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• 2014

Based on the GPS/IMU integration, the car navigation has unstable conditions as well as drastically reduces accuracies in urban region. Nowadays, many cars mounted the camera to record driving states. If the ground coordinates of street furniture are known, the position and attitude of camera can be determined through SPR(Single Photo Resection). Therefore, an estimated position and attitude from SPR can be applied measurements in Kalman filter for updating errors of navigation solutions from GPS/IMU integration. In this study, the GPS/IMU/SPR integration algorithm was developed in loosely coupled modes through extended Kalman filters. Also, in order to analyze performances of GPS/IMU/SPR, simulation tests were conducted in GPS signal reception environments and the GCPs (Ground Control Points) distributions. In fact, the position and attitude gathered from GPS/IMU/SPR integration are more precise than the position and attitude from GPS/IMU integration. When IPs (image points), corresponded to GCPs, were concentrated in the center of image, the position error in the optical axis respectively increased. To understand effects from SPR, we plan to carry additional test on the magnitude of GCP, IP and initial exterior orientation errors.

• 건강소식
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• v.24 no.12 s.265
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• pp.2-5
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• 2000

무슨 일을 하든지, 지혜로운 결정인지, 잘못된 것이 아닌지를 다시 한번 생각해 본다는 김태겸 강원도 행정부지사. 무엇보다도 중요한 것으로 자신의 관리를 시작으로 하는 내외적 인간관리를 드는 김부지사는 강원발전의 밑거름이자 강원도의 '힘'인 도민의 복지와 강원도의 미래를 위해서는 도민의 입장에서 항상 생각하고 방침을 세우는 자세가 중요하다고 강조한다.