• Journal of the Korea Institute of Military Science and Technology
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• v.20 no.3
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• pp.315-327
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• 2017

In this paper, we present a method for estimating of position and velocity of a moving target by using the range and the bearing measurements from multiple sensors of aiming unit. In many cases, conventional low cost gyro sensor and a portable laser range finder(LRF) degrade the accuracy of estimation. To enhance these problems, we propose two methods. The first is background image tracking and the other is principal component analysis (PCA). The background tracking is used to assist the low cost gyro censor. And the PCA is used to cope with the problems of a portable LRF. In this paper, we prove that our method is robust with respect to low-frequency, biased and noisy inputs. We also present a comparison between our method and the extended Kalman filter(EKF).

• Journal of the Korea Institute of Information and Communication Engineering
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• v.15 no.4
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• pp.886-890
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• 2011

Induction motors are relatively cheap and rugged machines. For the vector control of induction motors, a position or speed sensor is needed. But a speed sensor increases motor cost and reduces reliability in harsh environment. Recently, many studies have been performed for sensorless speed control. This paper investigates an improved flux observer with the parameter error compensation for a sensorless induction motor. The proposed algorithm is verified through simulation and experiment.

• IEIE Transactions on Smart Processing and Computing
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• v.6 no.1
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• pp.1-9
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• 2017

This paper proposes to improve the performance of a strap down inertial navigation system using a foot-mounted low-cost inertial measurement unit/magnetometer by configuring an attitude and heading reference system. To track position accurately and for attitude estimations, considering different dynamic constraints, magnetic measurement and a zero velocity update technique is used. A conventional strap down method based on integrating angular rate to determine attitude will inevitably induce long-term drift, while magnetometers are subject to short-term orientation errors. To eliminate this accumulative error, and thus, use the navigation system for a long-duration mission, a hybrid configuration by integrating a miniature micro electromechanical system (MEMS)-based attitude and heading detector with the conventional navigation system is proposed in this paper. The attitude and heading detector is composed of three-axis MEMS accelerometers and three-axis MEMS magnetometers. With an absolute algorithm based on gravity and Earth's magnetic field, rather than an integral algorithm, the attitude detector can obtain an absolute attitude and heading estimation without drift errors, so it can be used to adjust the attitude and orientation of the strap down system. Finally, we verify (by both formula analysis and from test results) that the accumulative errors are effectively eliminated via this hybrid scheme.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.6
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• pp.411-416
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• 2016

This paper presents the design methodology of an unknown input observer for Lipschitz nonlinear systems with unknown inputs in the framework of convex optimization. We use an unknown input observer (UIO) to consider both nonlinearity and disturbance. By deriving a sufficient condition for exponential stability in the linear matrix inequality (LMI) form, existence of a stabilizing observer gain matrix of UIO will be assured by checking whether the quadratic stability margin of the error dynamics is greater than the Lipschitz constant or not. If quadratic stability margin is less than a Lipschitz constant, the coordinate transformation may be used to reduce the Lipschitz constant in the new coordinates. Furthermore, to reduce the maximum singular value of the observer gain matrix elements, an object function to minimize it will be optimally designed by modifying its magnitude so that amplification of sensor measurement noise is minimized via multi-objective optimization algorithm. The performance of UIO is compared to a nonlinear observer (Luenberger-like) with an application to a flexible joint robot system considering a change of load and disturbance. Finally, it is validated via simulations that the estimated angular position and velocity provide true values even in the presence of unknown inputs.

