• 한국항해항만학회:학술대회논문집
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• 한국항해항만학회 2006년도 International Symposium on GPS/GNSS Vol.1
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• pp.355-359
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• 2006

For the poor observability of azimuth misalignment angle and east gyro drift rate of the traditional initial alignment, a bran-new SINS stationary fast self-alignment approach is proposed. By means of analyzing the characteristic of the strapdown inertial navigation system (SINS) stationary alignment seriously, the new approach takes full advantage of the specific force and angular velocity information given by inertial measurement unit (IMU) instead of the mechanization of SINS. Firstly, coarse alignment algorithm is presented. Secondly, a new fine alignment model for SINS stationary self-alignment is derived, and the observability of the model is analysed. Then, a modified Sage-Husa adaptive Kalman filter is introduced to estimate the misalignment angles. Finally, some computer simulation results illustrate the efficiency of the new approach and its advantages, such as higher alignment accuracy, shorter alignment time, more self-contained and less calculation.

• 한국정밀공학회지
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• 제33권4호
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• pp.295-301
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• 2016

The out-of-squareness is one of the error sources that affect the positioning accuracy of machine tools and coordinate measuring machines. Laser interferometer is widely used to measure the position and angular errors, and can measure the squareness using an optical square. However, the squareness measurement using the laser interferometer is difficult, as compared to other errors due to complicated optics setup and Abbe's error occurrence. The effect of out-of-squareness mainly appears at the face-diagonal of the movable plane. The diagonal displacements are also affected by the position dependent geometric errors. In this study, the squareness estimation techniques via diagonal displacement measurement using the laser interferometer without an optical square were proposed. For accurate estimation and measurement time reduction, the errors selected from proposed discriminant were measured. Discrepancy between the proposed technique with the laser interferometer (with an optical square) result was $0.6{\mu}rad$.

• 한국가시화정보학회지
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• 제5권2호
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• pp.26-32
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• 2007

Stereoscopic PTV and Stereoscopic-PIV measurements have been carried out for the studies of the wake of a ship's propeller. Stereoscopic photogrammetry based on a 3D-PTV principle was introduced using two high-definition cameras(1k x 1k, 30Hz). The arrangement of the two cameras was based on angular position. The pair-matching of the three-dimensional velocity vectors were based on Genetic Algorithm based 3D-PTV technique. The results obtained by both measurement systems have been compared at the advance ratio J=0.88(290 rpm, d=54 mm). Turbulent properties have also been compared each other at the same condition.

• IEIE Transactions on Smart Processing and Computing
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• 제6권1호
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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.

• 대한전기학회논문지:시스템및제어부문D
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• 제53권10호
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• pp.703-713
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• 2004

This paper presents the new obstacle avoidance method that is composed of vision and sonar sensors, also a navigation algorithm is proposed. Sonar sensors provide poor information because the angular resolution of each sonar sensor is not exact. So they are not suitable to detect relative direction of obstacles. In addition, it is not easy to detect the obstacle by vision sensors because of an image disturbance. In This paper, the new obstacle direction measurement method that is composed of sonar sensors for exact distance information and vision sensors for abundance information. The modified splitting/merging algorithm is proposed, and it is robuster for an image disturbance than the edge detecting algorithm, and it is efficient for grouping of the obstacle. In order to verify our proposed algorithm, we compare the proposed algorithm with the edge detecting algorithm via experiments. The direction of obstacle and the relative distance are used for the inputs of the fuzzy controller. We design the angular velocity controllers for obstacle avoidance and for navigation to center in corridor, respectively. In order to verify stability and effectiveness of our proposed method, it is apply to a vision and sonar based mobile robot navigation system.

• 한국정밀공학회지
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• 제28권8호
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• pp.904-914
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• 2011

The volumetric errors of CNC machining centers are determined by 21 errors, including 3 linear errors, 6 straightness errors, 3 perpendicular errors, 9 angular errors and non-rigid body errors of the machine tool. It is very time consuming and hard to measure all of these errors in which laser interferometer and other parts are used directly. Hence, as many as 21 separate setups and measurements are needed for the linear, straightness, angular and perpendicular errors. In case of the 5-axis machining centers, two more rotary tables are used. It can make 35 error sources of the movement. Therefore, the measured errors of multi movements of the 5-axis tables are very complicated, even if the relative measured errors are measured. This paper describes the methods, those analyze the error sources of the machining centers. Those are based on shifted diagonal measurements method (SDM), R-test and Double ball bar. In case, the angular errors of machine are small enough comparing with others, twelve errors including three linear position errors, six straightness errors and three perpendicular errors can be calculated by using SDM. To confirm the proposed method, SDM was applied to measuring 3 axes of machine tools and compared with directly measurement of each errors. In addition, the methods for measuring relative errors of multi-axis analysis methods using R-test and Double Ball Bar are introduced in this paper.

