• International Journal of Control, Automation, and Systems
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• v.2 no.4
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• pp.485-493
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• 2004

Open-loop position estimation methods are commonly used in mobile robot applications. Their strength lies in the speed and simplicity with which an estimated position is determined. However, these methods can lead to inaccurate or unreliable estimates. Two position estimation methods are developed in this paper, one using a single optical flow sensor and a second using two optical sensors. The first method can accurately estimate position under ideal conditions and also when wheel slip perpendicular to the axis of the wheel occurs. The second method can accurately estimate position even when wheel slip parallel to the axis of the wheel occurs. Location of the sensors is investigated in order to minimize errors caused by inaccurate sensor readings. Finally, a method is implemented and tested using a potential field based navigation scheme. Estimates of position were found to be as accurate as dead-reckoning in ideal conditions and much more accurate in cases where wheel slip occurs.

• Journal of Navigation and Port Research
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• v.28 no.8
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• pp.653-657
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• 2004

The authors aim to design further an upgraded and self-contained position fixing system to meet the future commercial requirements. As a first step this paper is to investigate the theoretical structure of position fixing based on the nature of free gyro, in which the tilt angles of the two spin axes at an arbitrary position are measured respectively and the elapsed time with respect to a reference position or starting point is observed And it illustrates some limitations to be expected in this system.

• Journal of Institute of Control, Robotics and Systems
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• v.12 no.11
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• pp.1095-1101
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• 2006

The clean tube system was developed as a means of transferring air-floated wafers inside a closed tube filled with super clean air. This paper presents a wafer position sensing method in the clean tube system, where the photo proximity sensors are used. The first presented method uses the two positions sensed lately in order to compute the wafer center position. The next method uses the latest sensed position and the next latest position compensated with the information of the wafer velocity. The third method uses the kalman filter, which enable us to use all the previous sensing information. The simulation results are compared to show results of the presented method. In addition, the paper presents a control method to stop the wafer at the center of the unit in the clean tube system. The experimental clean tube system worked successfully with the applying the both presented methods of sensing and control.

• Journal of the Korean Institute of Navigation
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• v.12 no.3
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• pp.1-21
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• 1988

A Satellite -aided search and rescue system is expected for its many advantage of global coverage, instantaneousness and low cost. In this paper, a calculation method is proposed , by which a position of distress can be determined with doppler frequency received through an orbital satellite. First, an algorithm and program is developed for calculating the position of distress with the received doppler frequency of EPIRB(Emergency Position Indicating Radio Beacon) with the least square method. Then, position error caused by the drift of the transmitting frequency is evaluated. The evaluation is made by the simulation using NNSS satellite orbital elements and varying position of EPIRB, numbers of Doppler data and magnitudes of various errors. As the result, the availability of this program for a satellite-aided search and rescue system is confirmed and the bounds of expected positioning accuracy is clarified.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2005.11a
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• pp.310-313
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• 2005

This paper is concerned with the active vibration control of beam equipped with piezoceramic sensors and actuators. The single-input and single-output positive position feedback controller is considered as an active vibration controller for the beam. The proposed single-input and single-output positive position feedback controller can cope with many modes of interest by summing each positive position feedback controller designed for each mode. In this paper, theoretical formulation is first explained in detail. We discuss how to design the single-input and single-output positive position feedback controller for a target structure by considering Euler-Bemoulli beam. It is found that the theories developed in this study are capable of predicting the control system characteristics and its performance.

• Journal of the korean academy of Pediatric Dentistry
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• v.29 no.4
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• pp.607-617
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• 2002