• International Journal of Fuzzy Logic and Intelligent Systems
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• v.4 no.1
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• pp.101-110
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• 2004

The robots that will be needed in the near future are human-friendly robots that are able to coexist with humans and support humans effectively. To realize this, humans and robots need to be in close proximity to each other as much as possible. Moreover, it is necessary for their interactions to occur naturally. It is desirable for a robot to carry out human following, as one of the human-affinitive movements. The human-following robot requires several techniques: the recognition of the moving objects, the feature extraction and visual tracking, and the trajectory generation for following a human stably. In this research, a predictable intelligent space is used in order to achieve these goals. An intelligent space is a 3-D environment in which many sensors and intelligent devices are distributed. Mobile robots exist in this space as physical agents providing humans with services. A mobile robot is controlled to follow a walking human using distributed intelligent sensors as stably and precisely as possible. The moving objects is assumed to be a point-object and projected onto an image plane to form a geometrical constraint equation that provides position data of the object based on the kinematics of the intelligent space. Uncertainties in the position estimation caused by the point-object assumption are compensated using the Kalman filter. To generate the shortest time trajectory to follow the walking human, the linear and angular velocities are estimated and utilized. The computer simulation and experimental results of estimating and following of the walking human with the mobile robot are presented.

• Journal of Korean Institute of Industrial Engineers
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• v.27 no.4
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• pp.413-423
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• 2001

Low back disorders (LBDs) are one of the most common and costly work-related musculoskeletal disorders. One of the major possible risk factors of LBDs is to work with static and awkward trunk postures, especially in a complex trunk posture involving flexion, twisting and lateral bending simultaneously. This study is to examine the effect of complex trunk postures on the postural stresses using a psychophysical method. Twelve healthy male students participated in an experiment, in which 29 different trunk postures were evaluated using the magnitude estimation method. The results showed that subjective discomfort significantly increased as the levels of trunk flexion, lateral bending and rotation increased. Significant interaction effects were found between rotation and lateral bending or flexion when the severe lateral bending or rotation were assumed, indicating that simultaneous occurrence of trunk flexion, lateral bending and rotation increases discomfort ratings synergistically. A postural workload evaluation scheme of trunk postures was proposed based on the angular deviation levels from the neutral position. Each trunk posture was assigned numerical stress index depending upon its discomfort rating, which was defined as the ratio of discomfort of a posture to that of its neutral posture. Four qualitative action categories for the stress index were also provided in order to enable practitioners to apply corrective actions appropriately. The proposed scheme is expected to be applied to several field areas for evaluating trunk postural stresses.

• Journal of the Korea Institute of Military Science and Technology
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• v.21 no.1
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• pp.47-60
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• 2018

In this paper, we proposed a method for eliminating aiming error of unguided anti-tank rocket using improved target tracking. Since predicted fire is necessary to hit moving targets with unguided rockets, a method was proposed to estimate the position and velocity of target using fire control system. However, such a method has a problem that the hit rate may be lowered due to the aiming error of the shooter. In order to solve this problem, we used an image-based target tracking method to correct error caused by the shooter. We also proposed a robust tracking method based on TLD(Tracking Learning Detection) considering characteristics of the FCS(Fire Control System) devices. To verify the performance of our proposed algorithm, we measured the target velocity using GPS and compared it with our estimation. It is proved that our method is robust to shooter's aiming error.

• Journal of Radiation Protection and Research
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• v.40 no.1
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• pp.1-9
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• 2015

Compton cameras overcome several limitations of conventional mechanical collimation based gamma imaging devices, such as pin-hole imaging devices, due to its electronic collimation based on coincidence logic. Especially large-scale Compton camera has wide field of view and high imaging sensitivity. Those merits suggest that a large-scale Compton camera might be applicable to monitoring nuclear materials in large facilities without necessity of portability. To that end, our research group have made an effort to design a large-scale Compton camera for safeguard application. Energy resolution or position resolution of large-area detectors vary with configuration style of the detectors. Those performances directly affect the image quality of the large-scale Compton camera. In the present study, a series of Geant4 Monte Carlo simulations were performed in order to examine the effect of those detector parameters. Performance of the designed large-scale Compton camera was also estimated for various monitoring condition with realistic modeling. The conclusion of the present study indicates that the energy resolution of the component detector is the limiting factor of imaging resolution rather than the position resolution. Also, the designed large-scale Compton camera provides the 16.3 cm image resolution in full width at half maximum (angular resolution: $9.26^{\circ}$) for the depleted uranium source considered in this study located at the 1 m from the system when the component detectors have 10% energy resolution and 7 mm position resolution.