• Proceedings of the Korean Institute of Navigation and Port Research Conference
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• v.2
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• pp.551-556
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• 2006

위치 정보를 얻기 위해 GPS를 이용하며 다수의 GPS 안테나를 이용하면 자세까지 구할 수 있다. 그러나 실내에서는 GPS 신호 세기가 너무 약해 동작하지 않는 단점이 있다. 본 논문에서는 GPS 대신 Zigbee와 초음파를 이용하여 실내에서도 위치와 자세를 구하는 기법을 제시하였다. Zigbee 신호와 초음파 신호의 도착 시간차로부터 송신기와 수신기간의 거리를 구할 수 있으며 이로부터 위치를 구할 수 있다. 여기에 추가의 발신기를 장착하면 두 발신기의 위치 차이로 정의되는 기저선 벡터를 구할 수 있으며 이로부터 자세를 구할 수 있다. 본 논문에서는 다수의 발신기를 이용하여 효과적으로 기저선 벡터를 구하는 기법과, 이로부터 자세를 구하는 시스템을 구축하였다. 추가로 오차해석을 통하여 구해진 자세의 정확도를 예측하였다. 실제 실험을 통하여 20cm 간격의 두 발신기를 이용하여 1도 이하의 오차를 갖는 방위각과 앙각을 연속적으로 구할 수 있음을 확인하였다.

• Bulletin of the Korean Space Science Society
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• 2003.10a
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• pp.103-103
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• 2003

공간해상도가 높고 영상 신호량의 증가를 위해 TDI(time delay and integration) 방식의 센서를 이용하는 저궤도 위성카메라의 경우 지구의 자전효과나 위성의 자세 불안정 등으로 인해 촬영된 영상의 퍼짐현상(smearing)이 나타난다. 본 연구에 따르면 선형운동에 의한 결과로 발생하는 영상퍼짐은 위성의 자세제어 특성 뿐 만 아니라 위성의 궤도 특성과 TDI 단계, 지상 촬영 지점의 위도 및 경사촬영 각도에 의해 결정되며 다목적 실용위성 2호(KOMPSAT2)의 탑재카메라를 실례로 살펴본 해상도 1m급의 태양동기궤도 위성의 경우 별도의 보정 과정이 없을 경우 영상의 퍼짐이 심각한 것으로 나타난다. 주된 원인은 지구의 자전효과이며 영상퍼짐의 정도는 위성 직하점의 위도에 따라 변하고 카메라의 경사촬영 각도와는 연관성이 작은 것으로 나타난다. 또한 촬영전에 자세제어를 이용해 카메라의 Yaw축 각도를 조정할 경우 영상퍼짐현상이 현저히 감소함을 보여준다.

• Proceedings of the Korean Institute of Intelligent Systems Conference
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• 2007.11a
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• pp.77-81
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• 2007

본 논문은 휴머노이드 로봇의 넘어짐 자세 시 충격량 최소화를 위한 GA 기반의 자세 자동 생성 방법을 제안한다. 관절 공간에서 관절각의 최적 조합으로 충격량을 최소화 할 수 있는 자세의 자동 생성 기법을 구현하였다. 제안된 기법의 검증을 위하여 Sony QRIO 로봇에 대해서 ODE 기반 물리적 특성의 시뮬레이션이 가능한 Webots를 이용하여 실험을 수행하였다.

• Proceedings of the KIEE Conference
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• 2000.07d
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• pp.2362-2364
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• 2000

본 논문에서는 자세결정 GPS 수신기에서 출력되는 자세정보와 영속도 정보를 이용하여 SDINS의 새로운 초기정렬 알고리즘을 제안하였다. GPS 수신기의 자세정보와 영속도 정보를 이응하기 위해 새롭게 측정모델을 도출하였으며 가관측성을 조사하여 피치각이 90도가 아닌 경우에 시스템이 완전가관측함을 보였다. Monte-Carlo 시뮬레이션을 통하여 SDINS 오차가 빠르게 영으로 수렴함을 보였다.

• The Journal of the Korea Contents Association
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• v.11 no.12
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• pp.800-806
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• 2011

The objective of this study was to identify the effect of lumbar lordotic curve adjustment on head and neck posture in older adults. Methods Twenty healthy older participants (mean age 71.32) were photographed while watching monitor in sitting with or without lumbar roll support(length 28cm, diameter 10cm). The upper cervical angle and lower cervical angle were measured using the NIH ImageJ 1.32. Comparisons between upper and lower cervical angle with or without lumbar roll support were made using paired-t test analysis. Results Subjects demonstrated a significant difference in the mean upper and lower cervical angle. Mean difference of the upper cervical angle was about $2.83^{\circ}$ with and without lumbar roll support(p<0.005). Mean difference of the lower cervical angle was about $4.44^{\circ}$ with and without lumbar roll support(p<0.0001). Conclusions This study showed that healthy older adults demonstrated more ability to maintain an upright posture of cervical spine during lumbar lordotic curve maintenance with lumbar roll support than without lumbar roll support. When the clinicians consider improvement of the head and neck posture in older adults, they must incorporate adjustment in the lumbar region.

