• Proceedings of the Korean Society of Computer Information Conference
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• 2011.01a
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• pp.279-280
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• 2011

2바퀴이상의 로봇은 중심점을 기준으로 안정화가 이루어진다. 그러나 2바퀴이하의 로봇으로 수직 자세를 유지하기 위해서는 로봇자체를 기울여 중심점을 이동하므로 수평을 유지할 수 있다. 그러나 이러한 중심점의 이동은 속도나 방향성분이 같이 출력되므로 정확한 센서의 계산이 요구되고 정밀한 제어를 필요로 한다. 또한 많은 구조물로 인해 장애물 인식 및 자율주행 알고리즘 등이 필요하며 장시간 정보획득과 무인기 연동을 위한 빠른 움직임을 가져야한다. 위의 2조건을 만족하기 위한 구성으로 최근들어 두 바퀴를 가지는 모바일 역진자 로봇에 대한 연구가 활발히 이루어지고 있다. 이는 서비스 및 주행 로봇의 알고리즘이 휴머노이드에서 모바일 역진자 로봇으로 변화되었기 때문이다. 모바일 역진자 로봇은 휴머노이드에 비하여 사용되는 모터의 수가 적고 균형을 잡으려면 관절마다 값비싼 고성능 모터가 필요하며 이를 가동하려면 전력도 많이 소모되며 대용량 배터리를 장착할 수밖에 없게 된다. 반면 바퀴로 움직이는 로봇은 전력이 적게 들고 이동도 쉽다. 따라서 본 연구에서는 IMU를 이용한 간단하면서도 정확한 센서의 연산 방법과 이를 이용한 자세제어 방법을 연구한다.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.10 no.4
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• pp.674-679
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• 2006

In this paper a gesture recognition system using 3D feature data is described. The system relies on a novel 3D sensor that generates a dense range mage of the scene. The main novelty of the proposed system, with respect to other 3D gesture recognition techniques, is the capability for robust recognition of complex hand postures such as those encountered in sign language alphabets. This is achieved by explicitly employing 3D hand features. Moreover, the proposed approach does not rely on colour information, and guarantees robust segmentation of the hand under various illumination conditions, and content of the scene. Several novel 3D image analysis algorithms are presented covering the complete processing chain: 3D image acquisition, arm segmentation, hand -forearm segmentation, hand pose estimation, 3D feature extraction, and gesture classification. The proposed system is tested in an application scenario involving the recognition of sign-language postures.

• Journal of the Korean Society of Propulsion Engineers
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• v.4 no.4
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• pp.107-113
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• 2000

Design configuration and performance requirements for KOMPSAT-1 propulsion system were described. Operational results of the propulsion system obtained through the satellite Launch and Early Operation Phase were scrutinized. Performance characteristics of the thrusters which are employed for spacecraft attitude control and the corresponding propellant depletion rate were analysed according to satellite operation modes. Additionally, propellant leakproof and thermal control capability were checked out from the view point of system verification. Propellant depletion rates calculated by PVT method in $\Delta$V maneuvering and each attitude control mode produce the very meaningful results for the prediction of total propellant consumption up to the end of satellite mission life.

• The Journal of Bigdata
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• v.8 no.1
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• pp.61-71
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• 2023

With the development of data-driven decision-making and sophisticated big data processing technique, there is a growing demand for information on how to process data. However, recent studies with data preprocessing mentioned only as a means to achieve a result. Therefore, in this study, we aimed to write in detail about the data processing pipeline, include preprocessing data. In particular, we shares the context and domain knowledge to aid fluent understand of the research.

• Journal of Astronomy and Space Sciences
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• v.20 no.1
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• pp.29-42
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• 2003

The KSR-3 magnetometers consist of the fluxgate magnetometer (MAG/AIM) for acquiring the rocket flight attitude information, and the search-coil magnetometer (MAG/SIM) for the observation of the Earth's magnetic fluctuations. The position (latitude, longitude, and height) and flight condition (the transformation angle) of the rocket is measured after the data based on these two magnetometers are compared with IGRF The gap in the vector of magnetic field between the position of the launching point and an impact point is taken into account in data reduction. Angular variation of pitch, yaw, and roll can be researched when the data is applied to the coordinate system of the rocket.

