• The Journal of the Institute of Internet, Broadcasting and Communication
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• v.16 no.2
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• pp.201-206
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• 2016

Aircraft have a cross axis of the three each other for maintenance of aircraft position. It is called roll axis, pitch axis and yaw axis. Attitude reference system is a sensor for detecting a change of the three axis. In this paper, mobile robot platform install part of Pan-tilt and HMD attitude reference system, because of we use control camera. The acceleration sensor is very weak a lot of noise to vibration, also problem with data from process of mapping to the data problems to arise. However to solve this problem, we removed the average filter and Cosine Interpolation for Pan-tilt. Using capacity evaluation for outdoor environment for we are proposing. Mobile robot has HMD and equipped Pan-tilt. We control mobile robot camera. In this experiment result is little bit delay happening, however Pan-tilt camera is relatively stable control checking. Also, we will checking any terrain and slopes is no problem for mobile robot driving skills.

• 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 Korea Institute of Information and Communication Engineering
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• v.25 no.1
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• pp.134-145
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• 2021

It is common to optimize the propulsion control system through a so-called tuning process that modifies the parameter values of the propulsion control software during a ship commissioning. However, during this process, if the error of the initial setting value is large, the tuning time may take too long, or the propulsion equipment can be seriously damaged. Therefore, we conducted research on the design of a propulsion controller that applied a Processor lever controller even for inexperienced people with relatively little experience in tuning propulsion control software to be able to reduce the tuning time while protecting the propulsion system. Through simulation, by comparing the execution result of propulsion control lever commands through the PI controller without applying the Processor lever controller. We analyzed the improvement of the Overshoot and propulsion performance. The simulation results showed that the safety of the propulsion system increased because Overshoot of approximately 9.74%, which occurred when the Processor lever function was not applied.

• The Journal of Korean Society for Radiation Therapy
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• v.34
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• pp.83-92
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• 2022

Purpose: To evaluate usefulness of Tomotherapy and Halcyon VMAT treatment in radiation therapy for bi-breast cancer Materials and Methods: For 10 patients with bi-breast cancer, volumetric modulated arc therapy(VMAT) treatment plan was established using helical Tomotherapy(Accuray. USA) with field width of 5.0-cm and pitch of 0.287, and Halcyon(Varian Medical System, Palo Alto, CA, Version 3.0 USA) of 6arc and 8arc. Prescribed dose was 42.4 Gy/16, and V _40.3Gy of Planning Target Volume(PTV) was 90%. The quality of plan was evaluated by comparing the dose to tumor and normal organs, and the efficiency was evaluated by comparing total MU and beam on time. Results: About three treatment plans(Tomotherapy, Halcyon 6Arc VMAT, Halcyon 8Arc VMAT) , the mean homogeneity index(H.I) of PTV were 1.07, 1.10, 1.11, and the mean conformity index(C.I) of PTV were 1.21, 1.16, 1.17, respectively. The average value of the dose assessment item for a normal organ is V _5Gy(%) of both lung was 36.3, 31.2, 29.7, and V _15Gy(%) were 18.6, 15.5, 14.6, respectively. The mean heart dose(Gy) were 4.17, 2.69, 2.51. Total MU were (7498.6, 2494.2, 2471.5), and beam on time(sec) were 462.5, 195.4, 198.0. Conclusion: Halcyon VMAT showed similar quality of treatment plan compared to helical Tomotherapy, while also protecting normal organs. In addition, the efficiency of radiotherapy increased due to a decrease in Beam On Time and MU.