• 한국광학회지
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• 제20권2호
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• pp.134-140
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• 2009

본 논문에서는 인쇄회로기판에 있는 Au 패드의 표면 조도와 산란 현상의 상관 관계를 연구하였다. 여러 가지 Au 패드에 대해 입사각을 달리하여 산란 각도 별 산란 분포를 측정하였으며, 표면 조도와 정반사 성분의 관련성을 이용하여 정반사 성분과 난반사 성분을 분리하였다. 최종적으로 분리된 난반사 성분을 physics based model에 곡선 맞춤을 수행하여 주요 산란 인자들을 추출하였으며 측정된 산란 인자와 비교를 통해 모델의 정확성을 확인하였다.

• 한국지능시스템학회:학술대회논문집
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• 한국퍼지및지능시스템학회 2003년도 ISIS 2003
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• pp.616-619
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• 2003

In this paper, we develop an input device equipped with accelerometers and gyroscopes. The installed sensors measure the inertial measurements i.e., accelerations and angular rates produced by the movement of the system when a user is writing on the plane surface or in the three dimensional space. The gyroscope measurement are integrated once to give the attitude of the system and consequently used to remove the gravity included in the acceleration measurements. The compensated accelerations bin doubly integrated to yield the position of the system. Due to the integration processes involved in recovering the users'motions, the accuracy of the position estimation significantly deteriorates with time. Among various error sources of the system incorrect estimation of attitude causes the largest portion of the positioning error since the gravity is not fully cancelled. In order to solve this problem, we propose a Kalman filler-based attitude estimation algorithm which fuses measurement data from accelerometers and gyroscopes by fuzzy logic approach. In addition, the online calibration of the gyroscope biases are performed in parallel with the attitude estimation to give more accurate attitude estimation. The effectiveness and the feasibility of the presented system is demonstrated through computer simulations and actual experiments.

• 한국초등수학교육학회지
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• 제19권3호
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• pp.267-287
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• 2015

본 논문에서는 2009 개정 초등학교 수학과 교육과정에 따른 교과서에서 취급하는 어림재기 유형 및 전략을 분석하고, 그 결과를 바탕으로, 차후의 교육과정 및 교과서 개발을 위한 시사점으로 다음 네 가지를 제시한다. 첫째, 교육과정과 교과서에서 어림재기 관련 내용을 일치시키는 것이 필요하다. 2009 개정 교육과정에서는 길이, 들이, 무게, 각도의 어림재기만을 제시하고 있다. 그러나 교과서에서는 시간과 넓이의 어림재기도 취급하고 있다. 둘째, 교과서에서 어림재기 전략을 다양하게 안내할 필요가 있다. 지도서에서는 어림재기 전략으로 참조대상 사용하기 전략, 덩어리로 나누기 전략, 단위로 나누기 전략의 세 가지를 예시하고 있지만, 교과서에서는 그렇지 않다. 셋째, '어림하다'의 의미를 명확히 할 필요가 있다. 교과서에서 '어림하다'가 어림재기의 맥락으로만 사용되는 것이 아니다. 넷째, 교육과정에서 시간, 넓이, 부피의 어림재기의 취급 여부를 명확히 할 필요가 있다.

• 대한기계학회:학술대회논문집
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• 대한기계학회 2001년도 춘계학술대회논문집E
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• pp.555-559
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• 2001

A new stereoscopic PIV is developed using two CCD cameras, stereoscopic photogrammetry, and a 3D-PTV principle. The wake of a circular cylinder is measured by the developed stereoscopic PIV technique. The B mode vortical structure of the wake over the Reynolds number 300 is clearly seen by the developed technique. The arrangement of the two cameras is based on angular position. The calibration of cameras and the pair-matching of the three-dimensional velocity vectors are based on 3D-PTV technique.