• Journal of the Korea Society of Computer and Information
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• v.15 no.10
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• pp.129-136
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• 2010

In this paper proposed the sensor fusion algorithm between a gyroscope and an accelerometer to maintain the inverted posture with two wheels which can make the robot body move to the desired destination. Mobile inverted robot fall down to the forward or reverse direction to converge to the stable point. Therefore, precise information of tilt angles and quick posture control by using the information are necessary to maintain the inverted posture, hence this paper proposed the sensor fusion algorithm between a gyroscope to obtain the angular velocity and a accelerometer to compensate for the gyroscope. Kalman Filter is normally used for the algorithm and numerous research is progressing at the moment. However, a high-performing DSP and systems are needed for the algorithm. This paper realized the robot control method which is much simpler but able to get desired performance by using the sensor fusion algorithm and PID control.

• Korean Journal of Applied Biomechanics
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• v.19 no.1
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• pp.87-98
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• 2009

This study was conducted to compare biomechanical differences in throwing movement between skilled and unskilled high school students using three-dimensional analysis system with a force platform. The findings indicated that skilled students showed shorter throwing time, faster horizontal speed of (1) the center of mass at heel contact of left foot, (2) the forearm throughout swing phase, (3) the hand after heel contact while unskilled students showed faster horizontal speed of, (1) the center of mass after heel contact and (2) the hand at heel contact of left foot. Skilled students showed greater (1) shoulder angle during throwing, (2) elbow angle after take off of foot, (3) peak vertical ground reaction force during throwing and (4) peak anterior-posterior ground reaction force at heel contact of right foot. While skilled students showed leaning backward of the trunk during throwing, unskilled students showed leaning forward during release phase with leaning backward before release.

• Journal of Convergence for Information Technology
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• v.9 no.12
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• pp.208-215
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• 2019

The purpose of this study was to investigate the effects of deep neck flexion exercise(DNFE) and thoracic range of motion exerecise(TROM) on the pain and forward head position(FHP) in stroke patients. Thirty-six patients were randomly assigned to DNFE group, TROM group, and control group. pre and post intervention, pain(VAS), Craniovertebral angle(CVA), cranial rotation angle(CRA), FHP, and TROM were measured. As a result. The DNFE group and the TROM group showed significant differences in VAS, CVA, CRA, FHP, and TROM pre and post intervention(p <.05), and the two groups showed VAS, CVA, CRA, FHP, and TROM compared to the control group (p <.05). In conclusion, in patients with stroke, DNFE and TROM were effective in restoring FHP and neck pain. We hope that they will be used in the interventional program for stroke patients in clinical practice.

• Journal of the Institute of Convergence Signal Processing
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• v.21 no.2
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• pp.80-85
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• 2020

Recently the incidence of musculoskeletal disorders in students and office workers is increasing, and the necessity of maintaining correct posture and corrective training is required, but related research is insufficient. In the previous study, a membrane sensor or a pressure sensor was placed on the seat cushion to see the deviation of the body weight, or a sensor that restrained the user was attached to measure the position change. In this study, a sensor device for detecting a position change in consideration of wearing comfort was developed, and the measured angle was verified through an analysis app. A sensor device consisting of an IMU sensor is attached to the cervical spine and vertebra spine to measure the position transformation in the sitting position. The change value of the position measured by the two sensors was converted into an angle, and the angle value is displayed in real time through the analysis app. In this study, the possibility of measuring the real-time change value according to the change in position, the convenience of wearing, and the tendency of angle measurement were proved. Future research should proceed with more precise angle calculation and correction of motion noise.

• Current Research on Agriculture and Life Sciences
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• v.32 no.3
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• pp.159-163
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• 2014

Agricultural unmanned helicopters have become a new paradigm for aerial application. Yet, such agricultural helicopters require easy and affordable attitude control systems. Therefore, this study presents an affordable attitude measurement system using a DCM (direction cosine matrix) algorithm that would be applied to agricultural unmanned helicopters. An IMU using a low-cost MEMS and an algorithm to estimate the attitude of the helicopter were applied in a gimbals structure to evaluate the accuracy of the attitude measurements. The estimation errors in the attitude were determined in comparison with the true angles determined by absolute position encoders. The DCM algorithm and sensors showed an accuracy of about 1.1% for the roll and pitch angle estimation. However, the accuracy of the yaw angle estimation at 3.7% was relatively larger. Such errors may be due to the magnetic field of the stepping motor and encoder system. Notwithstanding, since the intrinsic behavior of the agricultural helicopter remains steady, the determination of attitude would be reliable and practical.