• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.75-75
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• 2000

Recently, number of navigation system using GPS and other complementary sensors has been developed to offer high-position accuracy. In this paper, an integration of GPS and Dead-Reckoning, which consists of a fiber optical gyroscope and two high-precision wheel-motor encoders for a unmanned navigation system, is presented. The main objective of this integrated GPS/DR unmanned navigation system is to provide accurate position and heading navigation data continuously for autonomous mobile robot. We propose a method for increasing the accuracy of the estimated position of the mobile robot by its DR sensors, high-precision wheel-motor encoders and a fiber optical gyroscope. We used Kalman filter theory to combine GPS and DR measurements. The performance of GPS/DR navigation system is evaluated.

• 제어로봇시스템학회:학술대회논문집
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• 2000.10a
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• pp.186-186
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• 2000

In the GPS/DR integrated system, the GPS position(or velocity) is used to compensate the DR output and to calibrate errors in the DR sensor. This synergistic relationship ensures that the calibrated DR accuracy can be maintained even when the GPS signal is blocked. Because of the observability problem, however, the DR sensors are not sufficiently calibrated when the vehicle speed is low. This problem can be solved if we use a multi-antenna GPS receiver for attitude determination instead of conventional one. This paper designs a two-antenna GPS receiver integrated with DR sensors. The proposed integration system has three remarkable features. First, the DR sensor can be calibrated regardless of the vehicle speed with the aid of two-antenna GPS receiver. Secondly, the search space of integer ambiguities in GPS carrier-phase measurements is reduced to a part of the surface of the sphere using DR heading. Thirdly, the detection resolution of cycle-slips in GPS carrier-phase measurements is improved with the aid of DR heading. From the experimental result, it is shown that the search grace is drastically reduced to about 3120 of the non-aided case and the cycle-slips of 1 or half cycle can be detected.

• The Transactions of the Korean Institute of Electrical Engineers D
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• v.50 no.2
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• pp.72-79
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• 2001

In the GPS/DR integrated system, the GPS position(or velocity) is used to compensate the DR output and to calibrate errors of the DR sensor. This synergistic relationship ensures that the calibrated DR accuracy can be maintained even when the GPS signal is blocked. Because of the observability problem, however, the DR sensors are not sufficiently calibrated when the vehicle speed is low. This problem can be solved if we use a multi-antenna GPS receiver for attitude determination instead of conventional one. This paper designs a two-antenna GP receiver integrated with DR sensors. The proposed integration system has three remarkable features. First, the DR sensor can be calibrated regardless of the vehicle speed with the aid of two-antenna GPS receiver. Secondly, the search space of integer ambiguities in GPS carrier-phase measurements is reduced to a part of the surface of the sphere using DR heading. Thirdly, the detection resolution of cycle-slips in GPS carrier-phase measurements is improved with the aid of DR heading. From the experimental result, it is shown that the search space is drastically reduced to about 3/20 of the non-aided case and the cycle-slips of 1 or half cycle can be detected.

• Journal of Institute of Control, Robotics and Systems
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• v.22 no.11
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• pp.967-976
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• 2016

This paper presents a 3D carrier-smoothed GNSS/DR (Global Navigation Satellite System/Dead Reckoning) integrated system for precise ground-vehicle trajectory estimation. For precise DR navigation on sloping roads, the AHRS (Attitude Heading Reference System) methodology is employed. By combining the integrated carrier phase of GNSS and DR sensor measurements, a vehicle trajectory with an accuracy of less than 20cm is obtained even when cycle slip or change of visibility occur. In order to supplement the weak GNSS environment with DR successfully, the DR sensor is precisely compensated for using GNSS Doppler measurements when GNSS visibility is good. By integrating a multi-GNSS receiver with low-cost IMU, a precise 3D navigation system for land vehicles is proposed in this paper. For real-time implementation, a decoupled Kalman filter is employed in the integrated system. Through field experiments, the performance of the proposed system is verified in various road environments, including sloping roads, good-visibility areas, high multi-path areas, and under-ground parking areas.

• Physical Therapy Korea
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• v.20 no.2
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• pp.60-68
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• 2013

The purpose of this study was to assess the intra-rater test-retest reliability of tibial external rotation angle measurement using a smartphone-based photographic goniometer, DrGoniometer (DrG) compared to a three-dimensional motion analysis system (Vicon). The current study showed an interchangeable method using DrG to measure the tibial external rotation angle in standing knee flexion at $90^{\circ}$. Twelve healthy subjects participated in this study. A rest session was conducted 30 minutes later for within-day reliability and five days later for between-day intra-rater test-retest reliability. To assess the validity of the measurement using DrG, we used a three dimensional motion analysis system as a gold standard to measure the angle of tibial external rotation. Intra-class correlation coefficient (ICC) and the standard error of measurement (SEM) values were used to determine the within- and between- day intra-rater test-retest reliability of using DrG and a three dimensional motion analysis system. To assess validity, Pearson correlation coefficients were used for two measurement techniques. The measurement for tibial external rotation had high intra-rater test-retest reliability of within-day (ICC=.88) and between-day (ICC=.83) reliability using DrG and of within-day (ICC=.93) and between-day (ICC=.77) reliability using a three-dimentional motion analysis system. Tibial external rotation angle measurement using DrG was highly correlated with those of the three-dimensional motion analysis system (r=.86). These results represented that the tibial external rotation angle measurement using DrG showed acceptable reliability and validity compared with the use of three-dimensional motion analysis system.

