• 제어로봇시스템학회:학술대회논문집
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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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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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• 제어로봇시스템학회 2000년도 제15차 학술회의논문집
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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.

• 대한전기학회논문지:시스템및제어부문D
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• 제50권2호
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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.

• 제어로봇시스템학회논문지
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• 제22권11호
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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.

• 한국전문물리치료학회지
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• 제20권2호
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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.

• 제어로봇시스템학회논문지
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• 제2권3호
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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.

• 대한디지털의료영상학회논문지
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• 제12권2호
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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.

• 대한전기학회:학술대회논문집
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• 대한전기학회 2011년도 제42회 하계학술대회
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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.

• 대한방사선기술학회지:방사선기술과학
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• 제29권4호
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• pp.241-247
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• 2006

최근 유방 영상 검사는 의료영상저장전송시스템(Picture Archiving and Communication System, PACS)의 도입과 특수의료장비에 관한 정도관리 실시로 인해 Computed Radiography(CR)과 Digital Radiography(DR)에 관한 관심도와 이용도가 증가하고 있는 추세이다. 본 연구는 유방영상검사에 이용되고 있는 각 시스템별 검출기의 영상 화질을 정도관리 시 사용되는 ACR 팬텀을 이용하여 비교 분석하였다. 평가 방법은 심리적인 방법으로 ACR 팬텀을 이용한 영상의 수치 값을 SPSS 통계프로그램을 이용하여 유의성과 신뢰도를 분석한 결과는 다음과 같다. 1. Fiber에서는 Screen-Film인 경우 3.9점, CR($50\;{\mu}m$)인 경우 4.2점, CR($100\;{\mu}m$)인 경우 3.2점, DR인 경우 4.2점을 얻어 CR($50\;{\mu}m$), DR, Screen-Film, CR($100\;{\mu}m$)순으로 높은 점수를 받았다(P<0.05). 2. Calcification은 Screen-Film인 경우 2.7점, CR($50\;{\mu}m$)인 경우 2.5점, CR($100\;{\mu}m$)인 경우 2.0점, DR인 경우 2.9점을 얻어 DR, Screen-Film, CR($50\;{\mu}m$), CR($100\;{\mu}m$) 순으로 높은 점수를 받았다(0.025(P<0.05). 3. Mass는 Screen-Film인 경우 3.8점, CR($50\;{\mu}m$)인 경우 3.8점, CR($100\;{\mu}m$)인 경우 3.6점, DR인 경우 4.5점을 얻어 DR, CR($50\;{\mu}m$), Screen-Film, CR($100\;{\mu}m$) 순으로 높은 점수를 받았다(P<0.1). 4. 합계점수 평가는 Screen-Film인 경우 10.4점, CR($50\;{\mu}m$)인 경우 10.6점, CR($100\;{\mu}m$)인 경우 8.7점, DR인 경우 11.3점을 얻어 DR, CR($50\;{\mu}m$), Screen-Film, CR($100\;{\mu}m$) 순으로 높은 점수를 받았다. 이상의 결과는 DR, Screen-Film시스템이 CR($100\;{\mu}m$)에 비해 화질이 우수하다는 것을 알 수 있다. 하지만 DR은 소자에 의한 불안정성, Screen-Film은 artifact에 의한 화질 저하 등 단점을 가지고 있으며, 화질 저하가 문제였던 CR시스템 중 Dual-Side방식의 CR($50\;{\mu}m$)을 사용한 경우에는 Screen-Film 시스템과 차이가 없는 것으로 나타났다. 향후 방사선 영상검사가 디지털화 되는 추세이므로 유방영상검사도 각 시스템의 발전과 보완이 필요할 것으로 사료된다.

• 대한전기학회논문지:전력기술부문A
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• 제50권11호
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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.