The purposes of this study were to evaluate the timing of tooth calcification and the change of tooth position with tooth developmental stage on the mandibular teeth. Seven hundred seventy two children(male:446, female:326), 3 to 12 years of age were examined radiographically with panoramic film. Dental development was determined by inspecting radiographs and assigning a rating according to consecutive stages defined by Moorrees, and tooth cusp position and root terminus position were measured from the lower border of mandibular body and calculated the position index to evaluate the movement of tooth with developmental stage. The results were as follows. 1. There were no significant differences between boys and girls in the timing of calcification until crown completion, but timing of calcification tend to be faster in girls than in boys after root initiation stage. 2. In terms of mean age, crown completion of central incisor in boys and girls occurred at the age of 3.71, 4.05 years, at 4.44, 4.60 years for the lateral incisor, at 5.35, 5.11 years for the canine, at 6.62, 6.36 years for the first premolar, at 7.36, 7.17 years of second premolar, at 3.51, 3.69 years of first molar, and at 7.90, 7.64 years for the second molar respectively. Apex 1/2 closed stage of central incisor occurred at the age of 8.70 in boys, 8.18 in girls, at 9.55, 8.99 years for the lateral incisor, at 12.48, 11.60 years for the canine, at 12.30, 12.01 years for the first premolar, at 12.19, 12.26 years of second premolar, at 9.12, 8.87 years of first molar, and at 12.59, 12.45 years for the second molar respectively. 3. There was no noticeable movement of cusp tip until crown completion (Crc), but showed rapid movement toward occlusion plane after root initiation(Ri) and again maintain stable position after root completion stage(Rc). 4. Root terminus position was stable until root 1/4 formation stage(R1/4), followed by rapid movement toward occlusal plane and was stable again after root 3/4 formation stage(R3/4). 5. Developmental stage at the time of alveolar bone penetration by cusp tip varied with each of the permanent teeth. 6. Canine tooth follicle was at the lowest position in the mandibular body during the early stage of calcification, followed by second premolar, first premolar, lateral incisor, second molar, first molar and central incisor in order.

• Journal of Mechanical Science and Technology
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• v.17 no.4
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• pp.538-544
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• 2003

Although many methodologies exist for determining the constrained equations of motion, most of these methods depend on numerical approaches such as the Lagrange multiplier's method expressed in differential/algebraic systems. In 1992, Udwadia and Kalaba proposed explicit equations of motion for constrained systems based on Gauss's principle and elementary linear algebra without any multipliers or complicated intermediate processes. The generalized inverse method was the first work to present explicit equations of motion for constrained systems. However, numerical integration results of the equation of motion gradually veer away from the constraint equations with time. Thus, an objective of this study is to provide a numerical integration scheme, which modifies the generalized inverse method to reduce the errors. The modified equations of motion for constrained systems include the position constraints of index 3 systems and their first derivatives with respect to time in addition to their second derivatives with respect to time. The effectiveness of the proposed method is illustrated by numerical examples.

• Proceedings of the Korean Society for Noise and Vibration Engineering Conference
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• 2002.05a
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• pp.1161-1168
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• 2002

Vibration and sound characteristics of King Song-Dok Bell are measured and the modal property is investigated. The effect of striking position and modal property on the beat characteristics is examined. It is first found that the beat characteristics are quite different according to the position on the bell surface and clear beat is periodically generated on the circumference. It turns out that in King Song-Dok Bell, striking Dangjwa(the present striking position) makes a beat in the first vibration mode, as well as it produces very clear beat in the second vibration mode.

• Proceedings of the Korea Contents Association Conference
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• 2018.05a
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• pp.73-74
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• 2018

This paper presents the incorporation of still-alive access points (SAPs) and helper access points (HAPs) that can be utilized as anchor nodes for position estimation of a First Responders (FRs) for rapidly deployable Emergency Communication Systems (ECS) in disaster recovery. In addition, the localization environment has is formulated and initially examines the use of a distributed Gauss-Newton algorithm (GNA) as optimization technizue. A simulation has been conducted and compared with the commonly used trilateration approach in position estimation.

• The Journal of Advanced Prosthodontics
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• v.1 no.3
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• pp.118-123
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• 2009

STATEMENT OF PROBLEM. Proper proximal contact is important for maintaining and stabilizing the dental arch. However, the proximal contact strength (PCS) is not a constant value and can be affected by a variety of factors. PURPOSE. This study examined the influences of postural changes on the posterior PCS. MATERIAL AND METHODS. Twelve adults with a normal occlusion and had not undergone prosthetic treatment or proximal restoration were participated in this study. A metal strip was inserted into the proximal surface and removed at a constant velocity. The contact strength was measured in every contact point between canine to second molar in both arches. The PCSs were obtained initially in the upright position, secondly in the supine position and finally in the upright position again. All measurements were repeated after a 2 hour period. Statistical analysis was carried out using the Friedman test (P < .05). RESULTS. Generally, a decrease in PCS occurred when the posture was changed from the initial upright to supine position, while it increased when the posture was changed from the supine to upright position. A significant change was observed in all areas except for between the canine-first premolar in the maxilla and between the first molar-second molar in the mandible areas. CONCLUSION. The posterior PCS, which dentists generally believe to be a static feature of occlusion, is affected significantly by posture.