• Journal of Institute of Control, Robotics and Systems
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• v.2 no.3
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• pp.188-193
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• 1996

In this paper, an integrated navigation system based on GPS(Global Positioning System) and Dead-Reckoning (DR) is designed. For the calibration of DR, a self-calibration method and a GPS-based calibration method are proposed. From the field-test results, it is shown that DR can be successfully calibrated by the two proposed calibration methods. Also, a cascaded filter approach and a mixed-measurement algorithm are employed for GPS/DR integration. By using the newly proposed mixed-measurement algorithm, it is shown in simulation that the position error becomes smaller than by using only DR even if the number of visible GPS satellites is less than 4.

• Korean Journal of Digital Imaging in Medicine
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• v.12 no.2
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• pp.133-138
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• 2010

The purpose of this study was to survey and test quality control of mammography system. The conclusion of this study is as follows ; First, The rate of pass for phantom image test shows that Film-Screen mammography system(F/S) and computed mammography system(CR) is 80%, Indirect digital mammography system(DR) is 100%. Second, The test of exposure dose shows that F/S is 921 mR. CR is 1,140 mR, DR is 474 mR. The grade of this testament is CR > F/S > DR. Third, The test of average glandular dose shows that F/S is 1,336 mGy, CR is 1,635 mGy, DR is 1,26 mGy. The grade of this testament is CR > F/S > DR. Fourth, The testament of resolution shows as follows F/S is 11~13 Lp/mm, CR is 4~5 Lp/mm, and DR is 5~7 Lp/mm(F/S > DR > CR) Fifth, The survey of projection, cassette, development and reading shows that user are indifference.

• Proceedings of the KIEE Conference
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• 2011.07a
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• pp.652-653
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• 2011

수요반응(DR : Demand Response)은 스마트 그리드(Smart Grid)를 구성하는 핵심 요소 중 하나이다. 본 논문에서는 스마트 그리드 환경 하에서 ISO(Independent System Operator)의 수요자원시장에 참여함과 동시에 말단 수용가들을 대상으로 다수의 DR 프로그램을 운영하는 LA(Load Aggregator)사업자의 DR자원 운영 시스템에 대한 전반적인 개념 및 흐름에 대하여 기술하였다. 또한, 스마트 그리드 하에서 LA사업자의 DR자원 운영 시스템 설계 중 LA사업자의 DR자원 최적배분 전략에 대한 개념 및 예시를 제시하였다.

• Journal of radiological science and technology
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• v.29 no.4
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• pp.241-247
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• 2006

Recently, interests and utilization on Computed Radiography(CR) and Digital Radiography(DR) tends to increase owing to an introduction of Picture Archiving and Communication System(PACS) and an accuracy control of special medical equipment for a breast imaging examination. This study was intended to compare and analyze a detector's imaging quality by each system to be used for the breast imaging examination by using ACR Phantom used at the accuracy control. As an evaluation method, a significance and reliability of image's value using the ACR Phantom was analyzed by using SPSS program. The results are followed. 1. For the fiber, there was 3.9 score in Screen-Film, 4.2 score in CR($50{\mu}m$), 3.2 score in CR($100{\mu}m$), and 4.2 score in DR. There was the high score in the order of CR($50{\mu}m$), DR, Screen-Film, and CR($100{\mu}m$)(P<0.05). 2. For the calcification, there was 2.7 score in Screen-Film, 2.5 score in CR($50{\mu}m$), 2.0 score in CR($100{\mu}m$), and 2.9 score in DR. There was the high score in the order of DR, Screen-Film, CR($50{\mu}m$), and CR($100{\mu}m$).(0.025(P<0.05). 3. For Mass, there was 3.8 score in Screen-Film, 3.8 score in CR($50{\mu}m$), 3.6 score in CR($100{\mu}m$), and 4.5 score in DR. There was the high score in the order of DR, CR($50{\mu}m$), Screen-Film, and CR($100{\mu}m$) (P<0.1). 4. As the total score, there was 10.4 score in Screen-Film, 10.6 score in CR($50{\mu}m$), 8.7 score in CR($100{\mu}m$), and 11.3 score in DR. There was the high score in the order of DR, $CR(50{\mu}m$), Screen-Film, and $CR(100{\mu}m$). As shown in the above results, it can be known that DR and Screen-Film System has higher image quality than CR. But, DR has unstability caused by element, and Screen-Film has the low image quality caused by artifact as disadvantages. When Dual-Side CR($50{\mu}m$) was used among CR systems which had the problem of low image quality, it was indicated that there was no difference with Screen-Film System. Because the radiation imaging examination tends to become digitalized, each system for the breast imaging examination will need to be developed and supplemented.

• The Transactions of the Korean Institute of Electrical Engineers A
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• v.50 no.11
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• pp.506-513
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• 2001

The islanding detection for distributed resources (DR) becomes an important and emerging issue in power system protection since the distributed generator installations are rapidly increasing and most of the installed systems are interconnected with distribution network. In order to avoid the negative impacts from islanding operations of DR on protection, operation and management of distribution system, it is necessary to effectively detect the islanding operations of DR and rapidly disconnect it from distribution network. Generally, it is difficult to detect islanding operation by monitoring only one system parameter This paper presents a new logic based islanding detection method for distributed resources(DR) which are interconnected with distribution network. The proposed method detects the islanding operation by monitoring four system parameter: voltage variation, phase displacement, frequency variation, and the variation of total harmonic distortion(THD) of current; therefore, it effectively detects island operation of DR unit operating in parallel with the distribution network. We also verified the efficiency of the proposed algorithm using the radial distribution network of IEEE 34 bus model.