• Journal of the Korean Society of Radiology
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• v.16 no.3
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• pp.319-325
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• 2022

The Study In order to obtain a sharpness Image from Skull PA axial projection (Haas) in a head axial X-ray Examination, this study changed the posture angle using Skull Phantom and evaluated the image subjectively to 5 radiologists who worked in the Department of Imaging at University Hospital. In the prone position, the head was lowered 4 cm from the back of the head, entered 25° toward the head, and the image evaluation score was high with 20 points, such as the back bone, dorsum sellae projected in the large hole, and posterior clinoid process. In addition, the score significance was verified, and the Cronbach Alpha value was evaluated to have good reliability of 0.789. As a result of calculating the signal-to-noise ratio (SNR) by setting the region of interest (ROI) of the image, it was the highest at 5.957 for 25° incident at the back of the head and 6.430 for 30° incident at the back of the head. As a result of the study, in order to obtain a sharp image of the back of the head bone, dorsum sellae, and posterior clinoid process when shooting in the axial direction after the head, it is filmed by tilting 25° toward the head from 4 cm below the back of the head. In order to obtain a sharp image of rock pyramid symmetry, petrous ridge, sagittal suture, and lambdoid suture, it is thought that it will be helpful for clinical use if you shoot it 8cm down from the back of the head and tilt it 30° toward the head.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.41 no.2
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• pp.134-141
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• 2013

This paper explores a real-time system implementation to couple tightly StrapDown Inertial Navigation System(SDINS) and Global Positioning System(GPS) mounted on the aircraft. When implementing the SDINS/GPS coupled system in real-time processor, we have to deliberate SDINS's unique characteristics based on the ring laser gyro, and besides, lever-arm, measurements, and error compensation method. The novel modeling method is applied to system the misalignment error term of gyro to estimate the cumulative heading attitude errors while the aircraft banking to turn repeatedly. Captive Flight Test results show that the proposed modeling strategy has good performance.

• Journal of the Korea Institute of Information and Communication Engineering
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• v.9 no.6
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• pp.1395-1401
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• 2005

Mobile manipulator is a robot that has mobility and manipulability with the combination of the task robot and mobile robot. One of the most important feature of the Mobile Manipulator is redundant freedom. Using the redundant freedom, Mobile Manipulator can move various mode, perform dexterous motion. It can have the wider workspace and better performance in avoidance of singularity and obstacle than the fixed base structured robot. Cooperation control using the Mobile Manipulator improves the performance of the robot with redundant freedom in workspace. In this paper, configuration control of the Mobile Manipulator has been studied using Task Segment and TOMM(Task-Oriented Manipulability Measure). For verifying the proposed algorithm, we implemented a mobile manipulator, PURL-II, which is composed of a mobile robot with 3DOF and a task robot with SDOF.

• Proceedings of the Korean Society for Emotion and Sensibility Conference
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• 2009.05a
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• pp.239-242
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• 2009

최근 3 차원 측정 기술을 활용한 운동 기능성의 향상을 위한 연구가 활발히 진행되고 있다. 그 예로 3 차원 인체 정보를 이용한 의복패턴 제작 시에 필요한 절개선으로 피부상에서 동작 시 늘어나지 않는 선(Lines of Non-Extension, LoNE)을 찾아내어 활용한 연구가 발표된 바 있다. 이러한 LoNE 은 기존 의복구성을 위한 봉제선이나 기능선으로 활용될 때 동작기능성을 저해하지 않는 특징이 있다. 이에 본 연구에서는 스포츠웨어에서 활동성이 큰 상체의 어깨부위에서 Lines of Non-Extension 을 탐색하고자 하였다. 연구 방법으로는 20 대 후반 남성 2 명을 대상으로 체표의 등 부분에서 3cm 간격으로 계측점을 표시한 후 3D 인체 데이터 (Cyberware, WB)를 획득하였다. 측정시의 자세는 팔을 $30^{\circ}$, $90^{\circ}$, $135^{\circ}$, $180^{\circ}$ 외전시켰다. 피부 표면에서의 길이 변화는 구획의 크기를 달리하면서 가로, 세로, 사선방향으로 동작에 따라서 측정하였다. 변화량은 정자세($30^{\circ}$)를 기준으로 A 라 하였을 때, 기준자세와의 차이가 가장 큰 변화량을 보인 자세를 B 라 하고 A 와 B 간의 차이로 계산하였다. 연구결과, NASA 의 Biosuit 에서 소개된 Iberall(1970)의 LoNE 중 진동둘레를 포함한 팔 부위와 등, 어깨 부위에서 유사한 라인을 찾았다. 본 연구에서와 같이 구획별 사선방향 피부 변화량을 측정하는 것은 피부면에 숨겨진 인간공학적 의복 기능선을 탐색하는 데 효과적임을 확인하였다.

• Journal of the Korean Society for Aeronautical & Space Sciences
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• v.41 no.3
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• pp.200-209
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• 2013

In this paper, the types of B-dot controller and the review results of B-dot controller stability are summarized. Also, it is confirmed that B-dot controller is very useful and essential tool when a dawn-dusk low earth orbit(LEO) large satellite has especially to capture the Sun for a required power supply in a reliable way after anomaly and that its algorithm is very simple for on-board implementation. New physical interpretation of B-dot controller is presented as a result of extensive theoretical investigation introducing the concept of transient control torque and steady state control torque. Also, the failure effect analysis results of magnetic torquers as well as a simulation verification are included. And the design recommendation for optimal design is provided to cope with the failure of magnetic torquer. Nonlinear simulation results are included to justify its capability as well as its performance for an application to a dawn-dusk LEO large satellite.